| public Read ( byte buffer, int offset, int size ) : int | ||
| buffer | byte | |
| offset | int | |
| size | int | |
| return | int | |
/// <summary>
/// 初始化实例并开启侦测
/// </summary>
/// <param name="inputClient"></param>
/// <param name="replay"></param>
public GameData(ref TcpClient inputClient, Action<string, byte[]> replay)
{
client = inputClient;
stream = inputClient.GetStream();
ReplyNewMessage = new Action<string, byte[]>(replay);
stopReadFlag = false;
Task.Run(() =>
{
while (true) {
if (stopReadFlag == true) { break; }
//读取数据长度
byte[] buffer = new byte[4];
stream.Read(buffer, 0, 4);
int length = BitConverter.ToInt32(buffer, 0);
//读取正文
buffer = new byte[length];
stream.Read(buffer, 0, length);
string head;
byte[] contant;
BallanceOnline.CombineAndSplitSign.Split(buffer, out head, out contant);
//调用委托处理
ReplyNewMessage(head, contant);
}
});
}
public ServerMessage(NetworkStream clientStream, byte[] buffer, ref int bytesRead)
{
//blocks until a client sends a message
bytesRead = clientStream.Read(buffer, 0, ServerMessage.headerSize);
if (bytesRead < ServerMessage.headerSize)
{
bytesRead = 0;
return;
}
IntPtr ptr = Marshal.AllocHGlobal(bytesRead);
Marshal.Copy(buffer, 0, ptr, ServerMessage.headerSize);
header = (MessageHeader)Marshal.PtrToStructure(ptr, header.GetType());
Marshal.FreeHGlobal(ptr);
//Utils.Log("Client " + client.account.email + " got a packet with opcode "+msg.header.opcode, 2);
if (header.size > 0)
{
byte[] databuffer = null;
databuffer = new byte[header.size + 1];
bytesRead = clientStream.Read(databuffer, 0, header.size);
if (bytesRead < header.size)
{
bytesRead = 0;
}
size = buffer.Length;
target = new MemoryStream(buffer, 0, buffer.Length, false, true);
reader = new BinaryReader(target, Encoding.ASCII);
}
}
/// <summary>
/// Blocking call to read a full Message object from a given stream
/// </summary>
/// <param name="stream"></param>
/// <returns></returns>
public static Message ReadMessage(NetworkStream stream)
{
Debug.Assert(stream.CanRead);
byte[] messageBytes = new byte[Message.MaxSize];
byte[] sizeBytes = new byte[4];
int bytesRead = 0;
// Read the initial size from the stream
while (bytesRead < 4)
{
bytesRead += stream.Read(sizeBytes, bytesRead, sizeBytes.Length);
}
int messageSize = BitConverter.ToInt32(sizeBytes, 0);
Debug.Assert(messageSize < Message.MaxSize);
bytesRead = 0;
// Get the message bytes
while (bytesRead < messageSize)
{
bytesRead += stream.Read(messageBytes, bytesRead, messageBytes.Length - bytesRead);
}
// Deserialize the message
return Message.Deserialize(messageBytes);
}
static void getFile(NetworkStream ns)
{
UInt64 fLen;
int readBytes = 0;
byte[] message = new byte[8];
FileStream fs;
try
{
fs = new FileStream("Config.xml", FileMode.Create, FileAccess.Write);
}
catch (Exception e)
{
Console.WriteLine(e.Message);
return;
}
readBytes = ns.Read(message, 0, 8);
fLen = BitConverter.ToUInt64(message,0);
message = new byte[4096];
do
{
readBytes = ns.Read(message, 0, 4096);
fs.Write(message, 0, readBytes);
fLen -= Convert.ToUInt64(readBytes);
} while (fLen > 0);
fs.Close();
}
public static bool Connect(string ip, int port, string pass)
{
Console.WriteLine("Attempting to connect to RCON for announcements.");
try
{
tcp = new TcpClient();
tcp.Connect(ip, port);
stream = tcp.GetStream();
byte[] array = new byte[1024];
int count = stream.Read(array, 0, array.Length);
string @string = Encoding.ASCII.GetString(array, 0, count);
if (@string.Substring(0, 4) != "v001")
{
Failed(string.Concat(new string[]
{
"Server is running a newer protocol (",
@string.Substring(0, 4),
").",
Environment.NewLine,
"You need to download a new version of RxCommand."
}));
}
else
{
gameVersion = @string.Substring(4);
gameVersion.Trim();
WriteLine('a' + pass);
count = stream.Read(array, 0, array.Length);
@string = Encoding.ASCII.GetString(array, 0, count);
if (@string.Substring(0, 1) != "a")
{
Failed(@string.Substring(1));
}
else
{
receiver = new Thread(new ThreadStart(ReceiveLoop));
receiver.Start();
while (!receiver.IsAlive)
{
}
Console.WriteLine("Successfully connected to RCON.");
return true;
}
}
}
catch (SocketException)
{
Failed("Could not connect to server.");
tcp = null;
}
return false;
}
public static string ReadStreamIntoString(NetworkStream ns)
{
byte[] buffer = new byte[1024];
ns.Read(buffer, 0, buffer.Length);
while (ns.DataAvailable)
{
ns.Read(buffer, 0, buffer.Length);
}
ASCIIEncoding enc = new ASCIIEncoding();
return enc.GetString(buffer);
}
/// <summary>
/// Receieves a single object over the specified stream
/// </summary>
/// <param name="stream">Stream to receive the message from</param>
/// <returns>Object received</returns>
public static object Recieve(NetworkStream stream)
{
int dataLength;
byte[] data = new byte[sizeof(Int32)];
int bytesRead = 0;
int totalBytesRead = 0;
try {
// Read the length integer
do {
bytesRead = stream.Read(data, totalBytesRead, (data.Length - totalBytesRead));
totalBytesRead += bytesRead;
} while (totalBytesRead < sizeof(Int32) && bytesRead != 0);
if (totalBytesRead < sizeof(Int32)) {
if (totalBytesRead != 0) Console.Error.WriteLine("Message Recieve Failed: connection closed unexpectedly");
return null;
}
if (BitConverter.IsLittleEndian) Array.Reverse(data);
dataLength = BitConverter.ToInt32(data, 0);
if (dataLength == 0) {
// A test message was sent.
return "Test";
} else {
data = new byte[dataLength];
// Read data until the client disconnects
totalBytesRead = 0;
do {
bytesRead = stream.Read(data, totalBytesRead, (dataLength - totalBytesRead));
totalBytesRead += bytesRead;
} while (totalBytesRead < dataLength && bytesRead != 0);
if (totalBytesRead < dataLength) {
Console.Error.WriteLine("Message Receive Failed: connection closed unexpectedly");
return null;
}
return Unpack(data);
}
} catch (Exception e) {
Console.Error.WriteLine("A socket error has occured: " + e.ToString());
return null;
}
}
private void getMessage()
{
while (true)
{
serverStream = clientSocket.GetStream();
int buffSize = 0;
byte[] inStream = new byte[10025];
buffSize = clientSocket.ReceiveBufferSize;
serverStream.Read(inStream, 0, buffSize);
string returndata = System.Text.Encoding.ASCII.GetString(inStream);
readData = "" + returndata;
msg();
}
}
//I needed a blocking read for the video because I realized it was causing major issues if the
//Video was not fully recived into our buffer when this function was called.
