public CreateOrEditViewModel Create(int?id)
{
if (id == null)
{
return new CreateOrEditViewModel()
{
CSharpClassNameOptions = this.GetCSharpClassNameOptions()
}
}
;
Microcontroller microcontroller = this.RequestHandler.Storage.GetRepository <IMicrocontrollerRepository>().WithKey((int)id);
return(new CreateOrEditViewModel()
{
Id = microcontroller.Id,
Name = microcontroller.Name,
UrlTemplate = microcontroller.UrlTemplate,
ViewName = microcontroller.ViewName,
CSharpClassName = microcontroller.CSharpClassName,
CSharpClassNameOptions = this.GetCSharpClassNameOptions(),
UseCaching = microcontroller.UseCaching,
Position = microcontroller.Position
});
}
public async Task <IActionResult> Create([Bind("MicrocontrollerID,MicrocontrollerName")] Microcontroller microcontroller)
{
microcontroller.UserID = Convert.ToInt32(this.User.FindFirstValue(ClaimTypes.NameIdentifier));
using (RNGCryptoServiceProvider rng = new RNGCryptoServiceProvider())
{
byte[] val = new byte[4];
rng.GetBytes(val);
int value = BitConverter.ToInt32(val, 0);
string _AuthKey = hashData.ComputeHashSha512(value.ToString(), microcontroller.UserID.ToString());
_AuthKey = _AuthKey.Substring(0, 12);
microcontroller.APIauthKey = _AuthKey;
}
if (ModelState.IsValid)
{
_context.Add(microcontroller);
await _context.SaveChangesAsync();
return(RedirectToAction(nameof(Index)));
}
return(View(microcontroller));
}
private static void Blink(int pin, int delay)
{
Microcontroller.DigitalWrite(Microcontroller.High, pin);
Delay(delay);
Microcontroller.DigitalWrite(Microcontroller.Low, pin);
Delay(delay);
}
public async Task <IActionResult> Edit(int id, [Bind("MicrocontrollerID,MicrocontrollerName,isPrivate,UserID")] Microcontroller microcontroller)
{
if (id != microcontroller.MicrocontrollerID)
{
return(NotFound());
}
if (ModelState.IsValid)
{
try
{
_context.Update(microcontroller);
await _context.SaveChangesAsync();
}
catch (DbUpdateConcurrencyException)
{
if (!MicrocontrollerExists(microcontroller.MicrocontrollerID))
{
return(NotFound());
}
else
{
throw;
}
}
return(RedirectToAction(nameof(Index)));
}
ViewData["UserID"] = new SelectList(_context.Users, "UserID", "Name", microcontroller.UserID);
return(View(microcontroller));
}
public IActionResult Invoke(IRequestHandler requestHandler, Microcontroller microcontroller, IEnumerable <KeyValuePair <string, string> > parameters)
{
string url = string.Format("/{0}", requestHandler.HttpContext.GetRouteValue("url"));
dynamic viewModel = null;
SerializedObject serializedPage = requestHandler.Storage.GetRepository <ISerializedObjectRepository>().WithCultureIdAndUrlPropertyStringValue(
CultureManager.GetCurrentCulture(requestHandler.Storage).Id, url
);
if (serializedPage != null)
{
viewModel = this.CreateViewModel(requestHandler, microcontroller, serializedPage);
}
else
{
Object page = requestHandler.Storage.GetRepository <IObjectRepository>().WithUrl(url);
if (page != null)
{
viewModel = this.CreateViewModel(requestHandler, microcontroller, page);
}
}
if (viewModel != null)
{
return((requestHandler as Platformus.Barebone.Frontend.Controllers.ControllerBase).View(microcontroller.ViewName, viewModel));
}
return(null);
}
public void Add(Microcontroller microcontroller)
{
if (!Contains(microcontroller.DeviceId))
{
this._mqqtSvcDbContext.Microcontrollers.Add(this._microcontrollerMapper.Map(microcontroller));
this._mqqtSvcDbContext.SaveChanges();
}
}
public MicrocontrollerViewModel Create(Microcontroller microcontroller)
