// Update is called once per frame
private void Update()
{
_timeSinceLastPub += Time.deltaTime;
if (_timeSinceLastPub >= 1 / ZmqPubRate)
{
var pubMsg = new Msg();
var position = _hip.position;
var velocity = _hip.velocity;
var msgData = new MsgData
{
Position = new[] { position.x, position.y, position.z },
Velocity = new[] { velocity.x, velocity.y, velocity.z },
ID = id
};
var pubMsgPayload = Encoding.ASCII.GetBytes(JsonConvert.SerializeObject(msgData));
pubMsg.InitGC(pubMsgPayload, pubMsgPayload.Length);
_pub.Send(ref pubMsg, false);
_timeSinceLastPub = 0;
}
//string recvStr;
if (_sub.TryReceiveFrameString(out recvStr))
{
Debug.Log(recvStr);
var recvJson = JsonConvert.DeserializeObject <Dictionary <string, string> >(recvStr);
//if (int.Parse(recvJson["ID"]) != id) return;
var forceX = float.Parse(recvJson["force_x"]);
var forceY = float.Parse(recvJson["force_y"]);
var forceZ = float.Parse(recvJson["force_z"]);
_hip.AddRelativeForce(forceX, forceY, -(forceZ * 2)); //negative z because conversion from right-hand to left-hand coordinates
}
}
// Update is called once per frame
private void Update()
{
_timeSinceLastPub += Time.deltaTime;
if (_timeSinceLastPub >= 1 / ZmqPubRate)
{
var pubMsg = new Msg();
var position = _hip.position;
var velocity = _hip.velocity;
var msgData = new MsgData
{
Position = new[] { position.x, position.y, position.z },
Velocity = new[] { velocity.x, velocity.y, velocity.z },
ID = id
};
var pubMsgPayload = Encoding.ASCII.GetBytes(JsonConvert.SerializeObject(msgData));
pubMsg.InitGC(pubMsgPayload, pubMsgPayload.Length);
_pub.Send(ref pubMsg, false);
_timeSinceLastPub = 0;
}
string recvStr;
if (_sub.TryReceiveFrameString(out recvStr))
{
Debug.Log(recvStr);
}
}
public void Publish(string filter, PushMsg message)
{
if (_disposeCount != 0)
{
throw new ObjectDisposedException(this.GetType().Name);
}
try
{
_socket.Send(filter, false, true);
_socket.Send(message.SerializeMessage());
}
catch (TerminatingException)
{
Debug.WriteLine(string.Format("TerminatingException: auto-disposing {0}...", this.GetType().Name));
((IDisposable)this).Dispose();
}
}
/// <summary>
/// Subscribe To Heartbeat
/// </summary>
public void subscribeToHeartbeat()
{
// Create the socket, connect to it, and subscribe to the topic - CheckHeartbeat
var heartbeatSub = _context.CreateSubscriberSocket();
heartbeatSub.Connect(ConfigurationManager.AppSettings["heartbeatSubAddr"]);
heartbeatSub.Subscribe(ConfigurationManager.AppSettings["checkHeartbeatTopic"]);
while (true)
{
Console.WriteLine("REC: " + heartbeatSub.ReceiveString());
// Build and send the response to the check
string message = String.Concat(ConfigurationManager.AppSettings["checkHeartbeatTopicResponse"], " <params>",
ConfigurationManager.AppSettings["serviceName"], "</params>");
_publisher.Send(message);
Console.WriteLine("PUB: " + message);
}
}
public bool sendMessage(PUBTYPE cmd)
{
if (type == NetworkType.SUB)
{
return(false);
}
if (publisher == null)
{
return(false);
}
try
{
if (typeof(PUBTYPE) == typeof(IRawData))
{
Msg msg = new Msg();
IRawData d = (IRawData)(cmd);
msg.InitGC(d.Data, d.Data.Length);
Console.WriteLine(d.Data.Length);
publisher.Send(ref msg, false);
}
else
{
//cmd is a command and we serialize it
System.IO.MemoryStream ms = new System.IO.MemoryStream();
Serializer.Serialize <PUBTYPE>(ms, cmd);
Msg msg = new Msg();
msg.InitGC(ms.ToArray(), (int)ms.Length);
publisher.Send(ref msg, false);
}
}
catch (Exception e)
{
string msg = e.Message;
return(false);
}
return(true);
}
public void Publish <T>(long eventCode, T message) where T : class
{
if (message == null)
{
throw new ArgumentNullException("message");
}
const int int64Length = 8;
var ms = new MemoryStream();
try
{
try
{
Serializer.Serialize <T>(ms, message);
}
catch (InvalidOperationException ex)
{
throw new SerializationException(ex, "Error when serializing event of type {0}. Check if that type is a valid Protobuf contract (annotated with ProtoContractAttribute).", typeof(T).FullName);
}
catch (Exception ex)
{
throw new SerializationException(ex, "Error when serializing event of type {0}.", typeof(T).FullName);
}
byte[] buffer = ms.ToArray();
_socket.Send(BitConverter.GetBytes(eventCode), int64Length, SendReceiveOptions.SendMore);
_socket.Send(buffer, buffer.Length, SendReceiveOptions.None);
if (_verboseLog)
{
_traces.Debug("Publisher({0:x}): event {1} sent.", _instanceHashCode, eventCode);
}
}
catch (TerminatingException)
{
// We ignore errors if ZMQ context is in termination phase.
