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

using System;
using System.Collections.Generic;
using System.IO;
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 EthercatWebSocket : WebSocketResponse
    {
        /************** Static ***************************************************************************/
        static List<EthercatWebSocket> activeWebSockets = new List<EthercatWebSocket>();
        static bool broadcastActive;

        public static void SendProcessData(ECMaster ecMaster)
        {
            lock (activeWebSockets)
            {
                if (broadcastActive)
                    return;
                broadcastActive = true;
            }

            try{

            JSONArray jsonPDOList = new JSONArray();

            foreach (PDO pdo in ecMaster.GetPDOMap())
            {
                if (JSONMapper.DefaultMapper.Serialize(pdo.SDOValue, out JSONValue jsonValue) && jsonValue is JSONObject jsonPDOValue)
                {
                    jsonPDOValue.Add("Value", pdo.SDOValue.GetValue());
                    jsonPDOList.Add(jsonPDOValue);
                }
            }

            JSONObject message = Message("pdo", jsonPDOList);
            string messageText = message.ToString();

            JSONArray slaveStates = new JSONArray();
            for (int slave=1; slave <= ecMaster.CountSlaves; slave++)
            {
                slaveStates.Add(new JSONObject()
                    .Add("id", new JSONNumber(slave))
                    .Add("state", new JSONString(ecMaster.ReadSlaveState(slave).ToString()))
                    );
            }
            JSONObject stateMessage = Message("state", 
                new JSONObject()
                    .Add("state", ecMaster.EthercatState.ToString())
                    .Add("slaves", slaveStates)
                );
            string stateMessageText = stateMessage.ToString();

            EthercatWebSocket[] sockets;
            lock(activeWebSockets)
                sockets = activeWebSockets.ToArray();

            foreach (EthercatWebSocket webSocket in sockets)
            {
                if (webSocket.State != WebSocketState.OPEN)
                {
                    lock (activeWebSockets)
                        activeWebSockets.Remove(webSocket);
                } else 
                {
                    webSocket.Send(messageText);
                    webSocket.Send(stateMessageText);
                    webSocket.SendSubscribedSDOs();
                }
            }
            } catch (Exception e)
            {
                Logging.Log(e);
            } finally
            {
                broadcastActive = false;
            }
        }

        public static JSONObject Message(string eventName, JSONValue value) => 
            new JSONObject()
            .Add("event", eventName)
            .Add("value", value);
        public static JSONObject Message(long id, string eventName, JSONValue value) => 
            Message(eventName, value)
            .Add("id", id);

        public static JSONObject Message(string eventName, object value){
            if (JSONMapper.DefaultMapper.Serialize(value, out JSONValue jsonValue))
                return Message(eventName, jsonValue);
            throw new NotSupportedException("the value {0} could not be serialized");
        }
        public static JSONObject Message(long id, string eventName, object value) =>
            Message(eventName, value)
            .Add("id", id);



        /************** Instance ***************************************************************************/

        HashSet<SDODescriptor> subscribedSDOs = new HashSet<SDODescriptor>();

        EthercatService EthercatService;
        public EthercatWebSocket(EthercatService ethercatService)
        {           
            EthercatService = ethercatService;
            OnWebSocketStateChanged += StateChanged;
        }

        void StateChanged(WebSocketResponse sender, WebSocketState newState)
        {
            switch (newState)
            {
                case WebSocketState.OPEN:
                    Logging.Log(LogLevel.DEBUG, "EthercatWebSocket -> active");
                    lock(activeWebSockets)
                        activeWebSockets.Add(this);
                    break;
                default:
                    Logging.Log(LogLevel.DEBUG, "EthercatWebSocket -> inactive");
                    lock(activeWebSockets)
                        activeWebSockets.Remove(this);
                    break;
            }
        }

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

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

                switch (eventName)
                {
                    case "subscribe":
                        if (JSONMapper.DefaultMapper.Deserialize(jsonMessage["value"], out SDOAddr[] addresses))
                        {
                            Subscribe(addresses);
                        }
                        break;
                    case "unsubscribe":
                        if (JSONMapper.DefaultMapper.Deserialize(jsonMessage["value"], out addresses))
                        {
                            Unsubscribe(addresses);
                        }
                        break;
                    case "action":