{
return(new MicrocontrollerViewModel()
{
Id = microcontroller.Id,
Name = microcontroller.Name,
Position = microcontroller.Position
});
}
public MicrocontrollerEntity Map(Microcontroller mc)
{
return(new MicrocontrollerEntity
{
DeviceId = mc.DeviceId,
Powered = mc.Powered,
Temperature = mc.Temperature
});
}
public AutonomousBehaviour(IMU440 IMU1, Microcontroller uC1, PositionTracker pos1, ThrustManager lev1, log ERRORLOG)
{
// TODO: Complete member initialization
this.IMU = IMU1;
this.uC = uC1;
this.pos = pos1;
this.lev = lev1;
this.ERRORLOG = ERRORLOG;
}
private dynamic CreateViewModel(IRequestHandler requestHandler, Microcontroller microcontroller)
{
ViewModelBuilder viewModelBuilder = new ViewModelBuilder();
foreach (DataSource dataSource in requestHandler.Storage.GetRepository <IDataSourceRepository>().FilteredByMicrocontrollerId(microcontroller.Id))
{
viewModelBuilder.BuildProperty(dataSource.Code, this.CreateDataSourceViewModel(requestHandler, dataSource));
}
return(viewModelBuilder.Build());
}
public void Delete(Microcontroller microcontroller)
{
var entry = _mqqtSvcDbContext.Microcontrollers.Where(
p => p.DeviceId == microcontroller.DeviceId).FirstOrDefault <MicrocontrollerEntity>();
if (entry != null)
{
_mqqtSvcDbContext.Entry(entry).State = EntityState.Deleted;
_mqqtSvcDbContext.SaveChanges();
}
}
public override void AddRemoteControlling(PeerConnection Connection)
{
// Creating instance of system component to manipulate of equipment
FirmwareLoader = Quartus.GetInstance();
InputEmulator = Microcontroller.Create();
// Adding data channel for loading firmware and controling equipment
Connection.DataChannelAdded += DataChannelAddedHandler;
//Console.WriteLine("End of GetMedia which initialized UserCell in Thread {0}", Thread.CurrentThread.ManagedThreadId);
}
private async void CommandChannelHandler(byte[] command)
{
try
{
Console.WriteLine("Received command {0}", ASCIIEncoding.ASCII.GetString(command));
Console.WriteLine(Microcontroller.WasOpened());
await InputEmulator.SendCTP_CommandAsync(JsonSerializer.Deserialize <CTP_packet>(command));
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
public IActionResult Invoke(IRequestHandler requestHandler, Microcontroller microcontroller, IEnumerable <KeyValuePair <string, string> > parameters)
{
string url = string.Format("/{0}", requestHandler.HttpContext.GetRouteValue("url"));
if (microcontroller.UseCaching)
{
return(requestHandler.HttpContext.RequestServices.GetService <ICache>().GetPageActionResultWithDefaultValue(
url + requestHandler.HttpContext.Request.QueryString, () => this.GetActionResult(requestHandler, microcontroller, parameters, url)
));
}
return(this.GetActionResult(requestHandler, microcontroller, parameters, url));
}
public async Task <Microcontroller> GetAsync(int id, string authKey)
{
Microcontroller microcontroller = await _context.Microcontrollers
.AsNoTracking()
.Include(s => s.Readings)
.ThenInclude(s => s.ReadingValues)
.FirstOrDefaultAsync(m => m.MicrocontrollerID == id);
if (authKey == microcontroller.APIauthKey)
{
return(microcontroller);
}
return(null);
}
public Microcontroller Map(CreateOrEditViewModel createOrEdit)
{
Microcontroller microcontroller = new Microcontroller();
if (createOrEdit.Id != null)
{
microcontroller = this.RequestHandler.Storage.GetRepository <IMicrocontrollerRepository>().WithKey((int)createOrEdit.Id);
}
microcontroller.Name = createOrEdit.Name;