//Read would return without reading the whole file
//This function will not return until it reads the specified number of bytes
//Or a timeout with a default of 1 second is reached without reading anything
public static byte[] ReadBytesBlocking(NetworkStream networkStream, int length = 256, int TimeoutMS = 1000)
{
byte[] bytes = new byte[length];
int numBytesRead = 0;
int lastBytesRead;
System.Diagnostics.Stopwatch t = System.Diagnostics.Stopwatch.StartNew();
while (numBytesRead < length)
{
int i = networkStream.Read(bytes, numBytesRead, length - numBytesRead);
lastBytesRead = numBytesRead;
numBytesRead += i;
if (lastBytesRead != numBytesRead) // if data was recieved
{
t.Restart();// reset timeout
}
else
{
System.Threading.Thread.Sleep(100); // wait for data.
}
if(t.ElapsedMilliseconds > TimeoutMS)
{
byte[] Error = new byte[1];
Error[0] = 0;
return Error;
}
}
return bytes;
}
/// <summary>
/// Accepts message from client.
/// </summary>
/// <param name="networkStream"></param>
/// <returns></returns>
public static string Read(NetworkStream networkStream, int length = 256)
{
byte[] bytes = new byte[length];
int i = networkStream.Read(bytes, 0, length);
return Encoding.ASCII.GetString(bytes, 0, i);
//var header = new byte[4];
//var bytesLeft = 4;
//var offset = 0;
//// get length of content
//while (bytesLeft > 0)
//{
// var bytesRead = networkStream.Read(header, offset, bytesLeft);
// offset += bytesRead;
// bytesLeft -= bytesRead;
//}
//bytesLeft = BitConverter.ToInt32(header, 0); // length of content
//offset = 0;
//byte[] contentBytes = new byte[bytesLeft];
//// get the actual content
//while (bytesLeft > 0)
//{
// var bytesRead = networkStream.Read(contentBytes, offset, bytesLeft);
// offset += bytesRead;
// bytesLeft -= bytesRead;
//}
//return Encoding.ASCII.GetString(contentBytes); // return the content
}
private void ServerConnection(NetworkStream stream)
{
int RecievedSymbols = 0;
byte[] recieved = new byte[2048];
byte[] to_send = new byte[2048];
string task = "";
while ( (RecievedSymbols = stream.Read(recieved, 0, recieved.Length)) > 0 )
{
task = Resize(recieved);
task = TaskToDo(task);
Console.WriteLine(task);
if (task.Equals("closed -1"))
{
to_send = Encoding.ASCII.GetBytes(task);
stream.Write(to_send, 0, to_send.Length);
client.Close();
return;
}
else
{
to_send = Encoding.ASCII.GetBytes(task);
stream.Write(to_send, 0, to_send.Length);
}
Array.Clear(to_send, 0, to_send.Length);
Array.Clear(recieved, 0, recieved.Length);
}
}
protected void dataRecv(NetworkStream ns)
{
byte[] lengthByte = new byte[4];
ns.Read (lengthByte, 0, lengthByte.Length);
Length = BitConverter.ToUInt32 (lengthByte, 0);
data = new byte[Length];
Array.Copy (lengthByte, data, lengthByte.Length);
// 全データ受信する
ns.Read (data, 4, (int)(Length - 4));
// PacketType
PacketType = (PacketType)BitConverter.ToInt32(data, 4);
}
/// <summary>
/// 获取通信返回信息
/// </summary>
/// <param name="cmd">命令</param>
/// <param name="stream"></param>
/// <returns></returns>
public static void Work(string cmd, NetworkStream stream)
{
Byte[] buffer = System.Text.Encoding.GetEncoding("GB2312").GetBytes(cmd);
stream.Write(buffer, 0, buffer.Length);
Console.WriteLine("发送信息:" +cmd);
buffer = new Byte[1024];
StringBuilder sb = new StringBuilder();
Int32 numberOfBytesRead = 0;
do
{
numberOfBytesRead = stream.Read(buffer, 0, buffer.Length);
sb.Append(System.Text.Encoding.GetEncoding("GB2312").GetString(buffer, 0, numberOfBytesRead));
}
while (stream.DataAvailable);
string result = sb.ToString();
if (string.IsNullOrEmpty(result))
Console.WriteLine("DServer无响应,请检查服务是否正常运行.");
if (result.StartsWith("OK"))
{
if (result.Length == 2)
{
Console.WriteLine("任务已接收");
}
else
{
Console.WriteLine(result.Substring(3));
}
}
}
public override void Respond(TcpClient client, NetworkStream stream, byte[] message)
{
string msgIncoming = Encoding.ASCII.GetString(message, 0, message.Length);
System.Diagnostics.Debug.WriteLine("RECEIVED//" + msgIncoming + "//");
switch (msgIncoming)
{
case REQ_SEND_CLASS_LIST:
List<Class> classList = _helper.GetClasses();
SendData(classList, stream);
break;
case REQ_SEND_STUD_LIST:
System.Diagnostics.Debug.WriteLine("Requesting class ID");
string msgToSend = CMD_SEND_CLASS_ID;
byte[] bytesToSend = Encoding.ASCII.GetBytes(msgToSend);
stream.Write(bytesToSend, 0, bytesToSend.Length);
message = new byte[5];
stream.Read(message, 0, message.Length);
msgIncoming = Encoding.ASCII.GetString(message, 0, message.Length).Trim();
System.Diagnostics.Debug.WriteLine("RECEIVED//" + msgIncoming + "//");
List<Student> studentsList = _helper.GetStudentsInClass(new Class(Convert.ToInt32(msgIncoming), ""));
SendData(studentsList, stream);
break;
}
}
public string SendAndRecv(string order)
{
System.Net.Sockets.NetworkStream ns = this.TCPSocket.GetStream();
ns.ReadTimeout = 5000;
ns.WriteTimeout = 5000;
byte[] str = MakePacket(order);
ns.Write(str, 0, str.Length);
byte[] resBytes = new byte[this.TCPSocket.ReceiveBufferSize];
int resSize = ns.Read(resBytes, 0, resBytes.Length);
if (resSize <= 5)
{
if (resSize <= 0)
{
this.ErrorMessage = "";
return("");
}
if (resBytes[0] == '-')
{
this.ErrorMessage = R._("メッセージを送信できません。エラーコードが戻りました。\r\n送信データ:\r\n{0}", str.ToString());
return("");
}
this.ErrorMessage = R._("サーバがおかしな応答を返しました。\r\n送信データ:\r\n{0}\r\n受信データ:\r\n{1}", str.ToString(), U.subrange(resBytes, 0, (uint)resSize).ToString());
return("");
}
// return Encoding.ASCII.GetString(resBytes, 0, resSize);
return(UnPacket(resBytes, resSize));
}
public String VerSiHayMensajes()
{
String Mensaje = "";
try {
System.Net.Sockets.NetworkStream stream = TCPCliente.GetStream();
//Data reciving mechanism
//Corrigue este metodo para que siempre este en escuchar y cuando llegue un mensaje lo puedas ver inmediatamente.
if (stream.CanRead) //Preguntamos si es posible leer
{
if (stream.DataAvailable) //Preguntamos si hay algo por leer
{
Byte[] data = new Byte[TCPCliente.ReceiveBufferSize]; //Buffer del tamaño de lo que se recibio
string responseData = ""; //String to store the response ASCII representation
Int32 bytes = stream.Read(data, 0, data.Length);
responseData = System.Text.Encoding.ASCII.GetString(data, 0, bytes);
//concatenamos los bytes en la variable mensaje para armar el mensaje
Mensaje += "Received " + responseData;
}
}
}
catch (Exception ex) {
//ex nunca se usa.. contiene el errorde que no hay mensajes de clientes ya que no se eonctraron clientes.
