public HapticPlayer(Action <bool> connectionChanged, bool tryReconnect = true)
{
_sender = new WebSocketSender();
_sender.StatusReceived += feedback =>
{
StatusReceived?.Invoke(feedback);
lock (_activeKeys)
{
_activeKeys.Clear();
_activeKeys.AddRange(feedback.ActiveKeys);
}
lock (_activePosition)
{
_activePosition.Clear();
_activePosition.AddRange(feedback.ConnectedPositions);
}
};
_sender.ConnectionChanged += (isConn) =>
{
connectionChanged?.Invoke(isConn);
};
_sender.Initialize(tryReconnect);
}
private async Task <bool> HandleAsync(StatusReceived message)
{
StatusReceivedDTO status = _mapper.Map <StatusReceived, StatusReceivedDTO>(message);
await _hubContext.Clients.All.SendAsync("SendMessageToGroup", status);
return(true);
}
public virtual void OnStatusReceived(BeaconStatusEventArgs statusEventArgs)
{
if (StatusReceived != null)
{
StatusReceived.Invoke(this, statusEventArgs);
}
}
public async Task <dynamic> Post([FromBody] UpdateStatus command)
{
try
{
if (ModelState.IsValid)
{
Status status = _mapper.Map <UpdateStatus, Status>(command);
_dbContext.Add(status);
int result = await _dbContext.SaveChangesAsync();
// send event
StatusReceived message = Mapper.Map <StatusReceived>(command);
await _messagePublisher.PublishMessageAsync(message.MessageType, message, "StatusReceived");
//return result
return(result > 0 ? new
{
Saved = true,
}
: new
{
Saved = false,
});
}
return(BadRequest());
}
catch (DbUpdateException)
{
ModelState.AddModelError("", "Unable to save changes. " +
"Try again, and if the problem persists " +
"see your system administrator.");
return(StatusCode(StatusCodes.Status500InternalServerError));
}
}
public async Task AcquireStatus(UpdateStatus command)
{
Status status = _mapper.Map <UpdateStatus, Status>(command);
_dbContext.Add(status);
int result = await _dbContext.SaveChangesAsync();
// send event
StatusReceived message = Mapper.Map <StatusReceived>(command);
await _messagePublisher.PublishMessageAsync(message.MessageType, message, "StatusReceived");
}
//
// Driver service data received
//
private void ProcessService_OutputDataReceived(object sender, DataReceivedEventArgs e)
{
if (e.Data == null)
{
if (running)
{
Stop();
}
}
else
{
string line = e.Data;
// Status line?
if (line.Contains("[STATUS]"))
{
// Parse status variable and value
Match match = Regex.Match(line, "^.+\\[STATUS\\] ([^ ]+) (.*?)$");
if (!match.Success)
{
return;
}
string variableName = match.Groups[1].ToString().ToLower();
string parameters = match.Groups[2].ToString();
//
// Commands status message
//
if (variableName == "commands")
{
string[] commandNames = parameters.Split(' ');
string lowerCaseName;
foreach (string name in commandNames)
{
lowerCaseName = name.Trim().ToLower();
if (lowerCaseName.Length > 0)
{
if (!commands.ContainsKey(lowerCaseName))
{
commands.Add(lowerCaseName, name);
}
}
}
}
StatusReceived?.Invoke(this, new DriverEventArgs(DriverEventType.Status, variableName, parameters));
}
ConsoleAddText(e.Data);
MessageReceived?.Invoke(this, new DriverEventArgs(DriverEventType.Message, e.Data, ""));
}
}
private void MessageReceived(object o, MessageEventArgs args)
{
if (!_enable)
{
return;
}
var msg = args.Data;
var response = PlayerResponse.ToObject(msg);
StatusReceived?.Invoke(response);
}
private async void Connect()
{
try
{
if (messageWebSocket == null)
{
messageWebSocket = new MessageWebSocket();