microcontroller.UrlTemplate = createOrEdit.UrlTemplate;
microcontroller.ViewName = createOrEdit.ViewName;
microcontroller.CSharpClassName = createOrEdit.CSharpClassName;
microcontroller.Position = createOrEdit.Position;
return(microcontroller);
}
public async Task <ActionResult <Reading> > PostReading(int ID, string authKey, [FromBody] Reading reading)
{
Microcontroller microcontroller = await _context.Microcontrollers
.AsNoTracking()
.Include(s => s.Readings)
.FirstOrDefaultAsync(m => m.MicrocontrollerID == ID);
Reading _reading = new Reading {
Date_time = DateTime.Now, MicrocontrollerID = ID, Microcontroller = microcontroller, ReadingValues = reading.ReadingValues
};
_reading.Microcontroller = microcontroller;
microcontroller.Readings.Add(_reading);
foreach (ReadingValue readingValue in _reading.ReadingValues)
{
_context.ReadingValues.Add(readingValue);
}
_context.Entry(microcontroller).State = EntityState.Modified;
_context.Readings.Add(_reading);
try
{
await _context.SaveChangesAsync();
}
catch (DbUpdateException)
{
if (ReadingExists(ID))
{
return(Conflict());
}
else
{
throw;
}
}
if (authKey == microcontroller.APIauthKey)
{
return(CreatedAtAction("GetReading", new { id = ID }, reading));
}
return(null);
}
public ThrustManager(IMU440 nav, Microcontroller u, PositionTracker p, log loger)
{
//Purpose: Constructor for thrustManager
//Inputs: the IMU object, and the microcontroller object, which each have the serial communication functions within.
lg = loger;
navigation = nav;
position = p;
uCon = u;
desiredPitch = 0;
desiredRoll = 0;
desiredDepth = -0.5;
desiredYaw = 0;
desiredSurge = 0;
desiredSway = 0;
Tp = 0; //pitch
Tr = 0; //roll
Ty = 0; //yaw
Td = 0; //depth
Tsu = 0; //surge
Tsw = 0; //sway
uCon.sensorRequest();
//gots to tune these pids
ptch = new PID(0, 0, 0, 60.0, -60.0, 40, -40, getActualPitch, getDesiredPitch, computeTp);
rll = new PID(.5, 0, .4, 60.0, -60.0, 40, -40, getActualRoll, getDesiredRoll, computeTr);
surge = new PID(0.6, 0, 0, 3, -3, 75, -75, getActualSurge, getDesiredSurge, computeTsu);
sway = new PID(0.6, 0, 0, 3, -3, 75, -75, getActualSway, getDesiredSway, computeTsw);
depth = new PID(0.8, 0.1, .8, 0, -9, 75, -75, getActualDepth, getDesiredDepth, computeTd);
yaw = new PID(0, 0, 0, 180, -180, 40, -40, getActualYaw, getDesiredYaw, computeTy);
ptch.Enable();
rll.Enable();
//commented cause we dont have everything worked out for yaw, and i haven't written something to calculate velocity
surge.Enable();
sway.Enable();
depth.Enable();
yaw.Enable();
backgroundThrustManager = new Thread(new ThreadStart(levelingTask));
backgroundThrustManager.IsBackground = true;
backgroundThrustManager.Start();
}
public IActionResult TryHandle(IRequestHandler requestHandler, string url)
{
IMicrocontrollerResolver microcontrollerResolver = requestHandler.HttpContext.RequestServices.GetService <IMicrocontrollerResolver>();
Microcontroller microcontroller = microcontrollerResolver.GetMicrocontroller(requestHandler, url);
if (microcontroller == null)
{
return(null);
}
IMicrocontroller microcontrollerInstance = this.GetMicrocontrollerInstance(microcontroller);
if (microcontrollerInstance == null)
{
return(null);
}
return(microcontrollerInstance.Invoke(requestHandler, microcontroller, microcontrollerResolver.GetParameters(microcontroller.UrlTemplate, url)));
}
//
// Constructors
//
#region Constructors
/// <summary>
/// Initializes the members of this instance.