//no hay clientes conectados al servidor, asi que no hacemos nada.
}
//regresamos el mensaje que se construyo anteriormente
return(Mensaje);
}
public void RecieveFile(NetworkStream netStream)
{
byte[] data = new byte[1024];
int dataCitit;
int totalBytes = 0;
FileStream fs = new FileStream("$temp", FileMode.Create, FileAccess.Write);
do
{
dataCitit = netStream.Read(data, 0, data.Length);
fs.Write(data, 0, dataCitit);
totalBytes += dataCitit;
} while (netStream.DataAvailable);
fs.Close();
netStream.Close();
BinaryFormatter binFormatter = new BinaryFormatter();
DataTable contentOfFile;
byte[] outData;
using (MemoryStream ms = new MemoryStream(File.ReadAllBytes("$temp")))
{
contentOfFile = (DataTable) binFormatter.Deserialize(ms);
outData = (byte[]) contentOfFile.Rows[0].ItemArray.GetValue(2);
}
File.WriteAllBytes(contentOfFile.Rows[0].ItemArray.GetValue(0).ToString()+contentOfFile.Rows[0].ItemArray.GetValue(1), outData);
File.Delete("$temp");
}
protected BMSByte ReadBuffer(NetworkStream stream)
{
int count = 0;
while (stream.DataAvailable)
{
previousSize = backBuffer.Size;
backBuffer.SetSize(backBuffer.Size + 1024);
count += stream.Read(backBuffer.byteArr, previousSize, 1024);
backBuffer.SetSize(previousSize + count);
}
int size = BitConverter.ToInt32(backBuffer.byteArr, 0);
readBuffer.Clear();
readBuffer.BlockCopy(backBuffer.byteArr, backBuffer.StartIndex(4), size);
if (readBuffer.Size + 4 < backBuffer.Size)
backBuffer.RemoveStart(size + 4);
else
backBuffer.Clear();
return readBuffer;
}
public static string ReadHttpHeader(NetworkStream networkStream)
{
int length = 1024*16; // 16KB buffer more than enough for http header
byte[] buffer = new byte[length];
int offset = 0;
int bytesRead = 0;
do
{
if (offset >= length)
{
throw new EntityTooLargeException("Http header message too large to fit in buffer (16KB)");
}
bytesRead = networkStream.Read(buffer, offset, length - offset);
offset += bytesRead;
string header = Encoding.UTF8.GetString(buffer, 0, offset);
// as per http specification, all headers should end this this
if (header.Contains("\r\n\r\n"))
{
return header;
}
} while (bytesRead > 0);
return string.Empty;
}
public override void ShowUsage()
{
//NetWorkStream类是专门用来处理服务器与客户端通信的流。它在网络编程中经常使用，主要是用来处理类似Socket、TcpClient和TcpListener这些类中得到的流。
//服务器端
TcpListener lis = new TcpListener(5000); //服务器监听
lis.Start();//启动
Socket sock = lis.AcceptSocket(); //阻塞，直到有客户端连接
NetworkStream netStream = new NetworkStream(sock); //得到Socket中的流
if (netStream.DataAvailable) //如果客户端发送了消息
{
byte[] data = new byte[1024]; //定义一个字节数组，用来存放接收的数据
int len = netStream.Read(data, 0, data.Length); //从位置开始，读取到字节数组末尾
string line = Encoding.Default.GetString(data, 0, len); //把收到的字节转换为字符串
}
//客户端
TcpClient client = new TcpClient(); //客户端tcp对象
client.Connect("127.0.0.1", 5000); //连接服务器
NetworkStream myStream = client.GetStream(); //得到网络流
byte[] data2 = Encoding.Default.GetBytes("Hi，你好"); //首先把输入的字符串消息转换为字节
myStream.Write(data2, 0, data2.Length); //向myStream 里写入数据
myStream.Flush(); //刷新流中的数据
myStream.Close();
}
void FixedUpdate()
{
try
{
// Receive the time gap between Unity and ROS
if (this.networkStream.DataAvailable)
{
byte[] byteArray = new byte[256];
if (networkStream.CanRead)
{
networkStream.Read(byteArray, 0, byteArray.Length);
}
string message = System.Text.Encoding.UTF8.GetString(byteArray);
string[] messageArray = message.Split(',');
if (messageArray.Length == 3)
{
SIGVerseLogger.Info("Time gap sec=" + messageArray[1] + ", msec=" + messageArray[2]);
SIGVerse.RosBridge.std_msgs.Header.SetTimeGap(Int32.Parse(messageArray[1]), Int32.Parse(messageArray[2]));
}
else
{
SIGVerseLogger.Error("Illegal message. Time gap message=" + message);
}
}
}
catch (ObjectDisposedException exception)
{
SIGVerseLogger.Warn(exception.Message);
}
}
public GameClient(TcpClient client)
{
netstream = client.GetStream();
timer = new Stopwatch();
byte[] message = new byte[4096];
int msgsize = 0;
while (true)
{
timer.Start();
try { msgsize = netstream.Read(message, 0, 4096); }
catch { break; } //socket error
if (msgsize == 0)
{
break; //client disconnected
}
//message received
HandlePacket(message.Take(msgsize).ToArray());
}
GameServer.PlayerCount--;
GConsole.WriteStatus("User '{0}' disconnected.", this.UserID);
client.Close();
}
public void WorkerThread()
{
while (!isConnectedToServer)
{
Thread.Sleep(10);
}
while (isConnectedToServer)
{
if (!ns.CanRead)
{
break;
}
int len = ns.Read(buf, 0, buf.Length);
if (len > 0)
{
taskFactory.StartNew(() => {
dataReceived(buf, 0, len);
});
}
Thread.Sleep(1);
}
// taskFactory.StartNew (Task());
}
// Camera parameter を取得する
static string GetCameraParameterInJson(string ipAddress)
{
TcpClient tcp = new TcpClient(ipAddress, SHOOTIMAGESERVER_PORT);
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
// get parameter コマンドを送信
string cmd = "PGT";
byte[] cmdBytes = System.Text.Encoding.UTF8.GetBytes(cmd);
