public RouterUI()
{
InitializeComponent();
serial = new SerialPortWrapper();
robot = new Robot.Robot(serial);
hw = robot as IHardware;
router = new Router.Router(hw);
hw.onPositionUpdate += new EventHandler(PosUpdate);
// Setup for doing our own form painting
//this.SetStyle(
// ControlStyles.AllPaintingInWmPaint |
// ControlStyles.UserPaint |
// ControlStyles.DoubleBuffer, true);
t = new Timer();
t.Interval = 25;
t.Tick += new EventHandler(t_Tick);
t.Enabled = false;
//t.Start();
this.propertyGrid.SelectedGridItemChanged += new SelectedGridItemChangedEventHandler(propertyGrid_SelectedGridItemChanged);
userControl11.SelectedItemChanged += new EventHandler(userControl11_SelectedItemChanged);
userControl11.AddObject(router);
//g1 = new InvoluteGear();
//g2 = new InvoluteGear();
//userControl11.AddObject(g1);
//g2.X = 122.5493f * 2;
//g2.Rotation = 180.0f / 11.0f + 0.425f;
//userControl11.AddObject(g2);
}
internal void AddObject(Object o)
{
if (o != null)
{
objects.Add(o);
if (o is Router.Router)
{
router = o as Router.Router;
}
}
}
public void SetUp()
{
_router = new Router();
_router.Start();
}
private static async void StartKestralAsync() {
routers = new Dictionary<string, IRouter>();
pushClients = new List<WebSocket>();
Random random = new Random();
void newRouter(int desiredCnt) {
Console.WriteLine($"creating {desiredCnt - routers.Count} new routers to {pushClients.Count} stored clients");
if (desiredCnt > routers.Count) {
for (int i = routers.Count ; i < desiredCnt; i++) {
var router_key = Guid.NewGuid().ToString();
var random_town = UKLocations.UK_Towns[ random.Next(0, UKLocations.UK_Towns.Length)];
var random_lat = Convert.ToDouble(random_town[1]) + Convert.ToDouble(random.Next(-100, 100)/1000.0);
var random_long = Convert.ToDouble(random_town[2]) + Convert.ToDouble(random.Next(-100, 100)/1000.0);
var router_val = new {id = router_key, address = random_town[0], latlong = new double[]{ random_lat, random_long}};
IRouter r = new Router.Router();
r.InitRouterAsync (10000, router_key, random_town[0].ToString(), random_lat, random_long, "connected", CancellationToken.None);
routers.Add(router_key, r);
pushClients.ForEach(async (WebSocket ws) => {
try {
if (ws.State == WebSocketState.Open) {
Console.WriteLine ("Sending...");
var rprops = await r.GetProps( CancellationToken.None);
var encoded = System.Text.Encoding.UTF8.GetBytes(JsonConvert.SerializeObject(new{type = "router", value = new []{new {id = rprops.Item1, address = rprops.Item2, latlong = new double[]{ rprops.Item3, rprops.Item4}}}}));
await ws.SendAsync(new ArraySegment<Byte>(encoded, 0, encoded.Length), WebSocketMessageType.Text, true, CancellationToken.None);
}
} catch (Exception e) {
Console.WriteLine($"Caught Error {e}");
}
});
}
} else {
for (int i = routers.Count ; i < desiredCnt; i++) {
}
}
async Task listenForMessages (WebSocket ws) {
var buffer = new byte[1024 * 4];
Console.WriteLine ($"Keep Socket open, keep a receiver on it. (ws.State = {ws.State}) (to close, send {CancellationToken.None}");
// send current routers
if (routers.Count > 0) {
foreach (IRouter r in routers.Values) {
}
var encoded = System.Text.Encoding.UTF8.GetBytes(JsonConvert.SerializeObject(new{type = "router", value = routers.Values.Select(r => {
var rprops = r.GetProps(CancellationToken.None).Result;
return new {id = rprops.Item1, address = rprops.Item2, latlong = new double[]{ rprops.Item3, rprops.Item4}};
}).ToArray()}));
await ws.SendAsync(new ArraySegment<Byte>(encoded, 0, encoded.Length), WebSocketMessageType.Text, true, CancellationToken.None);
}
// keep socket open
while (ws.State == WebSocketState.Open)
{
WebSocketReceiveResult result = null;
try {
result = await ws.ReceiveAsync(new ArraySegment<byte>(buffer), CancellationToken.None);
if (!result.CloseStatus.HasValue) {
