public MachinaBridgeWindow()
{
InitializeComponent();
dc = new BoundContent(this);
DataContext = dc;
uiContext = SynchronizationContext.Current;
_maxLogLevel = Machina.LogLevel.VERBOSE;
Logger.CustomLogging += Logger_CustomLogging;
Logger.Info("Machina Bridge: " + Version + "; Core: " + Robot.Version);
InitializeWebSocketServer();
// Handle pasting text on the input
DataObject.AddPastingHandler(InputBlock, InputBlock_Paste);
#if DEBUG
var item = combo_LogLevel.Items.GetItemAt(5) as ComboBoxItem;
item.IsSelected = true;
#endif
}
protected override void OnOpen()
{
//base.OnOpen();
//Console.WriteLine(" BRIDGE: opening bridge");
_clientName = Context.QueryString["name"];
_parent._connectedClients.Add(_clientName);
//_parent.UpdateClientBox();
_parent.uiContext.Post(x =>
{
_parent.UpdateClientBox();
}, null);
Logger.Info("Client \"" + _clientName + "\" connected...");
}
private bool InitializeWebSocketServer()
{
if (!ParseWebSocketURL())
{
Logger.Error("Invalid WebSocket URL \"" + txtbox_WSServerURL.Text + "\"; try something like \"ws://127.0.0.1/Bridge\"");
return(false);
}
if (wssv != null && wssv.IsListening)
{
StopWebSocketServer();
}
wssv = new WebSocketServer(wssvURL);
wssv.AddWebSocketService(wssvBehavior, () => new BridgeBehavior(bot, this));
// @TODO: add a check here if the port is in use, and try a different port instead
try
{
wssv.Start();
}
catch
{
Logger.Error("Default websocket server is not available, please enter a new one manually...");
return(false);
}
if (wssv.IsListening)
{
//Machina.Logger.Info($"Listening on port {wssv.Port}, and providing WebSocket services:");
//foreach (var path in wssv.WebSocketServices.Paths) Machina.Logger.Info($"- {path}");
Logger.Info("Waiting for incoming connections on " + (wssvURL + wssvBehavior));
}
return(true);
//lbl_ServerURL.Content = wssvURL + wssvBehavior;
}
internal void DownloadDrivers()
{
Logger.Info("Downloading Machina Drivers for " + _robotBrand + " robot on " + txtbox_IP.Text + ":" + txtbox_Port.Text);
// Create a fake robot not to interfere with the main one
Robot driverBot = Robot.Create(_robotName, _robotBrand);
driverBot.ControlMode(ControlType.Online);
var parameters = new Dictionary <string, string>()
{
{ "HOSTNAME", txtbox_IP.Text },
{ "PORT", txtbox_Port.Text }
};
var files = driverBot.GetDeviceDriverModules(parameters);
// Clear temp folder
string path = System.IO.Path.Combine(System.IO.Path.GetTempPath(), "machina_modules");
//https://stackoverflow.com/a/1288747/1934487
System.IO.DirectoryInfo di = new DirectoryInfo(path);
if (di.Exists)
{
Logger.Debug("Clearing " + path);
foreach (FileInfo file in di.GetFiles())
{
Logger.Debug("Deleting " + file.FullName);
file.Delete();
}
foreach (DirectoryInfo dir in di.GetDirectories())
{
Logger.Debug("Deleting " + dir.FullName);
dir.Delete(true);
}
}
else
{
di.Create();
Logger.Debug("Created " + path);
}
// Save temp files
foreach (var pair in files)
{
string filename = pair.Key;
string content = pair.Value;
string filepath = System.IO.Path.Combine(path, filename);
try
{
System.IO.File.WriteAllText(filepath, content, Encoding.ASCII);
}
catch
{
Logger.Error("Could not save " + filename + " to " + filepath);
Logger.Error("Could not download drivers");
