// Send a message representing storybook state to the controller.
// Doesn't need to return Action because it's only used as a timer elapsed handler.
private void sendStorybookState(object _, System.Timers.ElapsedEventArgs __)
{
Dictionary <string, object> publish = new Dictionary <string, object>();
publish.Add("topic", Constants.STORYBOOK_STATE_TOPIC);
publish.Add("op", "publish");
// TODO: could devise a better scheme to make sure states are sent in order.
// Can also use the sequence numbers provided in the header. Probably overkill.
Dictionary <string, object> data = StorybookStateManager.GetRosMessageData();
data.Add("header", RosbridgeUtilities.GetROSHeader());
// Don't allow audio_file to be null, ROS will get upset.
if (data["audio_file"] == null)
{
data["audio_file"] = "";
}
publish.Add("msg", data);
bool success = this.rosClient.SendMessage(Json.Serialize(publish));
if (!success)
{
// Logger.Log("Failed to send StorybookState message: " + Json.Serialize((publish)));
}
}
// Send a message representing new page info to the controller.
// Typically will be called when the user presses previous or next.
// Sends until success, in a new thread.
public void SendStorybookPageInfoAction(StorybookPageInfo pageInfo)
{
Thread thread = new Thread(() => {
Dictionary <string, object> publish = new Dictionary <string, object>();
publish.Add("topic", Constants.STORYBOOK_PAGE_INFO_TOPIC);
publish.Add("op", "publish");
Dictionary <string, object> data = new Dictionary <string, object>();
data.Add("header", RosbridgeUtilities.GetROSHeader());
data.Add("story_name", pageInfo.storyName);
data.Add("page_number", pageInfo.pageNumber);
data.Add("sentences", pageInfo.sentences);
List <Dictionary <string, object> > tinkerTexts =
new List <Dictionary <string, object> > ();
foreach (StorybookTinkerText t in pageInfo.tinkerTexts)
{
Dictionary <string, object> tinkerText = new Dictionary <string, object>();
tinkerText.Add("has_scene_object", t.hasSceneObject);
tinkerText.Add("scene_object_id", t.sceneObjectId);
tinkerText.Add("word", t.word);
tinkerTexts.Add(tinkerText);
}
data.Add("tinkertexts", tinkerTexts);
List <Dictionary <string, object> > sceneObjects =
new List <Dictionary <string, object> >();
foreach (StorybookSceneObject o in pageInfo.sceneObjects)
{
Dictionary <string, object> sceneObject = new Dictionary <string, object>();
sceneObject.Add("id", o.id);
sceneObject.Add("label", o.label);
sceneObject.Add("in_text", o.inText);
sceneObjects.Add(sceneObject);
}
data.Add("scene_objects", sceneObjects);
List <Dictionary <string, object> > prompts = new List <Dictionary <string, object> >();
foreach (JiboPrompt p in pageInfo.prompts)
{
Dictionary <string, object> prompt = new Dictionary <string, object>();
prompt.Add("question", p.question);
prompt.Add("response", p.response);
prompt.Add("hint", p.hint);
prompts.Add(prompt);
}
data.Add("prompts", prompts);
publish.Add("msg", data);
Logger.Log("Sending page info ROS message: " + Json.Serialize(publish));
bool sent = false;
while (!sent)
{
sent = this.rosClient.SendMessage(Json.Serialize(publish));
}
Logger.Log("Successfully sent page info ROS message.");
});
thread.Start();
}
/// <summary>
/// Handle OnMessage events, which occur when we receive a message
/// </summary>
/// <param name="sender">Sender.</param>
/// <param name="e">E.</param>
void HandleOnMessage(object sender, MessageEventArgs e)
{
// if the message is a string, we can parse it
if (e.IsText)
{
Logger.Log("[websocket] Received message: " + e.Data);
// use rosbridge utilities to decode and parse message
int command = -1;
object properties = null;
RosbridgeUtilities.DecodeROSJsonCommand(e.Data, out command, out properties);
// got a command!
// we let the game controller sort out if it's a real command or not
// as well as what to do with the extra properties, if any
// fire event indicating that we received a message
if (this.receivedMsgEvent != null)
{
// only send subset of msg that is actual message
this.receivedMsgEvent(this, command, properties);
}
}
else if (e.IsBinary)
{
Logger.LogWarning("[websocket] Received byte array in message but we " +
"were expecting a string message.");
}
}
public bool Connect()
{
if (!this.rosClient.SetupSocket())
{
Logger.Log("Failed to set up socket");
return(false);
}
string eventPubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_EVENT_TOPIC, Constants.STORYBOOK_EVENT_MESSAGE_TYPE);
string pageInfoPubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_PAGE_INFO_TOPIC, Constants.STORYBOOK_PAGE_INFO_MESSAGE_TYPE);
string statePubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_STATE_TOPIC, Constants.STORYBOOK_STATE_MESSAGE_TYPE);
string subMessage = RosbridgeUtilities.GetROSJsonSubscribeMsg(
Constants.STORYBOOK_COMMAND_TOPIC, Constants.STORYBOOK_COMMAND_MESSAGE_TYPE);
// Send all advertisements to publish and subscribe to appropriate channels.
this.connected = this.rosClient.SendMessage(eventPubMessage) &&
this.rosClient.SendMessage(pageInfoPubMessage) &&
this.rosClient.SendMessage(statePubMessage) &&
this.rosClient.SendMessage(subMessage);
// If connection successful, begin sending state messages.
if (this.connected)
{
Logger.Log("Starting to send state messages");
this.publishStateTimer.Elapsed += this.sendStorybookState;
this.publishStateTimer.Start();
}
return(this.connected);
}
// Send a message representing storybook state to the controller, in a new thread.