Console.WriteLine ($"got message, handle it, then listen for another one {new ArraySegment<byte>(buffer, 0, result.Count)}, type: {result.MessageType}" );
} else {
await ws.CloseAsync(result.CloseStatus.Value, result.CloseStatusDescription, CancellationToken.None);
}
} catch (Exception e) {
//Console.WriteLine($"Caught Error");
}
}
Console.WriteLine ("Socket has been closed");
}
Console.WriteLine ($"PATH: {Path.Combine(Directory.GetCurrentDirectory(), "public")}");
Action<IApplicationBuilder> appPipeline = (app) => {
/*
var applicationLifetime = app.ApplicationServices.GetRequiredService<IApplicationLifetime>();
applicationLifetime.ApplicationStopping.Register(() => {
Console.WriteLine ("Gracfully shutting down Sockets");
pushClients.ForEach(async (WebSocket ws) => {
Console.WriteLine($"Open");
});
});
*/
app.UseDefaultFiles();
app.UseStaticFiles();
app.UseWebSockets(); // build in middleware
app.Map("/setActors", (app1) => {
app1.Run(async context => {
if (context.Request.Method == "POST") {
using (StreamReader inputStream = new StreamReader(context.Request.Body))
{
var payload = inputStream.ReadToEnd();
var body = JsonConvert.DeserializeObject<Dictionary<string, string>>(payload);
var cnt = Int32.Parse(body["number"]);
newRouter(cnt);
// await context.Response.WriteAsync(JsonConvert.SerializeObject(new{host = Dns.GetHostName(), os = RuntimeInformation.OSDescription}));
}
} else {
context.Response.StatusCode = 400;
//var paths = context.Request.Path.Value.Split('/');
//if (paths.Length < 2 || String.IsNullOrEmpty(paths[1])) {
}
});
});
app.Map("/getActor", (app1) => {
app1.Run(async context => {
if (context.Request.Method == "GET") {
var id = context.Request.Query["id"].First();
var rprops = await routers[id].GetProps(CancellationToken.None);
byte[] data = System.Text.Encoding.UTF8.GetBytes(JsonConvert.SerializeObject(new {id = rprops.Item1, address = rprops.Item2, latlong = new double[]{ rprops.Item3, rprops.Item4}}));
context.Response.ContentType = "application/json";
await context.Response.Body.WriteAsync(data, 0, data.Length);
} else {
context.Response.StatusCode = 400;
//var paths = context.Request.Path.Value.Split('/');
//if (paths.Length < 2 || String.IsNullOrEmpty(paths[1])) {
}
});
});
app.Map("/test", (app1) => {
app1.Run(async context => {
var paths = context.Request.Path.Value.Split('/');
if (paths.Length < 2 || String.IsNullOrEmpty(paths[1])) {
await context.Response.WriteAsync(JsonConvert.SerializeObject(new{host = Dns.GetHostName(), os = RuntimeInformation.OSDescription}));
} else {
context.Response.StatusCode = 400;
}
});
});
app.Map("/ws", (app1) => {
app1.Run(async context => {
if (context.WebSockets.IsWebSocketRequest) {
Console.WriteLine ("New Websocket connection from client, lets accept");
WebSocket webSocket = await context.WebSockets.AcceptWebSocketAsync();
pushClients.Add(webSocket);
await listenForMessages(webSocket); // await to keep the socket open!
}
else {
Console.WriteLine ("New Websocket connection - sending 400");
context.Response.StatusCode = 400;
}
});
});
};
var host = new WebHostBuilder()
.UseKestrel()
.Configure(appPipeline)
.UseContentRoot(Directory.GetCurrentDirectory())
//.UseWebRoot(Path.Combine(Directory.GetCurrentDirectory(), "public/"))
.ConfigureLogging((hostingContext, logging) => logging.AddConsole())
.Build();
await host.RunAsync();
Console.WriteLine("any key to terminate");
}
public void AssignRouter(Router.Router router)
{
this.router = router;
this.robot = new Robot.Robot(serial);
this.robot.onRobotStatusChange += new EventHandler(RobotStatusUpdate);
}
internal void AddObject(Object o)
{
if (o != null)
{
objects.Add(o);
if (o is Router.Router)
{
router = o as Router.Router;
}
}
}
public void AssignRouter(Router.Router router)
{
this.router = router;
this.robot = new Robot.Robot(serial);
this.robot.onRobotStatusChange += new EventHandler(RobotStatusUpdate);
}
