private void SocketServer_DatagramProcessed(object sender, SessionEventArgs e)
{
#region 指令成功解析事件
RobotSession s = (RobotSession) e.SessionBaseInfo;
#endregion
}
void Start(){
initialPosition = transform.position;
//Pepper
if(!string.IsNullOrEmpty(pepperIP)){
_session = QiSession.Create(tcpPrefix + pepperIP + portSuffix);
if (!_session.IsConnected){
Debug.Log("Failed to establish connection");
return;
}
//another robot (estimated)
}else if(!string.IsNullOrEmpty(robotIP)){
session_robot = RobotSession.Create(tcpPrefix + robotIP + portSuffix);
if (!_session.IsConnected){
Debug.Log("Failed to establish connection");
return;
}
}
}
private void SocketServer_ClientLogged(object sender, SessionEventArgs e)
{
#region 设备登录成功
try
{
RobotSession s = (RobotSession)e.SessionBaseInfo;
lock (this)
{
//LogHelper.Write(LogType.Info, "设备登录成功:ID:{0} IP:{1} User:{2}", s.ID, s.IP, s.UserName);
int oldSessionID = -1; // 与本设备名称相同的会话ID
}
}
catch (System.Exception ex)
{
//LogHelper.Write(LogType.Error, "设备登录异常" + ex.Message + ex.StackTrace);
}
#endregion
}
internal async Task <Boolean> Connect()
{
Boolean flag;
Debug.WriteLine(String.Concat("Connecting: ", _info.DisplayName));
try
{
if (_info == null)
{
Debug.WriteLine(String.Concat("Unable to build Service for ", this));
flag = false;
return(flag);
}
}
catch (Exception exception1)
{
Exception exception = exception1; Debug.WriteLine(String.Concat("Exception looking up service ", _info.DisplayName, " ", exception.Message));
flag = false;
return(flag);
}
var dispatcher = Deployment.Current.Dispatcher;
_session = new RobotSession(_info, this, dispatcher);
if (!await _session.Initialize())
{
flag = false;
}
else
{
InternalSetConnectionState(ConnectionState.Connected);
Debug.WriteLine(String.Concat("Connected: ", ToString()));
_sensorControl = new SensorControl(_session);
_collisionControl = new CollisionControl(_session);
_session._responseDelegate = new RobotSession.RobotResponseDelegate(OnResponseReceived);
flag = true;
}
return(flag);
}
public override void OnXboxInputUpdate(XboxControllerEventData eventData){
if (string.IsNullOrEmpty(GamePadName)){
Debug.LogFormat("Joystick {0} with id: \"{1}\" Connected", eventData.GamePadName, eventData.SourceId);
}
base.OnXboxInputUpdate(eventData);
/*get information from xbox controller*/
if(_session.IsConnected){
if (eventData.XboxLeftStickHorizontalAxis != 0 || eventData.XboxLeftStickVerticalAxis != 0){
var motion = _session.GetService("ALMotion");
motion["moveTo"].Call(eventData.XboxLeftStickHorizontalAxis * move_scalefactor, eventData.XboxLeftStickVerticalAxis * (-1) * move_scalefactor, 0f);
}
if (eventData.XboxLeftBumper_Pressed){
var motion = _session.GetService("ALMotion");
motion["moveTo"].Call(0f, 0f, rotation_scalefactor);
}
else if (eventData.XboxRightBumper_Pressed){
var motion = _session.GetService("ALMotion");
motion["moveTo"].Call(0f, 0f, (-1) * rotation_scalefactor);
}
if (eventData.XboxB_Pressed){
if (Time.time - first_buttonpressed > timeBetweenbuttonpressed){
var motion = _session.GetService("ALMotion");
motion["setAngles"].Call("HeadYaw", angle, 0f);
}
first_buttonpressed = Time.time;
}
if (eventData.XboxX_Pressed){
if (Time.time - first_buttonpressed > timeBetweenbuttonpressed){
if (pepperIP == "192.168.10.51"){
_session.Close();
_session.Destroy();
pepperIP = "192.168.10.48"
_session = QiSession.Create(tcpPrefix + pepperIP + portSuffix);
}else{
_session.Close();
_session.Destroy();
pepperIP = "192.168.10.51"
_session = QiSession.Create(tcpPrefix + pepperIP + portSuffix);
}
}
first_buttonpressed = Time.time;
}
//another robot (estimated)
}else if(session_robot.isConnected){
if (eventData.XboxLeftStickHorizontalAxis != 0 || eventData.XboxLeftStickVerticalAxis != 0){
CallRobotsAPI_move(eventData.XboxLeftStickHorizontalAxis * move_scalefactor_robot, eventData.XboxLeftStickVerticalAxis * (-1) * move_scalefactor_robot, 0f);
}
if (eventData.XboxLeftBumper_Pressed){
CallRobotsAPI_rotate(0f, 0f, rotation_scalefactor);
}