messageWebSocket.Control.MessageType = SocketMessageType.Utf8;
messageWebSocket.MessageReceived += (sender, args) =>
{
using (DataReader reader = args.GetDataReader())
{
reader.UnicodeEncoding = UnicodeEncoding.Utf8;
try
{
string read = reader.ReadString(reader.UnconsumedBufferLength);
var response = PlayerResponse.ToObject(read);
StatusReceived?.Invoke(response);
}
catch (Exception ex)
{
LogReceived?.Invoke(ex.Message);
}
}
};
messageWebSocket.Closed += (sender, args) =>
{
_websocketConnected = false;
ConnectionChanged?.Invoke(_websocketConnected);
};
}
await messageWebSocket.ConnectAsync(new Uri(WebsocketUrl));
messageWriter = new DataWriter(messageWebSocket.OutputStream);
_websocketConnected = true;
ConnectionChanged?.Invoke(_websocketConnected);
AddRegister(_registered);
}
catch (Exception)
{
_websocketConnected = false;
ConnectionChanged?.Invoke(_websocketConnected);
await Task.CompletedTask;
}
}
public async void Run()
{
IsRunning = true;
await Task.Run(async() =>
{
while (IsRunning)
{
try
{
string response = await conn.WaitForResponse();
Tuple <string[], PacketType> packet = packetHandler.HandlePacket(response);
switch (packet.Item2)
{
case PacketType.Status:
StatusReceived?.Invoke(new StatusArgs(packet.Item1[1]));
break;
case PacketType.SyncData:
SyncDataReceived?.Invoke(new SyncDataArgs(packet.Item1));
break;
case PacketType.Heart:
HeartReceived?.Invoke(new HeartArgs(packet.Item1[1]));
break;
case PacketType.ClientDisconnect:
ClientDisconnectReceived?.Invoke(new EventArgs());
break;
case PacketType.Broadcast:
BroadcastReceived?.Invoke(new BroadcastArgs(packet.Item1[1]));
break;
case PacketType.Message:
MessageReceived?.Invoke(new MessageArgs(packet.Item1[1]));
break;
}
}
catch (Exception e)
{
IsRunning = false;
}
}
});
}
private void Start()
{
StatusReceived.Subscribe(packet =>
{
id = packet.ID;
nickname = packet.Nickname;
TargetPos = packet.TargetPos.ToVector3();
var pos = packet.Pos.ToVector3();
transform.position = pos;
}).AddTo(this);
// 이동 관련 추가 작업이 필요하면 고치기
Moved.Subscribe(move => {
TargetPos = move.TargetPos.ToVector3();
// TODO 이동 계산을 구현하기
Speed = Config.PlayerSpeed;
}).AddTo(this);
}
//
// Process driver message line
//
private void ProcessDriverMessageLine(string line)
{
//ConsoleAddLine("Message line: '" + line + "'");
// Status line?
if (line.Contains("[STATUS]"))
{
// Parse status variable and value
Match match = Regex.Match(line, "^.+\\[STATUS\\] ([^ ]+) (.*?)$");
if (match.Success)
{
string variableName = match.Groups[1].ToString().ToLower();
string parameters = match.Groups[2].ToString();
//
// Commands status message
//
if (variableName == "commands")
{
string[] commandNames = parameters.Split(' ');
string lowerCaseName;
foreach (string name in commandNames)
{
lowerCaseName = name.Trim().ToLower();
if (lowerCaseName.Length > 0)
{
if (!commands.ContainsKey(lowerCaseName))
{
commands.Add(lowerCaseName, name);
}
}
}
}
StatusReceived?.Invoke(this, new DriverEventArgs(DriverEventType.Status, variableName, parameters));
}
}
ConsoleAddLine(line);
MessageReceived?.Invoke(this, new DriverEventArgs(DriverEventType.Message, line, ""));
}
public ConnService(HubConnection connection)
{
this._connection = connection;
/* All signalR responses are received here and respective action invoke*/
_connection.On <StatusModel>("ReceiveStatus", (status) => StatusReceived?.Invoke(status));
