private void Button1_Tapped_1(object sender, TappedRoutedEventArgs e)
{
if (DirectCommand != null)
{
DirectCommand.Execute(null);
}
}
void HandleSendEvent(DirectCommand directCommand)
{
var eventId = (byte)directCommand.EventId;
var eventData = CodecUtils.DeserializePlayObject(directCommand.Msg);
var senderId = directCommand.FromActorId;
Client.OnCustomEvent?.Invoke(eventId, eventData, senderId);
}
public MainViewModel(MainWindow window)
{
this.window = window;
this.DirectCommand = new DirectCommand(() => new PropertyObservableTest().ShowDialog());
this.DirectCommand.RaiseCanExecuteChanged();
PropertyObservableNullReferenceCommand = new DirectCommand(() => new PropertyObservableNullReferenceTest().ShowDialog());
ConcurrencyTestCommand = new DirectCommand(() => new General.MainWindow().ShowDialog());
}
public IActionResult Post(DirectCommand directCommand)
{
try
{
if (directCommand.Command != null)
{
return(Ok(management.Commander(directCommand)));
}
return(BadRequest("failed"));
}
catch (Exception e)
{
return(BadRequest(e.Message));
}
}
public MainViewModel(MainWindow window)
{
this.window = window;
var command = new DirectCommand(this.Execute, this.CanExecute);
command.RaiseCanExecuteChanged();
this.TestCommand = command;
this.timer = new DispatcherTimer {
Interval = TimeSpan.FromSeconds(1)
};
this.timer.Tick += (e, a) =>
{
this.Text = DateTime.Now.ToLongTimeString();
command.RaiseCanExecuteChanged();
window.MoveFocus(new TraversalRequest(FocusNavigationDirection.Next));
};
}
internal Task SendEvent(byte eventId, PlayObject eventData, SendEventOptions options)
{
var direct = new DirectCommand {
EventId = eventId
};
if (eventData != null)
{
direct.Msg = ByteString.CopyFrom(CodecUtils.SerializePlayObject(eventData));
}
direct.ReceiverGroup = (int)options.ReceiverGroup;
if (options.TargetActorIds != null)
{
direct.ToActorIds.AddRange(options.TargetActorIds);
}
_ = Send(CommandType.Direct, OpType.None, new Body {
Direct = direct
});
return(Task.FromResult(true));
}
private async Task OnMessaage(GenericCommand notification)
{
DirectCommand direct = notification.DirectMessage;
// 反序列化消息
LCIMMessage message;
if (direct.HasBinaryMsg)
{
// 二进制消息
byte[] bytes = direct.BinaryMsg.ToByteArray();
message = LCIMBinaryMessage.Deserialize(bytes);
}
else
{
// 类型消息
message = LCIMTypedMessage.Deserialize(direct.Msg);
}
// 填充消息数据
message.ConversationId = direct.Cid;
message.Id = direct.Id;
message.FromClientId = direct.FromPeerId;
message.SentTimestamp = direct.Timestamp;
message.MentionAll = direct.MentionAll;
message.MentionIdList = direct.MentionPids.ToList();
message.Mentioned = message.MentionAll ||
message.MentionIdList.Contains(Client.Id);
message.PatchedTimestamp = direct.PatchTimestamp;
message.IsTransient = direct.Transient;
// 获取对话
LCIMConversation conversation = await Client.GetOrQueryConversation(direct.Cid);
conversation.Unread++;
conversation.LastMessage = message;
// 通知服务端已接收
if (!(conversation is LCIMChatRoom) && !message.IsTransient)
{
// 只有非暂态消息才需要发送 ack
_ = Ack(message.ConversationId, message.Id);
}
Client.OnMessage?.Invoke(conversation, message);
}
public void RegisterCommand(string command, object instance, MethodInfo method)
{
DirectCommand value = default(DirectCommand);
value.command = command;
value.instance = new WeakReference(instance, false);
value.method = method;
value.parameterCount = method.GetParameters().Length;
value.variableParamCount = false;
ParameterInfo[] parameters = method.GetParameters();
for (int i = 0; i < parameters.Length; i++)
{
ParameterInfo parameterInfo = parameters[i];
if (parameterInfo.GetCustomAttributes(typeof(ParamArrayAttribute), true).Length > 0)
{
value.variableParamCount = true;
break;
}
}
directCommands[command] = value;
}
internal Task <AVIMMessage> SendMessageAsync(AVIMClient client, AVIMConversation conversation, AVIMMessage message)
{
var tcs = new TaskCompletionSource <AVIMMessage>();
var sendMsg = new DirectCommand {
// TODO 完善消息体
Cid = conversation.convId,
Msg = message.ToString()
};
var cmd = commandFactory.NewRequest(client.ClientId, CommandType.Direct);
cmd.directMessage = sendMsg;
SendRequest(cmd).ContinueWith(t => {
if (t.IsFaulted)
{
tcs.SetException(t.Exception.InnerException);
}
else
{
tcs.SetResult(message);
}
});
return(tcs.Task);
}
/// <summary>
/// The constructor.
