protected override void onComRead(ComData raw)
{
switch (raw.getDataType())
{
case ComData.REQUEST:
Console.WriteLine("Requst: " + raw.GetRequest().ToString());
break;
case ComData.STRING:
Console.WriteLine("String : " + raw.getMessage());
break;
case "KeyFrame":
KeyFrame f = new KeyFrame();
if (!raw.TryParse(ref f))
{
Console.WriteLine("failed keyframe");
return;
}
driver.SetTarget(f.cursor);
break;
case "JSONableArray":
JSONableArray <float> a = new JSONableArray <float>(float.Parse);
if (!raw.TryParse(ref a))
{
Console.WriteLine("failed array");
return;
}
Angle[] angles = new Angle[6];
float[] rawF = a.getArray();
Array.Copy(Array.ConvertAll(rawF, (x) => { return(new Angle(x)); }),
2, angles, 0, angles.Length); // first 2 is time and gripper
//Console.WriteLine("array: {0}", string.Join<Angle>(", ", angles));
driver.SetTarget(angles);
break;
default:
Console.WriteLine("defaulted with: " + raw.getDataType());
break;
}
}
public bool Run()
{
// Cursor and Keyframes
// too - move to unit tests
//ArmCursor ac = new ArmCursor(Vector3.UnitX, Quaternion.Identity);
//KeyFrame kf = new KeyFrame(ac, (float)Math.PI);
//JSONBuilder jkf = new JSONBuilder();
//ComData cd1 = new ComData(kf);
//cd1.addToJSON(jkf);
//Console.WriteLine(jkf.ToString());
//ComData cd1b = new ComData("");
//cd1b.fillFromJSON(new JSONDecoder(jkf.ToString()));
//KeyFrame kf2 = new KeyFrame();
//Console.WriteLine(cd1b.TryParse(ref kf2));
Angle[] a =
{
new Angle(0.1f),
new Angle(0.2f),
new Angle(0.3f),
new Angle(0.4f)
};
JSONBuilder ja = new JSONBuilder();
JSONableArray <Angle> aa = new JSONableArray <Angle>(a, (str) => { return(new Angle(float.Parse(str))); });
ComData cd2 = new ComData(aa);
cd2.addToJSON(ja);
Console.WriteLine(ja.ToString());
ComData cd2b = new ComData("");
cd2b.fillFromJSON(new JSONDecoder(ja.ToString()));
JSONableArray <Angle> aa2 = new JSONableArray <Angle>((str) => { return(new Angle(float.Parse(str))); });
Console.WriteLine(cd2b.TryParse(ref aa2));
return(true);
}