else if (eventData.XboxRightBumper_Pressed){
CallRobotsAPI_rotate(0f, 0f, (-1) * rotation_scalefactor);
}
if (eventData.XboxB_Pressed){
if (Time.time - first_buttonpressed > timeBetweenbuttonpressed){
CallRobotsAPI_rotate(0f, 0f, 0f);
}
first_buttonpressed = Time.time;
}
if (eventData.XboxX_Pressed){
if (Time.time - first_buttonpressed > timeBetweenbuttonpressed){
if (robotIP == "192.168.10.53"){
session_robot.Close();
session_robot.Destroy();
robotIP = "192.168.10.54"
session_robot = RobotSession.Create(tcpPrefix + robotIP + portSuffix);
}else{
session_robot.Close();
session_robot.Destroy();
robotIP = "192.168.10.53"
session_robot = RobotSession.Create(tcpPrefix + robotIP + portSuffix);
}
}
first_buttonpressed = Time.time;
}
}
}
public CachedSite(string siteUrl, string parentHolderDir = null)
{
Uri createdUri;
if (Uri.TryCreate(siteUrl, UriKind.Absolute, out createdUri))
{
this.BaseUrl = createdUri;
}
else
{
throw new Exception($"Невозможно создание абсолютного URL из {siteUrl}");
}
this.pages = new HashSet <Page>();
this.robot = new Robot(this.BaseUrl.AbsoluteUri);
string siteName = this.GetSiteName(this.BaseUrl);
if (string.IsNullOrEmpty(parentHolderDir))
{
this.OwnDir = $@"{siteName}_pages";
}
else
{
this.OwnDir = $@"{parentHolderDir}\{siteName}_pages";
}
this.robotSessionPath = $@"{this.OwnDir}\Session.xml";
this.InitOwnDir();
this.sessionSerializer = new XmlSerializer(typeof(RobotSession));
if (PreviosSessionExists())
{
using (StreamReader sr = File.OpenText(this.robotSessionPath))
{
RobotSession lastRobotSession = (RobotSession)sessionSerializer.Deserialize(sr);
this.IsValidPageCache = lastRobotSession.IsFinished;
foreach (Page foundPage in lastRobotSession.FoundPages)
{
this.pages.Add(foundPage);
}
}
}
else
{
this.IsValidPageCache = false;
}
/*if (File.Exists(this.holderFile))
* using (StreamReader sr = File.OpenText(this.holderFile))
* {
* string[] strUrls = (string[])serializer.Deserialize(sr);
* foreach (string url in strUrls)
* this.urls.Add(new Uri(url, UriKind.Absolute));
* }*/
/*string[] foundUrls = File.ReadAllLines(this.holderFile);
* foreach (string foundUrl in foundUrls)
* this.urls.Add(new Uri(foundUrl, UriKind.Absolute));*/
}
public void UpdatePageCache(bool continueSession = false)
{
if (continueSession && this.IsValidPageCache)
{
return;
}
this.currentSession = new RobotSession();
this.downloadCounter = 0;
// Если нужно продолжить прошлую сессию, то дополняем текущую сессию данными
if (continueSession && File.Exists(this.robotSessionPath))
{
using (StreamReader sr = File.OpenText(this.robotSessionPath))
{
RobotSession lastSession = (RobotSession)sessionSerializer.Deserialize(sr);
foreach (Page urlResponse in lastSession.FoundPages)
{
this.currentSession.FoundPages.Add(urlResponse);
this.robot.AddSpottedUrl(urlResponse.Url);
}
foreach (Uri notDequeuedUrl in lastSession.NotDequeuedUrls)
{
robot.UrlQueue.Enqueue(notDequeuedUrl);
}
}
}
else
{
this.Delete();
this.InitOwnDir();
}
robot.Subscribe(this);
/*EventHandler<Robot.RobotEvtArgs> downloadHandler = null;
* EventHandler<Robot.RobotEvtArgs> cleaner = null;
*
* downloadHandler = (obj, args) =>
* {
* this.CachePage(args.Url, args.Document, false);
*
* currentSession.FoundUrls.Add(args.Url);
* currentSession.NotDequeuedUrls.Clear();
*
* Uri[] notDequeuedUrls = robot.UrlQueue.ToArray();
*
* foreach (Uri url in notDequeuedUrls)
* currentSession.NotDequeuedUrls.Enqueue(url);
*
* File.Delete(this.robotSessionPath);
*
* using (FileStream fs = File.OpenWrite(this.robotSessionPath))
* sessionSerializer.Serialize(fs, currentSession);
* };
* robot.OnPageResponse += downloadHandler;
*
* cleaner = (obj, args) =>
* {
* robot.OnPageResponse -= downloadHandler;
* robot.OnFinish -= cleaner;
* };
* robot.OnFinish += cleaner;*/
robot.Run();
}
private void UserLogin(RobotSession s, ref int oldSessionIDr)
{
}
public CollisionControl(RobotSession robotSession)
{
_robotSession = robotSession;
}
public SensorControl(RobotSession robotSession)
{
_robotSession = robotSession;
}