/// </summary>
public API(Robot _robot)
: base(_robot)
{
DirectCommand = new NXT.API.DirectCommand(_robot);
SystemCommand = new NXT.API.SystemCommand(_robot);
}
public void Send(DirectCommand command)
{
Send((Command)command);
}
/// <summary>
/// The constructor.
/// </summary>
public API(Robot _robot)
: base(_robot)
{
DirectCommand = new NXT.API.DirectCommand(_robot);
SystemCommand = new NXT.API.SystemCommand(_robot);
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
// Set our view from the "main" layout resource
SetContentView(Resource.Layout.myview);
var btnForward = FindViewById <Button>(Resource.Id.myview_btnforward);
var btnBackward = FindViewById <Button>(Resource.Id.myview_btnbackward);
var btnLeft = FindViewById <Button>(Resource.Id.myview_btnleft);
var btnRight = FindViewById <Button>(Resource.Id.myview_btnright);
var btnGo = FindViewById <Button>(Resource.Id.myview_btngo);
var btnStop = FindViewById <Button>(Resource.Id.myview_btnstop);
//
var communication = new BluetoothCommunication(@"PPAP09");
var brick = new Brick(communication);
var command = new DirectCommand(brick);
brick.ConnectAsync();
communication.ReportReceived += (object sender, ReportReceivedEventArgs e) => {
WriteLine("Connected");
Connected = true;
};
brick.Ports[InputPort.One].SetMode(ColorMode.ReflectiveRgb);
brick.Ports[InputPort.One].PropertyChanged += (object sender, System.ComponentModel.PropertyChangedEventArgs e) => {
WriteLine(brick.Ports[InputPort.One].SIValue);
};
btnForward.Click += async(sender, e) => {
WriteLine("前");
IsForward = true;
if (Connected)
{
// 兩輪向前
await command.TurnMotorAtSpeedAsync(OutputPort.A, Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, Speed);
}
};
btnBackward.Click += async(sender, e) => {
WriteLine("後");
IsForward = false;
if (Connected)
{
// 兩輪向後
await command.TurnMotorAtSpeedAsync(OutputPort.A, -Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, -Speed);
}
};
btnLeft.Click += async(sender, e) => {
WriteLine("左");
if (Connected)
{
// 左輪向後，右輪向前
await command.TurnMotorAtSpeedAsync(OutputPort.A, Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, Speed);
}
};
btnRight.Click += async(sender, e) => {
WriteLine("右");
if (Connected)
{
// 左輪向前，右輪向後
await command.TurnMotorAtSpeedAsync(OutputPort.A, Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, Speed);
}
};
btnGo.Click += async(sender, e) => {
WriteLine("油門");
Speed += 5;
if (Speed >= 50)
{
Speed = 50;
}
if (Connected)
{
if (IsForward)
{
await command.TurnMotorAtSpeedAsync(OutputPort.A, Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, Speed);
}
else
{
await command.TurnMotorAtSpeedAsync(OutputPort.A, -Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, -Speed);
}
}
};
btnStop.Click += async(sender, e) => {
WriteLine("煞車");
if (Connected)
{
// 兩輪停止
await command.StopMotorAsync(OutputPort.A, true);
await command.StopMotorAsync(OutputPort.B, true);
}
};
Connected = false;
IsForward = true;
Speed = 20;
}
/// <summary>
/// Check command and verify them
/// </summary>
/// <param name="IP"></param>
/// <param name="cardNum"></param>
/// <returns>True (Success) or False (Failed)</returns>
public string Commander(DirectCommand command)
{
if (!GetConnected(command.CardReader.IP, command.CardReader.Port))
{
return("Failed to connect! Please check and try again.");