ns.Write(cmdBytes, 0, cmdBytes.Length);
// データを受信
while (tcp.Client.Available == 0)
{
}
byte[] rcvBytes = new byte[tcp.Client.Available];
ns.Read(rcvBytes, 0, tcp.Client.Available);
string rcvString = System.Text.Encoding.UTF8.GetString(rcvBytes);
tcp.Close();
return(rcvString);
}
private void ServerService()
{
_tcpListener.Start();
Socket = _tcpListener.AcceptSocket();
try
{
Stream = new NetworkStream(Socket);
var buffer = new byte[1024];
var commandInterpreter = new CommandInterpreter();
while (true)
{
if (!Stream.DataAvailable) continue;
var bytesRead = Stream.Read(buffer, 0, buffer.Length);
var receivedMessage = Encoding.UTF8.GetString(buffer, 0, bytesRead);
if (commandInterpreter.ExecuteCommand(receivedMessage))
{
MessageBox.Show("Remote Client Disconnected");
break;
}
}
Stream.Close();
_tcpListener.Stop();
}
catch (Exception e)
{
MessageBox.Show("Something went wrong with the connection " + e.Message);
}
}
// https://gist.github.com/danielbierwirth/0636650b005834204cb19ef5ae6ccedb
public void ExchangePackets()
{
while (!exchangeStopRequested)
{
if (writer == null || reader == null)
{
continue;
}
string received = "";
byte[] bytes = new byte[client.SendBufferSize];
int recv = 0;
while (true)
{
recv = stream.Read(bytes, 0, client.SendBufferSize);
received += Encoding.UTF8.GetString(bytes, 0, recv);
if (received.EndsWith("\n"))
{
break;
}
// if (received.Length == 4096) break;
}
Debug.Log("Number of bytes " + received.Length);
Debug.Log("Got " + received);
System.Threading.Thread.Sleep(1000);
// if (received == "empty\n") continue;
latestRecievedMsg = received;
}
}
public void ExchangePackets()
{
while (!exchangeStopRequested)
{
if (writer == null || reader == null)
{
continue;
}
exchanging = true;
// writer.Write("request_pupil");
// Debug.Log("Sent data!");
string received = null;
#if UNITY_EDITOR
byte[] bytes = new byte[client.SendBufferSize];
int recv = 0;
while (true)
{
recv = stream.Read(bytes, 0, client.SendBufferSize);
received += Encoding.UTF8.GetString(bytes, 0, recv);
if (received.EndsWith("\n"))
{
break;
}
}
#else
received = reader.ReadLine();
#endif
lastPacket = received;
exchanging = false;
}
}
public void Read(NetworkStream stream)
{
X = StreamHelper.ReadInt(stream);
Z = StreamHelper.ReadInt(stream);
Size = StreamHelper.ReadShort(stream);
CoordinateArray = new short[Size];
TypeArray = new byte[Size];
MetadataArray = new byte[Size];
for (int i = 0; i < Size; i++)
{
CoordinateArray[i] = StreamHelper.ReadShort(stream);
}
stream.Read(TypeArray, 0, Size);
stream.Read(MetadataArray, 0, Size);
}
private string ReadMessage()
{
Byte[] data = new Byte[255];
_stream = _client.GetStream();
var length = _stream.Read(data, 0, 255);
var message = System.Text.Encoding.ASCII.GetString(data, 0, length);
return message;
}
internal static NewPayLoad ReadPayLoad(TcpClient clientSocket)
{
System.Net.Sockets.NetworkStream ns = clientSocket.GetStream();
byte[] rcvLenBytesBB = new byte[4];
//TODO: wait till max comm timeout
while (!ns.DataAvailable)
{
//TODO: adaptive sleep
// General.DoEvents();
// TODO: try async call instead of loop and thread sleep - = much faster
// meanwhile we can sleep 1
Thread.Sleep(1); //TODO 10 is too big how can we avoid? - change to 1 for super speed but check CPU spin on long requests
if (!SocketConnected(clientSocket))
{
throw new Exception("GingerSocket.GetResponse ERROR: Lost connection");
}
}
ns.Read(rcvLenBytesBB, 0, 4);
int rcvLen = ((rcvLenBytesBB[0]) << 24) + (rcvLenBytesBB[1] << 16) + (rcvLenBytesBB[2] << 8) + rcvLenBytesBB[3];
int received = 0;
byte[] rcvBytes = new byte[rcvLen + 4];
//Copy len
rcvBytes[0] = rcvLenBytesBB[0];
rcvBytes[1] = rcvLenBytesBB[1];
rcvBytes[2] = rcvLenBytesBB[2];
rcvBytes[3] = rcvLenBytesBB[3];
while (received < rcvLen)
{
received += ns.Read(rcvBytes, received + 4, rcvLen - received);
}
ns.Flush();
NewPayLoad plRC = new NewPayLoad(rcvBytes);
return(plRC);
}
public ServerPingData PingServer(string host, int port, out string error)
{
ServerPingData pingData = new ServerPingData();
error = string.Empty;
//Add timer to handle timeouts
Timer timeoutTimer = new Timer(3000);
//Attemp to contact the server
try
{
client = new TcpClient(host, port);
//Send a single message notifying the server we would like it's stats (0 is the ping request ID)
data = new byte[1] { 0x00 };
//Get a client stream for reading and writing
stream = client.GetStream();
//Send the message to the connected TcpServer.
stream.Write(data, 0, data.Length);
Debug.WriteLine("ServerPinger Sent: " + data.ToString());
//Buffer to store the response bytes.
data = new byte[256];
//Read the first batch of the TcpServer response bytes
int bytes = stream.Read(data, 0, data.Length);
//TODO: This way of reading the recieved info is prone to errors
//Someone needs to find a way to use methods like ReadString(), ReadByte(), etc for this section
//This is a total hack and needs to be changed!
