public void sendPositionUpdate(PosData posdata)
{
string msg = "{ \"Id\":\"" + posdata.Id +
"\",\"X\":" + String.Format("{0:0.####}", posdata.X) +
",\"Y\":" + String.Format("{0:0.####}", posdata.Y) +
",\"Elv\":" + String.Format("{0:0.####}", posdata.Elv) +
",\"Qx\":" + posdata.Quat_x +
",\"Qy\":" + posdata.Quat_y +
",\"Qz\":" + posdata.Quat_z +
",\"Qw\":" + posdata.Quat_w +
",\"Message\":\"" + posdata.Message +
"\",\"MessageCounter\":" + posdata.Msgcount +
",\"Quality\":" + posdata.Quality +
"}";
foreach (var socket in allSockets.ToList())
{
try
{
socket.Send(msg); //broadcasting
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
Console.ReadLine();
}
}
Console.WriteLine(DateTime.Now + " [WebSocketServer] sent message broadcast: \n" + msg + "\n\n");
//Console.ReadLine();
}
private void parseMessage(string message)
{
string[] parts = { };
message = message.ToLower();
PosData posdata = new PosData();
parts = message.Split(new String[] { "[" }, StringSplitOptions.RemoveEmptyEntries);
string[] d = { };
foreach (string p in parts)
{
string[] b = p.Split(new String[] { "\n" }, StringSplitOptions.RemoveEmptyEntries);
switch (b[0])
{
case "message]": //message part found
for (int i = 1; i < b.Length; i++)
{
string[] c = b[i].Split(new Char[] { '=' }, StringSplitOptions.RemoveEmptyEntries);
switch (c[0])
{
case "sender": posdata.Id = c[1];
break;
case "timestamp": posdata.Timestamp = float.Parse(c[1]);
break;
case "msgcounter": posdata.Msgcount = int.Parse(c[1]);
break;
case "version": posdata.Version = float.Parse(c[1]);
break;
case "message":
if (c.Length > 1)
{
posdata.Message = c[1];
}
else
{
posdata.Message = "";
}
break;
default:
break;
}
}
break;
case "location]": //message location found
for (int i = 1; i < b.Length; i++)
{
string[] c = b[i].Split(new Char[] { '=' }, StringSplitOptions.RemoveEmptyEntries);
switch (c[0])
{
case "pos":
d = c[1].Split(new Char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
posdata.X = float.Parse(d[0]);
posdata.Y = float.Parse(d[1]);
posdata.Elv = float.Parse(d[2]);
break;
case "ori":
d = c[1].Split(new Char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
posdata.Quat_x = float.Parse(d[0]);
posdata.Quat_y = float.Parse(d[1]);
posdata.Quat_z = float.Parse(d[2]);
posdata.Quat_w = float.Parse(d[3]);
break;
case "quality":
posdata.Quality = float.Parse(c[1]);
break;
default:
break;
}
}
break;
}
}
this.wsserver.sendPositionUpdate(posdata);
}
private void parseMessage(string message)
{
string[] parts = { };
message = message.ToLower();
PosData posdata = new PosData();
parts = message.Split(new String[] { "[" }, StringSplitOptions.RemoveEmptyEntries);
string[] d = { };
foreach (string p in parts)
{
string[] b = p.Split(new String[] { "\n" }, StringSplitOptions.RemoveEmptyEntries);
switch (b[0])
{
case "message]": //message part found
for (int i = 1; i < b.Length; i++)
{
string[] c = b[i].Split(new Char[] { '=' }, StringSplitOptions.RemoveEmptyEntries);
switch (c[0])
{
case "sender": posdata.Id = c[1];
break;
case "timestamp": posdata.Timestamp = float.Parse(c[1]);
break;
case "msgcounter": posdata.Msgcount = int.Parse(c[1]);
break;
case "version": posdata.Version = float.Parse(c[1]);
break;
case "message":
if (c.Length > 1)
{
posdata.Message = c[1];
}
else
{
posdata.Message = "";
}
break;
default:
break;
}
}
break;
case "location]": //message location found
for (int i = 1; i < b.Length; i++)
{
string[] c = b[i].Split(new Char[] { '=' }, StringSplitOptions.RemoveEmptyEntries);
switch (c[0])
{
case "pos":
d = c[1].Split(new Char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
posdata.X = float.Parse(d[0]);
posdata.Y = float.Parse(d[1]);
posdata.Elv = float.Parse(d[2]);
break;
case "ori":
d = c[1].Split(new Char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
posdata.Quat_x = float.Parse(d[0]);
posdata.Quat_y = float.Parse(d[1]);
posdata.Quat_z = float.Parse(d[2]);
posdata.Quat_w = float.Parse(d[3]);
break;
case "quality":
posdata.Quality = float.Parse(c[1]);
break;
default:
break;
}
}
break;
}
}
this.wsserver.sendPositionUpdate(posdata);
}