// Doesn't need to return Action because it's only used as a timer elapsed handler.
private void sendStorybookState(object _, System.Timers.ElapsedEventArgs __)
{
Dictionary <string, object> publish = new Dictionary <string, object>();
publish.Add("topic", Constants.STORYBOOK_STATE_TOPIC);
publish.Add("op", "publish");
// Note that this is protected by a lock, so although ROS messages could
// send out of order, the information within them will be consistent.
// And if the sending rate isn't too high, the likelihood of out of order messages
// is low, and inconsequential for the controller anyway.
// TODO: should devise a better scheme to make sure states are sent in order.
// Can also use the sequence numbers provided in the header.
// Or use a lock in this class so that only one state message can be sent at a time.
Dictionary <string, object> data = StorybookStateManager.GetRosMessageData();
data.Add("header", RosbridgeUtilities.GetROSHeader());
// Don't allow audio_file to be null, ROS will get upset.
if (data["audio_file"] == null)
{
data["audio_file"] = "";
}
publish.Add("msg", data);
bool success = this.rosClient.SendMessage(Json.Serialize(publish));
if (!success)
{
// Logger.Log("Failed to send StorybookState message: " + Json.Serialize((publish)));
}
}
private void setupPubSub()
{
Logger.Log("-- Setup Pub/Sub for Ros Manager --");
string eventPubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_EVENT_TOPIC, Constants.STORYBOOK_EVENT_MESSAGE_TYPE);
string pageInfoPubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_PAGE_INFO_TOPIC, Constants.STORYBOOK_PAGE_INFO_MESSAGE_TYPE);
string statePubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_STATE_TOPIC, Constants.STORYBOOK_STATE_MESSAGE_TYPE);
string subMessage = RosbridgeUtilities.GetROSJsonSubscribeMsg(
Constants.STORYBOOK_COMMAND_TOPIC, Constants.STORYBOOK_COMMAND_MESSAGE_TYPE);
// Send all advertisements to publish and subscribe to appropriate channels.
this.connected = this.rosClient.SendMessage(eventPubMessage) &&
this.rosClient.SendMessage(pageInfoPubMessage) &&
this.rosClient.SendMessage(statePubMessage) &&
this.rosClient.SendMessage(subMessage);
}
// Send a message representing storybook state to the controller, in a new thread.
// Doesn't need to return Action because it's only used as a timer elapsed handler.
private void sendStorybookState(object sender, System.Timers.ElapsedEventArgs e)
{
Thread t = new Thread(() => {
Dictionary <string, object> publish = new Dictionary <string, object>();
publish.Add("topic", Constants.STORYBOOK_STATE_TOPIC);
publish.Add("op", "publish");
Dictionary <string, object> data = new Dictionary <string, object>();
// Note that this is protected by a lock, so although ROS messages could
// send out of order, the information within them will be consistent.
// And if the sending rate isn't too high, the likelihood of out of order messages
// is low, and inconsequential for the controller anyway.
// TODO: should devise a better scheme to make sure states are sent in order.
// Can also use the sequence numbers provided in the header.
// Or use a lock in this class so that only one state message can be sent at a time.
StorybookState currentStorybookState = this.storybookStateManager.getCurrentState();
data.Add("header", RosbridgeUtilities.GetROSHeader());
data.Add("audio_playing", currentStorybookState.audioPlaying);
// ROS freaks out if it gets a null value, so just fill it in with an empty string
// if there is no provided audio file.
string audioFile = currentStorybookState.audioFile;
if (audioFile == null)
{
audioFile = "";
}
data.Add("audio_file", audioFile);
data.Add("storybook_mode", (int)currentStorybookState.storybookMode);
data.Add("current_story", currentStorybookState.currentStory);
data.Add("num_pages", currentStorybookState.numPages);
data.Add("evaluating_stanza_index", currentStorybookState.evaluatingStanzaIndex);
publish.Add("msg", data);
bool success = this.rosClient.SendMessage(Json.Serialize(publish));
if (!success)
{
Logger.Log("Failed to send StorybookState message: " + Json.Serialize((publish)));
}
});
t.Start();
}
// Send StorybookEvent message until received, in a new thread.
private void sendEventMessageToController(StorybookEventType messageType, string message)
{
Thread t = new Thread(() => {
Dictionary <string, object> publish = new Dictionary <string, object>();
publish.Add("topic", Constants.STORYBOOK_EVENT_TOPIC);
publish.Add("op", "publish");
// Build data to send.
Dictionary <string, object> data = new Dictionary <string, object>();
data.Add("event_type", (int)messageType);
data.Add("header", RosbridgeUtilities.GetROSHeader());
data.Add("message", message);
publish.Add("msg", data);
Logger.Log("Sending event ROS message: " + Json.Serialize(publish));
bool sent = false;
while (!sent)
{
sent = this.rosClient.SendMessage(Json.Serialize(publish));
}
});
t.Start();
}
