public WebController(RosBridgeUtility.RosBridgeConfig conf, RosBridgeUtility.RosBridgeLogic parent)
{
this.conf = conf;
this.parent = parent;
// Initialize webserver
NeobotixStateServer = new HttpServer(4649);
NeobotixStateServer.RootPath = "../../Public";
Console.WriteLine(NeobotixStateServer.RootPath);
LastMsgs = new RosBridgeUtility.ServerStorage();
LastRGB = new RosBridgeUtility.ImageStorage();
LastDepth = new RosBridgeUtility.ImageStorage();
NeobotixStateServer.OnGet += (sender, e) =>
{
var req = e.Request;
Console.WriteLine(e.Request.QueryString);
var res = e.Response;
var path = req.RawUrl;
if (path == "/")
{
path += "index.html";
}
path = NeobotixStateServer.RootPath + path;
//var content = NeobotixStateServer.GetFile(path);
Console.WriteLine(path);
Console.WriteLine(File.Exists(path));
var content = System.IO.File.ReadAllBytes(path);
if (content == null)
{
res.StatusCode = (int)HttpStatusCode.NotFound;
return;
}
if (path.EndsWith(".html"))
{
res.ContentType = "text/html";
res.ContentEncoding = Encoding.UTF8;
}
res.OutputStream.Write(content, 0, content.Length);
};
NeobotixStateServer.OnPut += NeobotixStateServer_OnPut;
NeobotixStateServer.AddWebSocketService <RosBridgeUtility.OdometryBehavior>(("/neobot_odom"),
() => new RosBridgeUtility.OdometryBehavior(LastMsgs));
NeobotixStateServer.AddWebSocketService <RosBridgeUtility.StateBehavior>(("/server_state"),
() => new RosBridgeUtility.StateBehavior(LastMsgs));
NeobotixStateServer.AddWebSocketService <RosBridgeUtility.TeleopKeyBehavior>(("/neobot_teleop"),
() => new RosBridgeUtility.TeleopKeyBehavior(LastMsgs, this));
NeobotixStateServer.AddWebSocketService <RosBridgeUtility.LaserScanBehavior>(("/neobot_laser"),
() => new RosBridgeUtility.LaserScanBehavior(LastMsgs));
NeobotixStateServer.AddWebSocketService <RosBridgeUtility.ImageBehavior>(("/kinect_image"),
() => new RosBridgeUtility.ImageBehavior(LastRGB));
NeobotixStateServer.AddWebSocketService <RosBridgeUtility.ImageBehavior>(("/kinect_depth"),
() => new RosBridgeUtility.ImageBehavior(LastDepth));
}
public void updateImageState(ref BitmapSource source, Int32 height, Int32 width, RosBridgeUtility.ImageStorage target)
{
target.lastImageMsg = new RosBridgeUtility.ImageState();
target.lastImageMsg.height = height;
target.lastImageMsg.width = width;
var encoder = new JpegBitmapEncoder();
var frame = BitmapFrame.Create(source);
encoder.Frames.Add(frame);
using (var stream = new MemoryStream())
{
encoder.Save(stream);
target.lastImageMsg.pixels = Convert.ToBase64String(stream.ToArray());
}
}