pingData.Online = int.Parse(Encoding.ASCII.GetString(data).Substring(0,1));
pingData.MaxOnline = int.Parse(Encoding.ASCII.GetString(data).Substring(1, 1));
pingData.Description = Encoding.ASCII.GetString(data).Substring(2).Replace("\0","");
}
catch (Exception e)
{
error = e.Message;
pingData.Error = true;
Debug.WriteLine(e.ToString());
if (e is SocketException)
{
//Provide some better error messages
int id = (e as SocketException).ErrorCode;
if (id == 10061) //No connection could be made because the target machine actively refused it
error = "Target is online, however is not accessible.\n(Not running a server on that port, or blocked through a firewall)";
else if (id == 10060) //A connection attempt failed because the connected party did not properly respond after a period of time, or established connection failed because connected host has failed to respond
error = "Connection timed out, could not connect.";
}
}
finally
{
if (client != null)
client.Close();
}
return pingData;
}
static void Read(NetworkStream stream, byte[] buffer, int offset, int size)
{
while(size>0)
{
int read=stream.Read(buffer, offset, size);
if(read==0) throw new Exception();
size-=read;
offset+=read;
}
}
public void SendMessage(string message)
{
var messageBytes = Encoding.UTF8.GetBytes($"{message}\r\n");
_stream = _tcpClient.GetStream();
_stream.Write(messageBytes, 0, messageBytes.Length);
var buffer = new byte[256];
_stream.Read(buffer, 0, buffer.Length);
var data = Encoding.UTF8.GetString(buffer).Trim('\0');
Debug.WriteLine($"Response: {data}");
}
public void Connect(string username, string password)
{
if (_TcpClient.Connected == false)
{
_TcpClient.Connect(HOST, PORT);
Prompt prompt = new Prompt();
prompt.status = Status.Connected;
this.ShowPrompt(prompt);
}
if (_ServerStream == null)
{
_ServerStream = _TcpClient.GetStream();
}
UserAccount usr = new UserAccount();
usr.username = string.IsNullOrEmpty(username) ? "Guest" : username;
usr.email = "*****@*****.**";
string jstr = JS.Serialize<UserAccount>(usr);
this.SendRaw(jstr);
Thread task = new Thread(() =>
{
_ServerStream = _TcpClient.GetStream();
try
{
byte[] bytes = new byte[BUFFER_SIZE];
int bytesRead = _ServerStream.Read(bytes, 0, bytes.Length);
UserAccount user = JS.Deserialize<UserAccount>(bytes, bytesRead);
if (this.IsLoggedIn(user))
{
this._User = user;
Prompt prompt = new Prompt();
prompt.status = Status.LoggedIn;
this.ShowPrompt(prompt);
startChatListen();
}
}
catch(Exception ex)
{
Prompt prompt = new Prompt();
prompt.status = (int)Status.LoggingError;
prompt.description = ex.Message;
this.ShowPrompt(prompt);
}
});
_Threads.Add(task.GetHashCode(), task);
task.Start();
}
public string read(NetworkStream ns)
{
byte[] buffer = new byte[socket.ReceiveBufferSize];
while (true)
{
int bytesRead = ns.Read(buffer, 0, buffer.Length);
string dataReceived = Encoding.ASCII.GetString(buffer, 0, bytesRead);
if (dataReceived.Length > 0)
return dataReceived;
}
}
public void Connect(ServerSource server = ServerSource.Test)
{
_Socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
_Socket.Connect("livedata.americascup.com", (int)server);
_Stream = new NetworkStream(_Socket, System.IO.FileAccess.Read);
Action<byte[]> fillbuffer = b =>
{
int total = 0, read = 0;
while ((read = _Stream.Read(b, total, b.Length - total)) > 0)
{
total += read;
}
};
Action receive = null;
receive = new Action(() =>
{
var header = new byte[15];
fillbuffer(header);
var c = BitConverter.ToUInt16(header, 13);
var body = new byte[c];
fillbuffer(body);
var crc = new byte[4];
fillbuffer(crc);
#if DEBUG
if (header[0] != 0x47 || header[1] != 0x83)
Debug.WriteLine("Invalid message header");
uint cm = BitConverter.ToUInt32(crc, 0);
uint c1 = Crc32.Compute(header.Concat(body).ToArray());
if (c1 != cm)
{
Debug.WriteLine(string.Format("CRC check failed: {1} in message vs. {0} calculated", c1, cm));
string sheader = string.Join(" ", header.Select(b => b.ToString("X2")));
string sbody = string.Join(" ", body.Select(b => b.ToString("X2")));
string scrc = string.Join(" ", crc.Select(b => b.ToString("X2")));
Debug.Write(string.Format("Header: {0}\nBody: {1}\nCRC: {2}\n", sheader, sbody, scrc));
}
#endif
Task.Factory.StartNew(() =>
{
if (OnMessage != null) OnMessage(header, body, crc);
Task.Factory.StartNew(receive);
});
});
Task.Factory.StartNew(receive);
}
private void ListenRequests()
{
// Create listener on localhost port 4002, the server will listen on that port.
Int32 port = 4002;
//Ignore IP Address
System.Net.IPAddress localAddr = current_IP;
try
{
tcpListener = new System.Net.Sockets.TcpListener(localAddr, port);
tcpListener.Start();
Debug.Log("Server is listening");
Byte[] bytes = new Byte[1024];
/* REFORMAT THIS */
while (true)
{
using (connectedTcpClient = tcpListener.AcceptTcpClient())
{
// Get a stream object for reading
using (stream = connectedTcpClient.GetStream())
{
int length;
// Read incoming stream of data, if there is data.
while ((length = stream.Read(bytes, 0, bytes.Length)) != 0)
{
//Debugger
Debug.Log("Listening for incoming requests");
//Read the data that was sent.
var data = new byte[length];
Array.Copy(bytes, 0, data, 0, length);
// Convert byte array to string message.
string clientMessage = Encoding.ASCII.GetString(data);
Debug.Log("clientMessage: " + clientMessage);
//Write an answer to the client: it's the current instruction.
string response = currentInstruction;
sendClient(response);
//var e = "hllo";
//e.ToString;
}
}
}
}
}
catch (System.Net.Sockets.SocketException socketException)
{
Debug.Log("SocketException " + socketException.ToString());
}
}
public static string GetStreamData(NetworkStream stream)
{
var msg = new byte[1024];
int byteCount;
byteCount = stream.Read(msg, 0, msg.Length);
if (byteCount == 0)
return string.Empty;
ASCIIEncoding encoder = new ASCIIEncoding();
return
encoder.GetString(msg, 0, byteCount);
}
public static void Main()
{
IPAddress myIP = IPAddress.Parse("127.0.0.1");
IPEndPoint myIpEndPoint = new IPEndPoint(myIP, 8888);
System.Net.Sockets.TcpListener listener = new System.Net.Sockets.TcpListener(myIpEndPoint);
listener.Start();
Console.WriteLine(
"Listenを開始しました({0}:{1})。",
((IPEndPoint)listener.LocalEndpoint).Address,
((IPEndPoint)listener.LocalEndpoint).Port
);
System.Net.Sockets.TcpClient client = listener.AcceptTcpClient();
Console.WriteLine(
"クライアント({0}:{1})と接続しました。",
((IPEndPoint)client.Client.RemoteEndPoint).Address,
((IPEndPoint)client.Client.RemoteEndPoint).Port
);
System.Net.Sockets.NetworkStream ns = client.GetStream();
System.Text.Encoding enc = System.Text.Encoding.UTF8;
Queue <string> messages = new Queue <string>(510);
while (ns.CanRead)
{
int resSize = 0;
byte[] resBytes = new byte[2048];
System.IO.MemoryStream ms = new System.IO.MemoryStream();
do
{
resSize = ns.Read(resBytes, 0, resBytes.Length);
ms.Write(resBytes, 0, resSize);
} while (ns.DataAvailable);
string resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
resMsg = resMsg.TrimEnd('\n');
ms.Close();
messages.Enqueue(resMsg);
if (messages.Count > 500)
{
messages.Dequeue();
}
System.IO.StreamWriter sw = new System.IO.StreamWriter(@"FC2.log", false, System.Text.Encoding.GetEncoding("utf-8"));
sw.Write(string.Join("\n", messages.ToArray()));
sw.Close();
Console.WriteLine("{0}", resMsg);
}
}
private void Recivir_Mensaje()
{
while(true)
{
StreamCliente = Cliente.GetStream();
byte[] bit = new byte[140];
StreamCliente.Read(bit, 0, bit.Length);
mensaje = Encoding.ASCII.GetString(bit);
Mensaje_REcivido();
}
}
void ServerReadWrite()
{
while (true)
{
// resMsg = null;
ns = client.GetStream();
ns.ReadTimeout = Timeout.Infinite;
ns.WriteTimeout = Timeout.Infinite;
bool disconnected = false;
ms = new System.IO.MemoryStream();
byte[] resBytes = new byte[256];
