ln.ethercat/ln.ethercat.service/api/v1/ControllerWebSocket.cs

using System;
using System.Collections.Generic;
using System.Reflection;
using ln.ethercat.controller;
using ln.ethercat.controller.drives;
using ln.http.websocket;
using ln.json;
using ln.json.mapping;
using ln.logging;
using ln.type;

namespace ln.ethercat.service.api.v1
{
    public class ControllerWebSocket : WebSocketResponse
    {
        static List<ControllerWebSocket> webSockets = new List<ControllerWebSocket>();
        static bool sendingUpdates;
        public static void SendUpdates(Controller controller)
        {
            lock (webSockets)
            {
                if (sendingUpdates)
                    return;
                sendingUpdates = true;
            }

            try
            {
                JSONArray jsonDriveControllers = new JSONArray();

                foreach (DriveController driveController in controller.ECMaster.DriveControllers)
                {
                    JSONObject jsonDriveController =
                        new JSONObject()
                        .Add("DriveState", driveController.DriveState.ToString())
                        .Add("OEMState", driveController.OEMDriveState)
                        .Add("DriveMode", driveController.DriveMode.ToString())
                        .Add("TargetValue", driveController.TargetValue)
                        .Add("ActualSpeed", driveController.ActualSpeed)
                        .Add("ActualTorque", driveController.ActualTorque)
                        .Add("ActualLoad", driveController.ActualLoad)
                        ;
                    
                    jsonDriveControllers.Add(jsonDriveController);
                }

                JSONObject jsonController = 
                    new JSONObject()
                    .Add("State", controller.ControllerState.ToString())
                    .Add("Drives", jsonDriveControllers)
                    .Add("CycleCounter", controller.CycleCounter)
                    .Add("DisableRemoteWatchdog", controller.DisableRemoteWatchdog)
                    .Add("IgnoreRemoteInterface", controller.IgnoreRemoteInterface)
                    ;


                JSONObject jsonMessage =
                    new JSONObject()
                    .Add("event", "update")
                    .Add("value", jsonController)
                    ;

                string jsonMessageText = jsonMessage.ToString();

                ControllerWebSocket[] currentSockets;
                lock (webSockets)
                    currentSockets = webSockets.ToArray();

                foreach (ControllerWebSocket webSocket in currentSockets)
                {
                    if (webSocket.Controller.Equals(controller) && (webSocket.State == WebSocketState.OPEN))
                        webSocket.Send(jsonMessageText);
                }
            } catch (Exception e)
            {
                Logging.Log(e);
            } finally
            {
                sendingUpdates = false;
            }
        }

        Controller Controller;

        public ControllerWebSocket(Controller controller)
        {
            Controller = controller;
            OnWebSocketStateChanged += (WebSocketResponse webSocket, WebSocketState newState) => {
                switch (newState)
                {
                    case WebSocketState.OPEN:
                        lock (webSockets)
                            webSockets.Add(this);
                        break;
                    default:
                        lock (webSockets)
                            webSockets.Remove(this);
                        break;
                }
            };
        }


        public override void Received(string textMessage)
        {
            object target;
            
            base.Received(textMessage);

            JSONValue jsonTextValue = JSONParser.Parse(textMessage);
            if (jsonTextValue is JSONObject jsonMessage)
            {
                string eventName = jsonMessage["event"].ToNative().ToString();
                JSONObject jsonValue = jsonMessage["value"] as JSONObject;

                switch (eventName)
                {
                    case "set":
                        string propName = jsonValue["name"].ToNative().ToString();
                        object propValue = jsonValue["value"].ToNative();
                        target = Controller;
                        if (jsonValue.ContainsKey("drive"))
                            target = Controller.ECMaster.DriveControllers[(Int64)jsonValue["drive"].ToNative()];

                        PropertyInfo propertyInfo = target.GetType().GetProperty(propName);
                        propertyInfo.SetValue(target, Cast.To(propValue, propertyInfo.PropertyType));
                        break;
                    case "action":
                        string methodName = jsonValue["method"].ToNative().ToString();
                        JSONMapper.DefaultMapper.Deserialize(jsonValue["arguments"], out object[] arguments);
                        target = Controller;
                        if (jsonValue.ContainsKey("drive"))
                            target = Controller.ECMaster.DriveControllers[(Int64)jsonValue["drive"].ToNative()];

                        MethodInfo methodInfo = target.GetType().GetMethod(methodName);
                        methodInfo.Invoke(target,new object[0]);
                        break;

                }
            }
        }



    }
}