/// </summary>
static Globals()
{
_database = new SQLServerDatabase(@"Gamer-PC\SQLEXPRESS", "HCS");
_account = null;
_kwh = 0;
_microcontroller = null;
/*bool flag = false;
* foreach (ConnectionStringSettings css in ConfigurationManager.ConnectionStrings)
* {
* try
* {
* _database = new SQLServerDatabase(css.ConnectionString);
* flag = true;
* break;
* }
* catch { }
* }
* if (!flag) throw new ArgumentException("No connection string was valid.");*/
}
public static bool LoadMicrocontroller(string portName = "")
{
if (portName == "")
{
if (System.IO.File.Exists("port.txt"))
{
_microcontroller = new Microcontroller(System.IO.File.ReadAllText("port.txt"), 9600);
return(true);
}
else
{
return(false);
}
}
else
{
_microcontroller = new Microcontroller(portName, 9600);
System.IO.File.WriteAllText("port.txt", portName);
return(true);
}
}
public void AddNew(Microcontroller employee)
{
throw new NotImplementedException();
}
private static void Init(int pin)
{
Microcontroller.PinMode(Microcontroller.Output, pin);
}
public async Task InitAsync()
{
Microcontroller.Initialize(mcu);
await mcu.ExecuteAction(Init, pin);
}
private void readBoardInfos()
{
this.micros_list = new List <Microcontroller>();
XmlDocument xml_doc = new XmlDocument();
try
{
xml_doc.Load(µC_file_settings_name);
}
catch (Exception e) {
MessageBox.Show("XML Error: " + e.Message);
}
XmlNodeList xml_boards = xml_doc.GetElementsByTagName("microcontroller");
int boards_size = xml_boards.Count;
Microcontroller micro;
foreach (XmlNode a_xml_board in xml_boards)
{
micro = new Microcontroller(a_xml_board.Attributes[0].Value);
micro.setFamily(a_xml_board.Attributes[1].Value);
micro.setManufacturer(a_xml_board.Attributes[2].Value);
//Architecture
string size_archi_str = a_xml_board.ChildNodes[0].Attributes[0].Value;
string unit_archi_str = a_xml_board.ChildNodes[0].Attributes[1].Value;
micro.setArchitecture(Int32.Parse(size_archi_str), unit_archi_str);
//Processor
string speed_proc_str = a_xml_board.ChildNodes[1].Attributes[0].Value;
string unit_proc_str = a_xml_board.ChildNodes[1].Attributes[1].Value;
micro.setProcessor(Int32.Parse(speed_proc_str), unit_proc_str);
//Ram Memory
string ram_type = a_xml_board.ChildNodes[2].Attributes[0].Value;
string ram_size = a_xml_board.ChildNodes[2].Attributes[1].Value;
string ram_unit = a_xml_board.ChildNodes[2].Attributes[2].Value;
micro.setRamMemory(ram_type, Int32.Parse(ram_size), ram_unit);
//Program Memory
string prog_type = a_xml_board.ChildNodes[3].Attributes[0].Value;
string prog_size = a_xml_board.ChildNodes[3].Attributes[1].Value;
string prog_unit = a_xml_board.ChildNodes[3].Attributes[2].Value;
micro.setProgramMemory(prog_type, Int32.Parse(prog_size), prog_unit);
//Data Memory
string data_type = a_xml_board.ChildNodes[4].Attributes[0].Value;
string data_size = a_xml_board.ChildNodes[4].Attributes[1].Value;
string data_unit = a_xml_board.ChildNodes[4].Attributes[2].Value;
micro.setDataMemory(data_type, Int32.Parse(data_size), data_unit);
//Read Digital pins and save
micro.max_digital_pin = Int32.Parse(a_xml_board.ChildNodes[5].Attributes[0].Value);
int N_Digit_Pins = a_xml_board.ChildNodes[5].ChildNodes.Count;
for (int i = 0; i < N_Digit_Pins; i++)
{
string pin_address = a_xml_board.ChildNodes[5].ChildNodes[i].Attributes[0].Value;
string pin_type = a_xml_board.ChildNodes[5].ChildNodes[i].Attributes[1].Value;
micro.pins_list_digital.Add(new IOPin(pin_address, pin_type));
}
//Read Analog pins and save
micro.max_analog_pin = Int32.Parse(a_xml_board.ChildNodes[6].Attributes[0].Value);
int N_Analog_Pins = a_xml_board.ChildNodes[6].ChildNodes.Count;