int resSize = 0;
do
{
try
{
resSize = ns.Read(resBytes, 0, resBytes.Length);
if (resSize == 0)
{
disconnected = true;
Console.WriteLine("クライアントが切断しました。");
ServerThread.Abort();
break;
}
ms.Write(resBytes, 0, resSize);
}
catch
{
;
}
} while (ns.DataAvailable || resBytes[resSize - 1] != '\n');
resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
ms.Close();
resMsg = resMsg.TrimEnd('\n');
FromClientMessage = resMsg.Split(':');
// string rcvMsgNo = FromClientMessage[0] + ";" + FromClientMessage[1];
// string rcvMsg = FromClientMessage[2];
// PutServerText();
if (!disconnected)
{
string sendMsg = resMsg.Length.ToString();
byte[] sendBytes = enc.GetBytes(sendMsg + '\n');
Console.WriteLine(sendMsg);
}
}
}
public string receiveClientName(TcpClient tcpClient)
{
String incomingMessage = "";
String clientName = "";
bool isRunning = true;
if (globalDataSet.DebugMode)
{
Debug.Write("Receive name of client" + "\n");
}
while (isRunning)
{
try
{
System.Net.Sockets.NetworkStream ns = tcpClient.GetStream();
byte[] buffer = new byte[8192];
int data = ns.Read(buffer, 0, 1);
incomingMessage = System.Text.Encoding.ASCII.GetString(buffer, 0, data);
if (incomingMessage.Length != 0)
{
if (!incomingMessage.Equals(";"))
{
if (globalDataSet.DebugMode)
{
Debug.Write("Name: " + clientName + "\n");
}
clientName += incomingMessage;
}
else
{
isRunning = false;
return(clientName);
}
}
}
catch (System.IO.IOException ex)
{
isRunning = false;
if (globalDataSet.DebugMode)
{
Debug.Write("Error in receiveClientName: " + ex);
}
return("");
}
}
return("");
}
public void ExchangePackets()
{
// TODO: maybe sleep here somewhere, the loop rolls really fast
while (!exchangeStopRequested)
{
if (writer == null || reader == null)
{
continue;
}
// writer.Write(request_msg);
string received = null;
#if UNITY_EDITOR
byte[] bytes = new byte[client.SendBufferSize];
int recv = 0;
while (true)
{
recv = stream.Read(bytes, 0, client.SendBufferSize);
received += Encoding.UTF8.GetString(bytes, 0, recv);
if (received.EndsWith("\n"))
{
break;
}
// if (received.Length == 4096) break;
}
#endif
#if !UNITY_EDITOR
received = reader.ReadLine();
#endif
// received = Regex.Replace(received, @"\t|\n|\r", ""); // remove the ending \n nonon this takes super much time
Debug.Log("Msg length " + received.Length);
// Debug.Log("Got message: " + received);
if (received == "ok\n")
{
request_msg = "x\n";
}
if (received == "empty\n")
{
continue;
}
latestRecievedMsg = received;
}
}
//--
//-- get data from the current network connection
//--
private string GetData(TcpClient tcp)
{
System.Net.Sockets.NetworkStream objNetworkStream = tcp.GetStream();
if (objNetworkStream.DataAvailable)
{
byte[] bytReadBuffer = null;
int intStreamSize = 0;
bytReadBuffer = new byte[_intBufferSize + 1];
intStreamSize = objNetworkStream.Read(bytReadBuffer, 0, bytReadBuffer.Length);
System.Text.UTF8Encoding en = new System.Text.UTF8Encoding();
return(en.GetString(bytReadBuffer));
}
else
{
return("");
}
}
public void sendtcp(string sendMsg)
{
string ipOrHost = "127.0.0.1";
int port = 8080;
System.Net.Sockets.TcpClient tcp =
new System.Net.Sockets.TcpClient(ipOrHost, port);
Console.WriteLine("サーバー({0}:{1})と接続しました({2}:{3})。",
((System.Net.IPEndPoint)tcp.Client.RemoteEndPoint).Address,
((System.Net.IPEndPoint)tcp.Client.RemoteEndPoint).Port,
((System.Net.IPEndPoint)tcp.Client.LocalEndPoint).Address,
((System.Net.IPEndPoint)tcp.Client.LocalEndPoint).Port);
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
System.Text.Encoding enc = System.Text.Encoding.UTF8;
byte[] sendBytes = enc.GetBytes(sendMsg + '\n');
ns.Write(sendBytes, 0, sendBytes.Length);
Console.WriteLine(sendMsg);
System.IO.MemoryStream ms = new System.IO.MemoryStream();
byte[] resBytes = new byte[256];
int resSize = 0;
resSize = ns.Read(resBytes, 0, resBytes.Length);
if (resSize == 0)
{
Console.WriteLine("サーバーが切断しました。");
}
string resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
ms.Close();
//末尾の\nを削除
resMsg = resMsg.TrimEnd('\n');
Console.WriteLine(resMsg);
//閉じる
ns.Close();
tcp.Close();
}
private void BtnRecibir_Click(object sender, EventArgs e)
{
System.Net.Sockets.NetworkStream stream = TCPCliente.GetStream();
//Data reciving mechanism
//Corrigue este metodo para que siempre este en escuchar y cuando llegue un mensaje lo puedas ver inmediatamente.
if (stream.CanRead) //Preguntamos si es posible leer
{
if (stream.DataAvailable) //Preguntamos si hay algo por leer
{
Byte[] data = new Byte[TCPCliente.ReceiveBufferSize]; //Buffer del tamaño de lo que se recibio
string responseData = ""; //String to store the response ASCII representation
Int32 bytes = stream.Read(data, 0, data.Length);
responseData = System.Text.Encoding.ASCII.GetString(data, 0, bytes);
textBox2.Text += "Received " + responseData;
}
}
}
static void SocketToWritePipe(System.Net.Sockets.NetworkStream networkStream, StreamString ss)
{
Task.Factory.StartNew(() =>
{
byte[] netReadBuffer = new byte[1024];
int charsread = 0;
while (true)
{
if (networkStream.CanRead)
{
charsread = networkStream.Read(netReadBuffer, 0, 250);
String s = Convert.ToBase64String(netReadBuffer, 0, charsread);
if (charsread > 0)
{
Console.WriteLine("SocketToWritePipe: Decoded " + charsread + " / Encoded " + s.Length);
ss.WriteString(s);
}
}
}
});
}
// Процедура чтения данных от сервера
private void Read(object o)
{
while (true)
{
if (stream == null)
{
continue;
}
int i;
Byte[] bytes = new Byte[256];
String data = null;
if (stream.CanRead)
{
// Считываем данные из потока
i = stream.Read(bytes, 0, bytes.Length);
data = System.Text.Encoding.ASCII.GetString(bytes, 0, i);
// Добавляем считанную строку в лог
this.multiLineBox.Text += data;
}
}
}
// Update is called once per frame
void Update()
{
//↓にC++に送るデータをぶち込む
//今回は経過時間
if (goldfish0.moterflag == 1 || goldfish1.moterflag == 1 || goldfish2.moterflag == 1 || goldfish3.moterflag == 1 || goldfish4.moterflag == 1)
{
data = "1";
}
else
{
data = "0";
}
//Debug.Log(goldfish0.moterflag.ToString());
//data = "1.0000";
//data = Time.time.ToString();
//タイムアウト設定
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
//サーバーにデータを送信
//文字列をByte型配列に変換
System.Text.Encoding enc = System.Text.Encoding.UTF8;
byte[] sendBytes = enc.GetBytes(data + '\n');
//データを送信する
ns.Write(sendBytes, 0, sendBytes.Length);
//Debug.Log(data);
//サーバーから送られたデータを受信する
//今回は一周期分の時間が送られてくる。
System.IO.MemoryStream ms = new System.IO.MemoryStream();
byte[] resBytes = new byte[256];
int resSize = 256;
//データを受信
resSize = ns.Read(resBytes, 0, resBytes.Length);
//受信したデータを蓄積
ms.Write(resBytes, 0, resSize);
//受信したデータを文字列に変換
resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
ms.Close();
//末尾の\nを削除
resMsg = resMsg.TrimEnd('\n');
//Debug.Log(resMsg);
//データをセンサの数だけ分割
string[] str = resMsg.Split(' ');
for (int i = 0; i < str.Length; i++)
{
//int型に変換
num[i] = int.Parse(str[i]);
//Debug.Log(num[i]);
}
//書き込みを行うセンサー値を取得
/*
* SenserVal[SenserCount] = num[1];
* Debug.Log(SenserVal[SenserCount]);
* SenserCount += 1;
*/
//rb.MoveRotation(Quaternion.AngleAxis(45f, Vector3.forward))Debug.Log(num);
//スペース押すと閉じる
if (Input.GetKey(KeyCode.Space))
{
//センサー値をCSV形式でエクスポート
//logSave(SenserVal, "Test");
ns.Close();
tcp.Close();
Debug.Log("切断しました。");
}
}
private static CS422.WebRequest BuildRequest(TcpClient client)
{
MemoryStream data = new MemoryStream();
StreamReader sr = new StreamReader(data);
DateTime start = DateTime.Now;
TimeSpan duration = TimeSpan.FromSeconds(10);
int currentRead = -1;
long totalRead = 0;
byte[] buffer = new byte[1024];
// flags for peices of the request
bool goodRequest = false;
bool goodUrl = false;
bool goodVersion = false;
bool goodMethod = false;
int urlIndex = -1;
int lengthOfMethod = 0;
// list of regex rules to match different parts of the request.