}
finally
{
ms.Dispose();
}
}
static void Main(string[] args)
{
//using (var server = new ResponseSocket("@tcp://localhost:5556")) // bind
//using (var client = new RequestSocket(">tcp://localhost:5556")) // connect
//{
// // Send a message from the client socket
// client.SendFrame("Hello");
// // Receive the message from the server socket
// string m1 = server.ReceiveFrameString();
// Console.WriteLine("From Client: {0}", m1);
// // Send a response back from the server
// server.SendFrame("Hi Back");
// // Receive the response from the client socket
// string m2 = client.ReceiveFrameString();
// Console.WriteLine("From Server: {0}", m2);
//}
const int MegaBit = 1024;
const int MegaByte = 1024;
using (var pub = new PublisherSocket())
using (var sub1 = new SubscriberSocket())
using (var sub2 = new SubscriberSocket())
{
pub.Options.MulticastHops = 2;
pub.Options.MulticastRate = 40 * MegaBit; // 40 megabit
pub.Options.MulticastRecoveryInterval = TimeSpan.FromMinutes(10);
pub.Options.SendBuffer = MegaByte * 10; // 10 megabyte
pub.Connect("pgm://224.0.0.1:5555");
sub1.Options.ReceiveBuffer = MegaByte * 10;
sub1.Bind("pgm://224.0.0.1:5555");
sub1.Subscribe("");
sub2.Bind("pgm://224.0.0.1:5555");
sub2.Options.ReceiveBuffer = MegaByte * 10;
sub2.Subscribe("");
Console.WriteLine("Server sending 'Hi'");
pub.Send("Hi");
bool more;
Console.WriteLine("sub1 received = '{0}'", sub1.ReceiveString(out more));
Console.WriteLine("sub2 received = '{0}'", sub2.ReceiveString(out more));
}
Console.ReadLine();
}
public void sendMessage(Command cmd)
{
try
{
System.IO.MemoryStream ms = new System.IO.MemoryStream();
Serializer.Serialize <Command>(ms, cmd);
Msg msg = new Msg();
msg.InitGC(ms.ToArray(), (int)ms.Length);
publisher.Send(ref msg, false);
}
catch
{
}
}
// private void FixedUpdate()
// {
// Debug.Log(_joint.currentForce);
// }
// Update is called once per frame
private void Update()
{
_timeSinceLastPub += Time.deltaTime;
if (_timeSinceLastPub >= 1 / ZmqPubRate)
{
var pubMsg = new Msg();
//var position = _hip.transform.position;
//var position = _hip.position;
//var velocity = _hip.velocity;
var force = _joint.currentForce;
//var rotation = _hip.rotation;
//var angularvelocity = _hip.angularVelocity;
var msgData = new MsgDatab
{
//Position = new[] { position.x, position.y, position.z },
//Velocity = new[] { velocity.x, velocity.y, velocity.z },
Force = new[] { force.x, force.y, force.z },
//Rotation = new[] { rotation.eulerAngles.x, rotation.eulerAngles.y, rotation.eulerAngles.z },
//Angularvelocity = new[] { angularvelocity.x, angularvelocity.y, angularvelocity.z },
ID = id
};
var pubMsgPayload = Encoding.ASCII.GetBytes(JsonConvert.SerializeObject(msgData));
pubMsg.InitGC(pubMsgPayload, pubMsgPayload.Length);
_pub.Send(ref pubMsg, false);
_timeSinceLastPub = 0;
}
string recvStr;
if (_sub.TryReceiveFrameString(out recvStr))
{
var recvJson = JsonConvert.DeserializeObject <Dictionary <string, string> >(recvStr);
if (int.Parse(recvJson["ID"]) != id)
{
return;
}
var forceX = float.Parse(recvJson["force_x"]);
var forceY = float.Parse(recvJson["force_y"]);
var forceZ = float.Parse(recvJson["force_z"]);
_hip.AddRelativeForce(forceX, forceY, -forceZ); //negative z because conversion from right-hand to left-hand coordinates
}
}
public void TestPubSub()
{
// Create publisher and bind it to a localhost address and port
PublisherSocket publisher = _context.CreatePublisherSocket();
publisher.Bind("tcp://127.0.0.1:9999");
// Allow time to bind
Thread.Sleep(1000);
// Create a thread to subscribe to the published message
Thread subscriber = new Thread(new ThreadStart(subscribe));
subscriber.Start();
// Publish a test message
publisher.Send("Test");
Thread.Sleep(1000);
// Kill the thread
subscriber.Abort();
}
void SendInternal(string message)
{
publisher.Send(message);
}
/// <summary>
/// Send the mux message to listners.
/// </summary>
/// <param name="message">The message to dispatch.</param>
public void Dispatch(Taurus.FeedMux message)
{
pubSocket.Send(message.ToByteArray <Taurus.FeedMux>());
}
private void OnHeartbeatTimerElapsed(object sender, NetMQTimerEventArgs e)
{
publisherSocket.Send(StreamingProtocol.HeartbeatTopic);
}