                        break;
                    case "sdowrite":
                        if (jsonMessage["value"] is JSONObject jsonValue)
                        {
                            UInt16 slave_id, index;
                            byte subindex;
                            object value;

                            slave_id = Cast.To<UInt16>(jsonValue["Slave"].ToNative());
                            index = Cast.To<UInt16>(jsonValue["Index"].ToNative());
                            subindex = Cast.To<byte>(jsonValue["SubIndex"].ToNative());
                            value = jsonValue["Value"].ToNative();

                            if (EthercatService.ECMaster.GetSDOValue(slave_id, index, subindex, out SDOValue sdoValue))
                            {
                                sdoValue.SetValue(value);
                            } else
                            {
                                Logging.Log(LogLevel.DEBUG, "EthercatWebSocket: event sdowrite: could not find SDOValue {0}:{1:X4}.{2}", slave_id, index, subindex);
                            }
                        }

                        break;
                }
            }
        }

        public void Subscribe(IEnumerable<SDOAddr> addresses)
        {
            lock(subscribedSDOs)
            foreach (SDOAddr address in addresses)
            {
                if (
                    EthercatService.ECMaster.GetSlave(address.Slave, out ECSlave slave) &&
                    slave.GetDescriptor(address.Index, out SDODescriptor descriptor)
                    )
                {
                    subscribedSDOs.Add(descriptor);
                    Logging.Log("EthercatWebSocket: subscribed: {0}", address);
                }
            }
            Logging.Log("EthercatWebSocket: subscribed now: {0}", subscribedSDOs.Count);
        }
        public void Unsubscribe(IEnumerable<SDOAddr> addresses)
        {
            lock(subscribedSDOs)
            foreach (SDOAddr address in addresses)
            {
                if (
                    EthercatService.ECMaster.GetSlave(address.Slave, out ECSlave slave) &&
                    slave.GetDescriptor(address.Index, out SDODescriptor descriptor)
                    )
                {
                    subscribedSDOs.Remove(descriptor);
                    Logging.Log("EthercatWebSocket: unsubscribed: {0}", address);
                }
            }
            Logging.Log("EthercatWebSocket: subscribed now: {0}", subscribedSDOs.Count);
        }

        public void SendSubscribedSDOs()
        {
            JSONArray jsonSDOList = new JSONArray();
            lock(subscribedSDOs)
            foreach (SDODescriptor descriptor in subscribedSDOs)
            {
                if (
                    JSONMapper.DefaultMapper.Serialize(descriptor, out JSONValue jsonValue) &&
                    jsonValue is JSONObject jsonDescriptor
                    )
                {
                    jsonSDOList.Add(jsonDescriptor);

                    JSONArray jsonValues = new JSONArray();
                    jsonDescriptor["Values"] = jsonValues;

                    byte maxValueIndex = 0;                    

                    foreach (SDOValue sdoValue in descriptor.GetValues())
                    {
                        if (JSONMapper.DefaultMapper.Serialize(sdoValue, out JSONValue jsonSDOValue) && jsonSDOValue is JSONObject jsonSDOValueObject)
                        {
                            try{
                                if (sdoValue.SubIndex <= maxValueIndex)
                                {
                                    if (sdoValue.GetRawValue(out byte[] rawValue))
                                    {
                                        ECDataTypeConverter.FromEthercat(sdoValue.DataType, rawValue, out object value);
                                        jsonSDOValueObject.Add("Value", value);

                                        if ((descriptor.MaxSubIndex > 0) && (sdoValue.SubIndex == 0))
                                        {
                                            //Logging.Log(LogLevel.DEBUG, "--> {0}:{1:X4}.{2} = {3}", descriptor.SlaveId, descriptor.Index, sdoValue.SubIndex, jsonSDOValueObject["Value"].ToString());
                                            maxValueIndex = rawValue[0];
                                        }
                                    }
                                }
                                
                            } catch (IOException)
                            {
                                jsonSDOValueObject.Add("Value", "-");
                            }
                            jsonValues.Add(jsonSDOValue);
                        }
                    }
                }
            }

            JSONObject jsonMessage = Message("sdo", jsonSDOList);
            Send(jsonMessage.ToString());
        }

    }
}