_connection.On <Sender>("UpdateAlerts", (sender) => HandleEventReceived?.Invoke(sender));
_connection.On <CasesModel>("AlertBroadcast", (sender) => AlertReceived?.Invoke(sender));
_connection.On <string, string, string>("SMSSendingSuccess", (Sid, view, agent) => SendingSuccess?.Invoke(Sid, view, agent));
_connection.On <string, string>("SMSResponseSuccess", (Sid, response) => ResponseSuccess?.Invoke(Sid, response));
_connection.On <string>("NewUserConnected", (id) => NewUserSync?.Invoke(id));
_connection.On <List <UsersRank> >("UsersRank", (rank) => Ranking?.Invoke(rank));
_connection.On <string>("DisconnectUser", (connId) => DisconnectUser?.Invoke(connId));
_connection.On <ResponseViewModel, string>("ProgressReportA", (obj, id) => ProgressReportA?.Invoke(obj, id));
_connection.On <EMTInfo, string>("ProgressReportB", (obj, id) => ProgressReportB?.Invoke(obj, id));
_connection.On <MedicalInfo, string>("ProgressReportC", (obj, id) => ProgressReportC?.Invoke(obj, id));
_connection.On <string>("Test", (obj) => Test?.Invoke(obj));
_connection.On <string>("RestartedResponse", (obj) => Restarted?.Invoke(obj));
_connection.On <string, string, string>("CallSuccess", (sid, sender, agent) => CallSuccess?.Invoke(sid, sender, agent));
}
internal void RaiseStatus(StatusMessage msg)
{
var m = msg;
if (StatusReceived == null)
{
return;
}
var s = StatusReceived.GetInvocationList().Select(p => p as Action <StatusMessage>);
foreach (var i in s.Where(p => p != null))
{
try
{
i(m);
}
catch (Exception e)
{
Instance.LogError("ツイート受信時イベントでエラーが発生しました\n" + e.Message);
Instance.SaveLog();
}
}
}
/// <summary>
/// Parses a recevied status report (answer to '?')
/// </summary>
private void ParseStatus(string line)
{
MatchCollection statusMatch = StatusEx.Matches(line);
if (statusMatch.Count == 0)
{
NonFatalException.Invoke(string.Format("Received Bad Status: '{0}'", line));
return;
}
bool posUpdate = false;
bool overrideUpdate = false;
bool pinStateUpdate = false;
bool resetPins = true;
foreach (Match m in statusMatch)
{
if (m.Index == 1)
{
Status = m.Groups[1].Value;
continue;
}
if (m.Groups[1].Value == "Ov")
{
try
{
string[] parts = m.Groups[2].Value.Split(',');
FeedOverride = int.Parse(parts[0]);
RapidOverride = int.Parse(parts[1]);
SpindleOverride = int.Parse(parts[2]);
overrideUpdate = true;
}
catch { NonFatalException.Invoke(string.Format("Received Bad Status: '{0}'", line)); }
}
else if (m.Groups[1].Value == "WCO")
{
try
{
string OffsetString = m.Groups[2].Value;
if (Properties.Settings.Default.IgnoreAdditionalAxes)
{
string[] parts = OffsetString.Split(',');
if (parts.Length > 3)
{
Array.Resize(ref parts, 3);
OffsetString = string.Join(",", parts);
}
}
WorkOffset = Vector3.Parse(OffsetString);
posUpdate = true;
}
catch { NonFatalException.Invoke(string.Format("Received Bad Status: '{0}'", line)); }
}
else if (SyncBuffer && m.Groups[1].Value == "Bf")
{
try
{
int availableBytes = int.Parse(m.Groups[2].Value.Split(',')[1]);
int used = Properties.Settings.Default.ControllerBufferSize - availableBytes;
if (used < 0)
{
used = 0;
}
BufferState = used;
RaiseEvent(Info, $"Buffer State Synced ({availableBytes} bytes free)");
}
catch { NonFatalException.Invoke(string.Format("Received Bad Status: '{0}'", line)); }
}
else if (m.Groups[1].Value == "Pn")
{
resetPins = false;