for (int i = 0; i < N_Analog_Pins; i++)
{
string pin_address = a_xml_board.ChildNodes[6].ChildNodes[i].Attributes[0].Value;
string pin_type = a_xml_board.ChildNodes[6].ChildNodes[i].Attributes[1].Value;
micro.pins_list_analog.Add(new IOPin(pin_address, pin_type));
}
micro.set_SC_header_path(a_xml_board.ChildNodes[7].ChildNodes[0].Attributes[0].Value);
micro.set_SC_read_pins_path(a_xml_board.ChildNodes[7].ChildNodes[1].Attributes[0].Value);
micro.set_SC_write_pins_path(a_xml_board.ChildNodes[7].ChildNodes[2].Attributes[0].Value);
micro.set_SC_pinMode_config_path(a_xml_board.ChildNodes[7].ChildNodes[3].Attributes[0].Value);
micro.set_SC_timer_definition_path(a_xml_board.ChildNodes[7].ChildNodes[4].Attributes[0].Value);
micro.set_SC_readInMemory_path(a_xml_board.ChildNodes[7].ChildNodes[5].Attributes[0].Value);
micro.set_SC_writeInMemory_path(a_xml_board.ChildNodes[7].ChildNodes[6].Attributes[0].Value);
this.micros_list.Add(micro);
}
}
private IActionResult GetActionResult(IRequestHandler requestHandler, Microcontroller microcontroller, IEnumerable <KeyValuePair <string, string> > parameters, string url)
{
dynamic viewModel = this.CreateViewModel(requestHandler, microcontroller);
return((requestHandler as Platformus.Barebone.Frontend.Controllers.ControllerBase).View(microcontroller.ViewName, viewModel));
}
public static void Initialize(SensorLoggerContext context)
{
context.Database.EnsureCreated();
if (context.Microcontrollers.Any())
{
return; // DB has been seeded
}
var microcontrollers = new Microcontroller[]
{
new Microcontroller {
MicrocontrollerName = "Controller 1 med temperatur og fugtmaaler"
},
new Microcontroller {
MicrocontrollerName = "Controller 2 med temperaturmaaler"
},
new Microcontroller {
MicrocontrollerName = "Controller 3 med lysmaaler"
}
};
foreach (Microcontroller s in microcontrollers)
{
context.Microcontrollers.Add(s);
}
//context.SaveChanges();
var readings = new Reading[]
{
new Reading {
MicrocontrollerID = 1, ReadingID = 1, Date_time = DateTime.Parse("2020-09-01 7:24:37")
},
new Reading {
MicrocontrollerID = 2, ReadingID = 2, Date_time = DateTime.Parse("2020-12-03 9:11:42")
},
new Reading {
MicrocontrollerID = 2, ReadingID = 3, Date_time = DateTime.Parse("2020-01-11 1:53:26")
},
new Reading {
MicrocontrollerID = 3, ReadingID = 4, Date_time = DateTime.Parse("2020-11-03 3:36:51")
},
new Reading {
MicrocontrollerID = 3, ReadingID = 5, Date_time = DateTime.Parse("2020-03-02 8:34:12")
}
};
foreach (Reading c in readings)
{
context.Readings.Add(c);
}
//context.SaveChanges();
var readingValues = new ReadingValue[]
{
new ReadingValue {
ReadingValueID = 1, ReadingID = 1, Value = 23, ValueType = "C"
},
new ReadingValue {
ReadingValueID = 2, ReadingID = 1, Value = 67, ValueType = "Procent"
},
new ReadingValue {
ReadingValueID = 3, ReadingID = 2, Value = 25, ValueType = "C"
},
new ReadingValue {
ReadingValueID = 4, ReadingID = 3, Value = 21, ValueType = "C"
},
new ReadingValue {
ReadingValueID = 5, ReadingID = 4, Value = 1032, ValueType = "LUX"
},
new ReadingValue {
ReadingValueID = 6, ReadingID = 5, Value = 21032, ValueType = "LUX"
}
};
foreach (ReadingValue e in readingValues)
{
context.ReadingValues.Add(e);
}
//context.SaveChanges();
}
static private async Task StartStend()
{
var autoEvent = new AutoResetEvent(false);
bool video_translator = true;
bool file_created = false;
FileStream file = null;
Quartus quartus = Quartus.GetInstance();
Microcontroller arduino = Microcontroller.Create();
if (video_translator)
{
// Asynchronously retrieve a list of available video capture devices (webcams).
