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Changing target to .netstandard #5

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Changing target to .netstandard #5

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8 changes: 4 additions & 4 deletions niryo_one_tcp_server/clients/csharp/Examples/Program.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ class Program
{
public static async Task Main(string[] args)
{
string server = "10.10.10.10";
string server = "niryo-desktop";

if (args.Length == 1 || args.Length == 7)
{
Expand Down Expand Up @@ -64,10 +64,10 @@ public static async Task Main(string[] args)
await niryo.MovePose(initialPose);
}

var digitalIOPins = await niryo.GetDigitalIOState();
//var digitalIOPins = await niryo.GetDigitalIOState();

foreach (var pin in digitalIOPins)
Console.WriteLine($"Pin: {pin.PinId}, name: {pin.Name}, mode: {pin.Mode}, state: {pin.State}");
//foreach (var pin in digitalIOPins)
// Console.WriteLine($"Pin: {pin.PinId}, name: {pin.Name}, mode: {pin.Mode}, state: {pin.State}");

await niryo.SetLearningMode(true);
}
Expand Down
4 changes: 2 additions & 2 deletions niryo_one_tcp_server/clients/csharp/NiryoOneClient/NiryoOneClient.csproj
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Original file line number Diff line number Diff line change
@@ -1,12 +1,12 @@
<Project Sdk="Microsoft.NET.Sdk">

<PropertyGroup>
<TargetFramework>netcoreapp3.0</TargetFramework>
<TargetFramework>netstandard2.0</TargetFramework>
</PropertyGroup>

<PropertyGroup>
<PackageId>NiryoOneClient</PackageId>
<Version>0.1.0</Version>
<Version>0.1.1</Version>
<Authors>rickardraysearch</Authors>
<Company>Niryo</Company>
<PackageLicenseExpression>MIT</PackageLicenseExpression>
Expand Down
24 changes: 15 additions & 9 deletions niryo_one_tcp_server/clients/csharp/NiryoOneClient/NiryoOneConnection.cs
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Expand Up @@ -22,6 +22,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
*/

using System;
using System.Collections.Generic;
using System.Globalization;
using System.IO;
using System.Linq;
Expand Down Expand Up @@ -67,9 +68,9 @@ internal async Task WriteLineAsync(string s)
internal async Task<string> ReadAsync()
{
const int blockSize = 512;
Memory<char> memory = new Memory<char>(new char[blockSize]);
var count = await _textReader.ReadAsync(memory);
return new string(memory.Span.Slice(0, count).ToArray());
var memory = new char[blockSize];
var count = await _textReader.ReadAsync(memory, 0, memory.Length);
return new string(memory.Take(count).ToArray());
}

/// <summary>
Expand Down Expand Up @@ -111,11 +112,11 @@ internal async Task<string> ReceiveAnswerAsync(string commandType, string regex
var result = match.Value.Trim();
_stringBuf = s.Substring(match.Index + match.Length).TrimStart();

var colonSplit = result.Split(':', 2);
var colonSplit = result.Split(new []{':'}, 2).ToArray();
var cmd = colonSplit[0];
if (cmd != commandType)
throw new NiryoOneException("Wrong command response received.");
var commaSplit2 = colonSplit[1].Split(',', 2);
var commaSplit2 = colonSplit[1].Split(new []{','}, 2).ToArray();
var status = commaSplit2[0];
if (status != "OK")
throw new NiryoOneException(commaSplit2[1]);
Expand Down Expand Up @@ -152,7 +153,8 @@ public async Task SetLearningMode(bool mode)
/// </summary>
public async Task MoveJoints(RobotJoints joints)
{
await SendCommandAsync("MOVE_JOINTS", string.Join(',', joints.Select(x => x.ToString(CultureInfo.InvariantCulture))));

await SendCommandAsync("MOVE_JOINTS", string.Join(",", joints.Select(x => x.ToString(CultureInfo.InvariantCulture))));
await ReceiveAnswerAsync("MOVE_JOINTS");
}

Expand All @@ -162,7 +164,7 @@ public async Task MoveJoints(RobotJoints joints)
/// </summary>
public async Task MovePose(PoseObject pose)
{
await SendCommandAsync("MOVE_POSE", string.Join(',', pose.Select(x => x.ToString(CultureInfo.InvariantCulture))));
await SendCommandAsync("MOVE_POSE", string.Join(",", pose.Select(x => x.ToString(CultureInfo.InvariantCulture))));
await ReceiveAnswerAsync("MOVE_POSE");
}