//Regex requestBeginMatch = new Regex("^GET /[^ ]* HTTP/1.1");
Regex requestEndMatch = new Regex("\r\n\r\n");
//Regex requestUriMatch = new Regex("/[^ ]* ");
System.Net.Sockets.NetworkStream stream = client.GetStream();
stream.ReadTimeout = 2000;
// peices needed to build the request object
string method;
string url;
string version;
ConcurrentDictionary <string, string> headers = new ConcurrentDictionary <string, string>();
while (currentRead != 0 && totalRead < HeadersTimeout)
{
// first thing check to make sure the entire thing hasn't taken too long to read
if (DateTime.Now - start > duration)
{
// took to long, abort
return(null);
}
if (totalRead > firstLineTimeout && !goodVersion)
{
Console.WriteLine("URL TO LONG");
return(null);
}
//read one KB from the client stream
try{
currentRead = stream.Read(buffer, 0, 1024);
}
catch (IOException ex)
{
// took too long to read any data;
Console.WriteLine("client took too long to respond");
return(null);
}
//store the information read from the client in our memory buffer
data.Write(buffer, 0, currentRead);
//update how much in total we have received from the client
totalRead += currentRead;
// if we have more than 4 bytes check method
if (totalRead >= 4 && goodMethod == false)
{
// bad method
if (!checkMethod(data, out lengthOfMethod))
{
return(null);
}
else
{
goodMethod = true;
}
}
// begin checking for a valid http request after 16 bytes
if (totalRead >= 16 && goodMethod == true)
{
// first check url
if (goodUrl == false)
{
urlIndex = UrlEndIndex(data, 3);
if (urlIndex > 0)
{
// we have a good url
goodUrl = true;
}
}
if (goodUrl == true)
{
if (checkVersion(data, urlIndex))
{
goodVersion = true;
}
}
if (goodVersion)
{
data.Position = 0;
string d = sr.ReadToEnd();
if (requestEndMatch.IsMatch(d))
{
goodRequest = true;
currentRead = 0;
}
}
else
{
if (totalRead > urlIndex + 10 && goodUrl)
{
// bad version
return(null);
}
}
}
}
if (totalRead + 100 >= HeadersTimeout)
{
Console.WriteLine("headers were too big");
}
if (goodRequest)
{
//if we found a good request build and return the web request object (also need to get the header stuff
// here we need to build the request stuff soooooooooo
string dataAsString = System.Text.Encoding.ASCII.GetString(data.ToArray());
method = dataAsString.Substring(0, lengthOfMethod);
url = dataAsString.Substring(lengthOfMethod, urlIndex - lengthOfMethod);
version = dataAsString.Substring(urlIndex, 11);
Console.WriteLine(dataAsString);
// now the fun begins, we need to read all the headers in to the dictionary
// where is the begginging on of the headers;
string[] peices = dataAsString.Split(new string[] { "\r\n" }, StringSplitOptions.None);
for (int i = 1; i < peices.Length; i++)
{
if (peices[i] != "")
{
string[] header = peices[i].Split(':');
headers.TryAdd(header[0].ToLower(), header[1]);
}
else
{
i = peices.Length + 1;
}
}
// okay now we just need to set the stream to the right place
data.Position = requestEndMatch.Matches(dataAsString)[0].Index + 4;
// finally let's build that request object like a boss;
return(new CS422.WebRequest(data, stream, headers, method, url, version, stream));
}
else
{
//request was bad close the client return null
return(null);
}
}
/// <summary>
/// 指定IPアドレスのカメラのプレビュー画像データを取得する
/// </summary>
/// <param name="ipAddress"></param>
/// <returns></returns>
public static byte[] GetPreviewImage(string ipAddress)
{
TcpClient tcp = new TcpClient(ipAddress, SHOOTIMAGESERVER_PORT);
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
ns.ReadTimeout = 5000;
ns.WriteTimeout = 5000;
// get preview image コマンドを送信
string cmd = "PRV";
byte[] cmdBytes = System.Text.Encoding.UTF8.GetBytes(cmd);
ns.Write(cmdBytes, 0, cmdBytes.Length);
// データを受信
ulong sum = 0;
ulong bytesToRead = 0;
MemoryStream ms = new MemoryStream();
do
{
if (tcp.Available == 0)
{
continue; // Retry
}
byte[] rcvBytes = new byte[tcp.Client.Available];
int resSize = 0;
try {
resSize = ns.Read(rcvBytes, 0, rcvBytes.Length);
} catch (IOException e) {
if (e.InnerException is SocketException)
{
var socketException = e.InnerException as SocketException;
if (socketException.SocketErrorCode == SocketError.TimedOut)
{
resSize = 0; // 再試行させる
}
else
{
throw e;
}
}
else
{
throw e;
}
}
ms.Write(rcvBytes, 0, resSize);
if ((bytesToRead == 0) && (ms.Length >= 4))
{
// 先頭の4バイトには、次に続くデータのサイズが書かれている
byte[] buffer = ms.GetBuffer();
bytesToRead = ((ulong)buffer[0]) | ((ulong)buffer[1] << 8) | ((ulong)buffer[2] << 16) | ((ulong)buffer[3] << 24);
}
sum += (ulong)resSize;
} while (sum < bytesToRead + 4);
ms.Close();
ns.Close();
tcp.Close();
return(ms.GetBuffer().Skip(4).ToArray());
}
public static void Main()
{
Console.WriteLine("入力してください");
string sendMsg = Console.ReadLine();
if (sendMsg == null || sendMsg.Length == 0)
{
return;
}
string ipOrHost = "127.0.0.1";
int port = 2001;
System.Net.Sockets.TcpClient tcp =
new System.Net.Sockets.TcpClient(ipOrHost, port);
Console.WriteLine("サーバー({0}:{1})と接続しました({2}:{3})。",
((System.Net.IPEndPoint)tcp.Client.RemoteEndPoint).Address,
((System.Net.IPEndPoint)tcp.Client.RemoteEndPoint).Port,
((System.Net.IPEndPoint)tcp.Client.LocalEndPoint).Address,