string states = m.Groups[2].Value;
bool stateX = states.Contains("X");
if (stateX != PinStateLimitX)
{
pinStateUpdate = true;
}
PinStateLimitX = stateX;
bool stateY = states.Contains("Y");
if (stateY != PinStateLimitY)
{
pinStateUpdate = true;
}
PinStateLimitY = stateY;
bool stateZ = states.Contains("Z");
if (stateZ != PinStateLimitZ)
{
pinStateUpdate = true;
}
PinStateLimitZ = stateZ;
bool stateP = states.Contains("P");
if (stateP != PinStateProbe)
{
pinStateUpdate = true;
}
PinStateProbe = stateP;
}
else if (m.Groups[1].Value == "F")
{
try
{
FeedRateRealtime = double.Parse(m.Groups[2].Value, Constants.DecimalParseFormat);
posUpdate = true;
}
catch { NonFatalException.Invoke(string.Format("Received Bad Status: '{0}'", line)); }
}
else if (m.Groups[1].Value == "FS")
{
try
{
string[] parts = m.Groups[2].Value.Split(',');
FeedRateRealtime = double.Parse(parts[0], Constants.DecimalParseFormat);
SpindleSpeedRealtime = double.Parse(parts[1], Constants.DecimalParseFormat);
posUpdate = true;
}
catch { NonFatalException.Invoke(string.Format("Received Bad Status: '{0}'", line)); }
}
}
SyncBuffer = false; //only run this immediately after button press
//run this later to catch work offset changes before parsing position
Vector3 NewMachinePosition = MachinePosition;
foreach (Match m in statusMatch)
{
if (m.Groups[1].Value == "MPos" || m.Groups[1].Value == "WPos")
{
try
{
string PositionString = m.Groups[2].Value;
if (Properties.Settings.Default.IgnoreAdditionalAxes)
{
string[] parts = PositionString.Split(',');
if (parts.Length > 3)
{
Array.Resize(ref parts, 3);
PositionString = string.Join(",", parts);
}
}
NewMachinePosition = Vector3.Parse(PositionString);
if (m.Groups[1].Value == "WPos")
{
NewMachinePosition += WorkOffset;
}
if (NewMachinePosition != MachinePosition)
{
posUpdate = true;
MachinePosition = NewMachinePosition;
}
}
catch { NonFatalException.Invoke(string.Format("Received Bad Status: '{0}'", line)); }
}
}
if (posUpdate && Connected && PositionUpdateReceived != null)
{
PositionUpdateReceived.Invoke();
}
if (overrideUpdate && Connected && OverrideChanged != null)
{
OverrideChanged.Invoke();
}
if (resetPins) //no pin state received in status -> all zero
{
pinStateUpdate = PinStateLimitX | PinStateLimitY | PinStateLimitZ | PinStateProbe; //was any pin set before
PinStateLimitX = false;
PinStateLimitY = false;
PinStateLimitZ = false;
PinStateProbe = false;
}
if (pinStateUpdate && Connected && PinStateChanged != null)
{
PinStateChanged.Invoke();
}
if (Connected && StatusReceived != null)
{
StatusReceived.Invoke(line);
}
}
public void RaiseIntermediateStatusEvent(IntermediateStatus status)
{
StatusReceived?.Invoke(status);
}
private void OnStatusReceived(IRuntimeStatusInfo statusinfo)
{
StatusReceived?.Invoke(statusinfo);
}
internal void StatusResponse(ServoStatusResponse status)
{
//fire the event
StatusReceived?.Invoke(_arm, new DataEventArg <ServoStatusResponse>(status));
}
void StatusResponse(SoundStatusResponse status)
{
//fire the event
StatusReceived?.Invoke(_arm, new DataEventArg <SoundStatusResponse>(status));
}
public void Accept(StatusMessage msg)
{
statusMessage = msg;
StatusReceived?.Invoke(this, msg);
}
protected virtual void OnStatusReceived(JEnumerable <JToken> e)
{
StatusReceived?.Invoke(this, e);
}
private void OnStatusReceived(AMCPEventArgs e)
{
StatusReceived?.Invoke(this, e);
}