}
switch (command.Command)
{
case "OpnDoor":
while (!OpenDoor(command.CardReader.CrAddress))
{
;
}
return("The door is open now!");
case "AddAdmin":
AddNewAdmin(command.CardReader.IP, command.CardNum);
return("add " + command.CardNum + " as admin!");
case "ClrUser":
while (!ClearPm(command.CardReader.CrAddress))
{
;
}
return("Delete all user has done!");
case "DelAdmin":
RemoveAdmin(command.CardReader.CrAddress, command.CardNum);
return("Delete admin has done!");
case "RstCr":
while (!SetDate(command.CardReader.CrAddress))
{
;
}
while (!SetTime(command.CardReader.CrAddress))
{
;
}
while (!ClearPm(command.CardReader.CrAddress))
{
;
}
while (!ClearZm(command.CardReader.CrAddress))
{
;
}
while (!ClearAg(command.CardReader.CrAddress))
{
;
}
while (!ClearCo(command.CardReader.CrAddress))
{
;
}
while (!EnablePm(command.CardReader.CrAddress))
{
;
}
while (!EnableZm(command.CardReader.CrAddress))
{
;
}
return("Reset has done!");
case "SetDate":
while (!SetDate(command.CardReader.CrAddress))
{
;
}
return("Set date has done!");
case "SetTime":
while (!SetTime(command.CardReader.CrAddress))
{
;
}
return("Set time has done!");
case "F4Function":
while (!F4Function(command.CardReader.CrAddress, command.FuncNo))
{
;
}
return("Function sent done!");
}
return("Command error!");
}
internal async Task <LCIMMessage> Send(string convId,
LCIMMessage message,
LCIMMessageSendOptions options)
{
DirectCommand direct = new DirectCommand {
FromPeerId = Client.Id,
Cid = convId,
};
if (message is LCIMTypedMessage typedMessage)
{
direct.Msg = JsonConvert.SerializeObject(typedMessage.Encode());
}
else if (message is LCIMBinaryMessage binaryMessage)
{
direct.BinaryMsg = ByteString.CopyFrom(binaryMessage.Data);
}
else
{
throw new ArgumentException("Message MUST be LCIMTypedMessage or LCIMBinaryMessage.");
}
// 暂态消息
if (options.Transient)
{
direct.Transient = options.Transient;
}
// 消息接收回执
if (options.Receipt)
{
direct.R = options.Receipt;
}
// 遗愿消息
if (options.Will)
{
direct.Will = options.Will;
}
// 推送数据
if (options.PushData != null)
{
direct.PushData = JsonConvert.SerializeObject(options.PushData);
}
// 提醒所有人
if (message.MentionAll)
{
direct.MentionAll = message.MentionAll;
}
// 提醒用户列表
if (message.MentionIdList != null &&
message.MentionIdList.Count > 0)
{
direct.MentionPids.AddRange(message.MentionIdList);
}
GenericCommand command = NewCommand(CommandType.Direct);
command.DirectMessage = direct;
// 优先级
if (command.Priority > 0)
{
command.Priority = (int)options.Priority;
}
GenericCommand response = await Connection.SendRequest(command);
// 消息发送应答
AckCommand ack = response.AckMessage;
message.Id = ack.Uid;
message.SentTimestamp = ack.T;
message.FromClientId = Client.Id;
return(message);
}
protected void SendDirectCommand(DirectCommand directCommand)
{
_ = Send(CommandType.Direct, OpType.None, new Body {
Direct = directCommand
});
}
public bool Send(DirectCommand command)
{
byte[] data = new byte[2];
data[0] = 0x00;
data[1] = (byte)command;
return Send(data);
}
public void SendDirectCommand(InsteonAddress addr, DirectCommand command1, byte command2 = 0)
{
var b = new byte[] { 0x02, 0x62, addr.AddressBytes[0], addr.AddressBytes[1], addr.AddressBytes[2], 0xf, (byte)command1, command2 };
this.port.Write(b, 0, b.Length);
Thread.Sleep(200);
}