return;
}
Logger.Debug("Saved module to " + filepath);
}
// Zip the file
string zipPath = System.IO.Path.Combine(System.IO.Path.GetTempPath(), "machina_modules.zip");
System.IO.FileInfo fi = new FileInfo(zipPath);
if (fi.Exists)
{
fi.Delete();
Logger.Debug("Deleted previous " + zipPath);
}
ZipFile.CreateFromDirectory(path, zipPath);
Logger.Debug("Zipped files to " + zipPath);
// Prompt file save dialog: https://www.wpf-tutorial.com/dialogs/the-savefiledialog/
SaveFileDialog saveFileDialog = new SaveFileDialog();
saveFileDialog.Filter = "Zip file (*.zip)|*.zip";
saveFileDialog.DefaultExt = "zip";
saveFileDialog.AddExtension = true;
saveFileDialog.InitialDirectory = Environment.GetFolderPath(Environment.SpecialFolder.Desktop);
saveFileDialog.FileName = "machina_modules.zip";
if (saveFileDialog.ShowDialog() == true)
{
fi = new FileInfo(saveFileDialog.FileName);
if (fi.Exists)
{
fi.Delete();
Logger.Debug("Deleted previous " + saveFileDialog.FileName);
}
File.Copy(zipPath, saveFileDialog.FileName);
Logger.Debug("Copied " + zipPath + " to " + saveFileDialog.FileName);
Logger.Info("Drivers saved to " + saveFileDialog.FileName);
}
}
/// <summary>
/// Initialize WebSocket communication infrastructure
/// </summary>
/// <returns></returns>
private bool InitializeWebSocketServer()
{
// Close previous instances, if applicable
if (wssv != null && wssv.IsListening)
{
StopWebSocketServer();
}
if (wscl != null && wscl.IsAlive)
{
StopWebSocketClient();
}
wsURL = txtbox_WSServerURL.Text;
_authkey = psswrdbox_Key.Password;
// Check if given URL is a valid Machina Server
try
{
Logger.Verbose("Trying connection to Machina Server on " + wsURL);
// Add relevant auth info as query parameters
string fullURL = $"{wsURL}?name={_robotName}&client=machina-bridge&authkey={_authkey}";
// Establish connection
wscl = new WebSocket(fullURL);
wscl.OnOpen += Wscl_OnOpen;
wscl.OnMessage += Wscl_OnMessage;
wscl.OnClose += Wscl_OnClose;
wscl.OnError += Wscl_OnError;
wscl.Connect();
//wscl.Send("hello from Bridge");
if (wscl.IsAlive)
{
Logger.Info("Successful connection to Machina Remote Server on " + wsURL);
}
else
{
throw new Exception();
}
}
catch
{
Logger.Verbose("Could not connect to existing Machina Server, initializing locally...");
// Check validity of URL
if (!ParseWebSocketURL())
{
Logger.Error("Invalid WebSocket URL \"" + txtbox_WSServerURL.Text + "\"; try something like \"ws://127.0.0.1/Bridge\"");
return(false);
}
wssv = new WebSocketServer(wsURL);
wssv.AddWebSocketService(wssvBehavior, () => new WSServerBehavior(bot, this));
// @TODO: add a check here if the port is in use, and try a different port instead
try
{
wssv.Start();
}
catch
{
Logger.Error("Default websocket server is not available, please enter a new one manually...");
return(false);
}
if (wssv.IsListening)
{
//Machina.Logger.Info($"Listening on port {wssv.Port}, and providing WebSocket services:");
//foreach (var path in wssv.WebSocketServices.Paths) Machina.Logger.Info($"- {path}");
Logger.Verbose("Successful initialization of Machina Local Server on " + wsURL);
Logger.Info("Waiting for incoming connections on Machina Local Server " + (wsURL + wssvBehavior));
}
}
return(true);
//lbl_ServerURL.Content = wssvURL + wssvBehavior;
}