var deviceList = await DeviceVideoTrackSource.GetCaptureDevicesAsync();
// For example, print them to the standard output
foreach (var device in deviceList)
{
Console.WriteLine($"Found webcam {device.name} (id: {device.id})");
}
}
// Create a new peer connection automatically disposed at the end of the program
var pc = new PeerConnection();
// Initialize the connection with a STUN server to allow remote access
var config = SystemConfiguration.PeerConnectionSettings;
await pc.InitializeAsync(config);
Console.WriteLine("Peer connection initialized.");
//var chen = await pc.AddDataChannelAsync("sendDataChannel", true, true, cancellationToken: default);
Console.WriteLine("Opening local webcam...");
// pc - PeerConnection object
Transceiver videoTransceiver = null;
VideoTrackSource videoTrackSource = null;
LocalVideoTrack localVideoTrack = null;
LocalVideoDeviceInitConfig c = new LocalVideoDeviceInitConfig();
await VideoDeviceSelection();
videoTrackSource = await Camera.CreateAsync(SystemConfiguration.VideoDeviceSettings);
WebSocketSharp.WebSocket signaling = new WebSocketSharp.WebSocket(CreateSignalingServerUrl(), "id_token", "alpine");
pc.LocalSdpReadytoSend += (SdpMessage message) =>
{
//Console.WriteLine(SdpMessage.TypeToString(message.Type));
Console.WriteLine(message.Content);
//Console.WriteLine(HttpUtility.JavaScriptStringEncode(message.Content));
Console.WriteLine("Sdp offer to send: {\"data\":{\"description\":{\"type\":\"" + SdpMessage.TypeToString(message.Type) + "\",\"sdp\":\"" + HttpUtility.JavaScriptStringEncode(message.Content) + "\"}}}");
signaling.Send(message.ToABJson());
};
pc.RenegotiationNeeded += () =>
{
Console.WriteLine("Regotiation needed");
bool OfferCreated = pc.CreateOffer();
Console.WriteLine("OfferCreated? {0}", OfferCreated);
};
pc.DataChannelAdded += (DataChannel channel) =>
{
Console.WriteLine("Added data channel ID: {0}, Label: {1}; Reliable: {2}, Ordered: {3}", channel.ID, channel.Label, channel.Reliable, channel.Ordered);
if (channel.Label == "sendDataChannel")
{
channel.MessageReceived += (byte[] mess) => {
try
{
CTP_packet command = JsonSerializer.Deserialize <CTP_packet>(mess);
Console.WriteLine(arduino.SendCTP_Command(command));
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
};
}
else
{
if (file_created == false)
{
file = new FileStream(channel.Label, FileMode.Append);
file_created = true;
}
channel.MessageReceived += async(byte[] mess) =>
{
// Console.WriteLine(System.Text.Encoding.Default.GetString(mess));
if (mess.Length == 3 && System.Text.Encoding.Default.GetString(mess) == "EOF")
{
string file_name = file.Name;
file.Close();
string t = await quartus.RunQuartusCommandAsync($"quartus_pgm -m jtag –o \"p;{file_name}@1\"");
File.Delete(file_name);
file_created = false;
}
else
{
WriteFileSegment(mess, file);
}
};
}
channel.StateChanged += () =>
{
Console.WriteLine("State change: {0}", channel.State);
};
};
pc.IceCandidateReadytoSend += (IceCandidate candidate) =>
{
//Console.WriteLine("Content: {0}, SdpMid: {1}, SdpMlineIndex: {2}", candidate.Content, candidate.SdpMid, candidate.SdpMlineIndex);
try
{
Console.WriteLine("Candidate to send: Content: {0}, SdpMid: {1}, SdpMlineIndex: {2}", candidate.Content, candidate.SdpMid, candidate.SdpMlineIndex);
signaling.Send(candidate.ToABJson());
}
catch (Exception e)
{
Console.WriteLine("Error to send local ice candidate");
}
};