Expand Down Expand Up @@ -358,8 +360,12 @@ public async Task<DigitalPinObject[]> GetDigitalIOState()
var state = await ReceiveAnswerAsync("GET_DIGITAL_IO_STATE", @"(, *\[[^]]*\]){8}");

var regex = new Regex("\\[[0-9]+, '[^']*', [0-9]+, [0-9+]\\]");
var matches = regex.Matches(state);

var ma = regex.Matches(state);
var matches = new List<Match>();
foreach (Match match in ma)
{
matches.Add(match);
}
return matches.Select(m => ParserUtils.ParseDigitalPinObject(m.Value)).ToArray();
}
}
Expand Down
39 changes: 27 additions & 12 deletions niryo_one_tcp_server/clients/csharp/NiryoOneClient/ParserUtils.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
*/

using System;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using System.Text.RegularExpressions;
Expand Down Expand Up @@ -87,7 +88,7 @@ public static HardwareStatus ParseHardwareStatus(string data)
/// <returns>A parsed object</returns>
public static PoseObject ParsePoseObject(string s)
{
return new PoseObject(s.Split(",").Select(x => float.Parse(x, CultureInfo.InvariantCulture)).ToArray());
return new PoseObject(s.Split(',').Select(x => float.Parse(x, CultureInfo.InvariantCulture)).ToArray());
}


Expand All @@ -98,7 +99,7 @@ public static PoseObject ParsePoseObject(string s)
/// <returns>A parsed object</returns>
public static RobotJoints ParseRobotJoints(string s)
{
return new RobotJoints(s.Split(",").Select(x => float.Parse(x, CultureInfo.InvariantCulture)).ToArray());
return new RobotJoints(s.Split(',').Select(x => float.Parse(x, CultureInfo.InvariantCulture)).ToArray());
}


Expand All @@ -109,39 +110,53 @@ public static RobotJoints ParseRobotJoints(string s)
/// <returns>A parsed object</returns>
public static DigitalPinObject ParseDigitalPinObject(string s)
{
if (!s.StartsWith('[') || !s.EndsWith(']'))
if (!s.StartsWith("[") || !s.EndsWith("]"))
throw new ArgumentException();

var ss = s.Substring(1, s.Length - 2).Split(", ");
var ss = s.Substring(1, s.Length - 2).Split(',').ToArray();

return new DigitalPinObject
{
PinId = int.Parse(ss[0]),
PinId = int.Parse(ss[0].Trim()),
Name = ss[1].Trim().Substring(1, ss[1].Length - 2),
Mode = (PinMode)int.Parse(ss[2]),
State = (DigitalState)int.Parse(ss[3])
Mode = (PinMode)int.Parse(ss[2].Trim()),
State = (DigitalState)int.Parse(ss[3].Trim())
};
}

private static string Strip_(string s, char prefix, char suffix)
{
if (!s.StartsWith(prefix))
if (!s.StartsWith(prefix.ToString()))
throw new ArgumentException();
if (!s.EndsWith(suffix))
if (!s.EndsWith(suffix.ToString()))
throw new ArgumentException();
return s.Substring(1, s.Length - 2);
}

private static string[] ParseStrings_(string s)
{
var regex = new Regex(@"'[^']*'");
return regex.Matches(s).Select(m => Strip_(m.Value, '\'', '\'')).ToArray();
var ma = regex.Matches(s);
var matches = new List<Match>();
foreach (Match match in ma)
{
matches.Add(match);
}
return matches.Select(m => Strip_(m.Value, '\'', '\'')).ToArray();
}

private static T[] ParseNumbers_<T>(string s, Func<string, T> parser)


private static T[] ParseNumbers_<T>(string s, Func<string, T> parser)
{
var regex = new Regex(@"[0-9]+(\.[0-9]*)?");
return regex.Matches(s).Select(m => parser(m.Value)).ToArray();
var ma = regex.Matches(s);
var matches = new List<Match>();
foreach (Match match in ma)
{
matches.Add(match);
}
return matches.Select(m => parser(m.Value)).ToArray();
}
}
}