//videoTrackSource.I420AVideoFrameReady += (frame) =>
//{
// Console.WriteLine("Argb32 frame ready. {0} : {1}", frame.width, frame.height);
// Console.WriteLine("DataA: {0}, DataU: {1}, DataV: {2}, DataY: {3}", Marshal.SizeOf(frame.dataA),
// Marshal.SizeOf(frame.dataU),
// Marshal.SizeOf(frame.dataV),
// Marshal.SizeOf(frame.dataY));
//};
signaling.OnMessage += async(sender, message) =>
{
(string header, string correct_message) = message.Data.DivideHeaderAndOriginalJSON();
Console.WriteLine("Correct message: {0}", correct_message);
Console.WriteLine("Header: {0}", header);
if (header == "{\"data\":{\"getRemoteMedia\":" && correct_message == "true")
{
Console.WriteLine("Create local video track...");
var trackSettings = new LocalVideoTrackInitConfig {
trackName = "webcam_track"
};
localVideoTrack = LocalVideoTrack.CreateFromSource(videoTrackSource, new LocalVideoTrackInitConfig {
trackName = "webcam_track"
});
Console.WriteLine("Create video transceiver and add webcam track...");
TransceiverInitSettings option = new TransceiverInitSettings();
option.Name = "webcam_track";
option.StreamIDs = new List <string> {
"webcam_name"
};
videoTransceiver = pc.AddTransceiver(MediaKind.Video, option);
videoTransceiver.DesiredDirection = Transceiver.Direction.SendOnly;
videoTransceiver.LocalVideoTrack = localVideoTrack;
bool OfferCreated = pc.CreateOffer();
Console.WriteLine("OfferCreated? {0}", OfferCreated);
}
//Console.WriteLine(message.Data);
if (header.IndexOf("candidate") != -1 && correct_message != "null")
{
try
{
var candidate = JsonSerializer.Deserialize <ICEJavaScriptNotation>(correct_message);
Console.WriteLine("Content of ice: {0}, SdpMid: {1}, SdpMLineIndex: {2}", candidate.candidate, candidate.sdpMid, candidate.sdpMLineIndex);
pc.AddIceCandidate(candidate.ToMRNetCoreNotation());
Console.WriteLine("Deserialized by ice_candidate");
//return;
}
catch (Exception)
{
Console.WriteLine("Could not deserialize as ice candidate");
}
}
if (header.IndexOf("description") != -1)
{
try
{
SdpMessage received_description = JsonSerializer.Deserialize <SDPJavaScriptNotation>(correct_message).ToMRNetCoreNotation();
await pc.SetRemoteDescriptionAsync(received_description);
if (received_description.Type == SdpMessageType.Offer)
{
bool res = pc.CreateAnswer();
Console.WriteLine("Answer created? {0}", res);
}
Console.WriteLine("Deserialized by sdp_message");
}
catch (Exception)
{
Console.WriteLine("Could not deserialize as sdp message");
}
}
};
pc.Connected += () =>
{
Console.WriteLine("Connected");
};
pc.IceStateChanged += (IceConnectionState newState) =>
{
if (newState == IceConnectionState.Disconnected)
{
Console.WriteLine("Disconected");
}
};
signaling.Connect();
if (!video_translator)
{
signaling.Send("{\"data\":{\"getRemoteMedia\":true}}");
}
//Console.WriteLine("Press a key to terminate the application...");
Console.ReadKey(true);
Console.WriteLine("Program termined.");
file?.Close();
pc?.Close();
signaling?.Close();
//arduino?.Close();
//(var a, var b) = ConvertString("{\"data\":{\"candidate\":null}}");
//Console.WriteLine("{0}, {1}", a, b);
}
private IMicrocontroller GetMicrocontrollerInstance(Microcontroller microcontroller)
{
return(StringActivator.CreateInstance <IMicrocontroller>(microcontroller.CSharpClassName));
}
private double getDesiredDepth()
{
return((uCon.gamepad_depth - 81 >= 0) ? desiredDepth : -Microcontroller.map(uCon.gamepad_depth, 0, 81, 2, 0));
}