((System.Net.IPEndPoint)tcp.Client.LocalEndPoint).Port);
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
System.Text.Encoding enc = System.Text.Encoding.UTF8;
byte[] sendBytes = enc.GetBytes(sendMsg + '\n');
ns.Write(sendBytes, 0, sendBytes.Length);
Console.WriteLine(sendMsg);
System.IO.MemoryStream ms = new System.IO.MemoryStream();
byte[] resBytes = new byte[256];
int resSize = 0;
do
{
resSize = ns.Read(resBytes, 0, resBytes.Length);
if (resSize == 0)
{
Console.WriteLine("サーバーが切断しました。");
break;
}
ms.Write(resBytes, 0, resSize);
} while (ns.DataAvailable || resBytes[resSize - 1] != '\n');
string resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
ms.Close();
resMsg = resMsg.TrimEnd('\n');
Console.WriteLine(resMsg);
ns.Close();
tcp.Close();
Console.WriteLine("切断しました。");
Console.ReadLine();
}
static void Main(string[] args)
{
// Loading SyncshooterDefs
var defs = SyncshooterDefs.Deserialize(@"..\..\syncshooterDefs.json");
// TEST
defs.Serialize(@"..\..\syncshooterDefs_copy.json");
// UDP マルチキャストを開く
MultiCastClient mcastClient = new MultiCastClient(MCAST_GRP, MCAST_PORT);
if (mcastClient.Open() == false)
{
return;
}
//mcastClient.SendCommand( "SDW" ); // TEST
// 接続しているラズパイのアドレスとポートを列挙する
var mapIPvsPort = GetConectedHostAddress(mcastClient);
// Camera parameter を取得する
Console.Error.WriteLine("Get and save camera parameters...");
foreach (var pair in mapIPvsPort)
{
IPAddress adrs = pair.Key;
string text = GetCameraParameterInJson(adrs.ToString());
Console.WriteLine("{0}", text);
var param = JsonConvert.DeserializeObject <CameraParam>(text);
string path = string.Format(@"..\..\cameraParam_{0}.json", adrs.ToString());
param.Serialize(path);
}
// Preview image の取得
Console.Error.WriteLine("Previewing...");
foreach (var pair in mapIPvsPort)
{
IPAddress adrs = pair.Key;
TcpClient tcp = new TcpClient(adrs.ToString(), SHOOTIMAGESERVER_PORT);
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
Console.WriteLine("IP Address: {0}", adrs);
System.IO.MemoryStream ms = new System.IO.MemoryStream();
// get preview image コマンドを送信
string cmd = "PRV";
byte[] cmdBytes = System.Text.Encoding.UTF8.GetBytes(cmd);
ns.Write(cmdBytes, 0, cmdBytes.Length);
// データを受信
while (ns.DataAvailable == false)
{
}
ulong sum = 0;
ulong bytes_to_read = 0;
do
{
byte[] rcvBytes = new byte[tcp.Client.Available];
int resSize = ns.Read(rcvBytes, 0, rcvBytes.Length);
if (sum == 0)
{
// 先頭の4バイトには、次に続くデータのサイズが書かれている
bytes_to_read = ((ulong)rcvBytes[0]) | ((ulong)rcvBytes[1] << 8) | ((ulong)rcvBytes[2] << 16) | ((ulong)rcvBytes[3] << 24);
Console.WriteLine("bytes_to_read = {0}", bytes_to_read);
}
sum += (ulong)resSize;
ms.Write(rcvBytes, 0, resSize);
} while (sum < bytes_to_read + 4);
Console.WriteLine("size = {0}", (int)sum - 4);
ms.Close();
String path = string.Format("preview_{0}.bmp", adrs.ToString());
using (var fs = new FileStream(path, FileMode.Create, FileAccess.ReadWrite)) {
fs.Write(ms.GetBuffer(), 4, (int)sum - 4);
}
ns.Close();
tcp.Close();
}
//
// Full image (JPG) の取得
// Multicast で 撮影コマンドを送信
mcastClient.SendCommand("SHJ");
Console.Error.WriteLine("Capturing JPEG...");
// Full image の取得
foreach (var pair in mapIPvsPort)
{
IPAddress adrs = pair.Key;
TcpClient tcp = new TcpClient(adrs.ToString(), SHOOTIMAGESERVER_PORT);
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
Console.WriteLine("IP Address: {0}", adrs);
System.IO.MemoryStream ms = new System.IO.MemoryStream();
// full image 取得コマンドを送信
string cmd = "IMG";
byte[] cmdBytes = System.Text.Encoding.UTF8.GetBytes(cmd);
ns.Write(cmdBytes, 0, cmdBytes.Length);
// データを受信
while (ns.DataAvailable == false)
{
}
ulong sum = 0;
ulong bytes_to_read = 0;
do
{
byte[] rcvBytes = new byte[tcp.Client.Available];
int resSize = ns.Read(rcvBytes, 0, rcvBytes.Length);
if (sum == 0)
{
// 先頭の4バイトには、次に続くデータのサイズが書かれている
bytes_to_read = ((ulong)rcvBytes[0]) | ((ulong)rcvBytes[1] << 8) | ((ulong)rcvBytes[2] << 16) | ((ulong)rcvBytes[3] << 24);
Console.WriteLine("bytes_to_read = {0}", bytes_to_read);
}
sum += (ulong)resSize;
ms.Write(rcvBytes, 0, resSize);
} while (sum < bytes_to_read + 4);
Console.WriteLine("size = {0}", (int)sum - 4);
ms.Close();
String path = string.Format("full_{0}.jpg", adrs.ToString());
using (var fs = new FileStream(path, FileMode.Create, FileAccess.ReadWrite)) {
fs.Write(ms.GetBuffer(), 4, (int)sum - 4);
}
ns.Close();
tcp.Close();
}
mcastClient.Close();
}
public void receiveFromRobotController()
{
String incomingMessage = "";
String incomingMessageTemp = "";
String[] msgArray = new String[] { "", "" };
bool commandMessage = false;
bool normalMessage = false;
bool itsACommand = false;
TcpClient tcpClientRobot;
//clientList.TryGetValue("RobotController", out tcpClientRobot);
System.Net.Sockets.NetworkStream ns = networkStream; //tcpClientRobot.GetStream();
byte[] buffer = new byte[8192];
while (this.shutDown == false)
{
try
{
//if(globalDataSet.DebugMode) Debug.Write("Received from server: " + incomingMessage + "\n");
int data = ns.Read(buffer, 0, 1);
incomingMessage = System.Text.Encoding.ASCII.GetString(buffer, 0, data);
if (incomingMessage.Length != 0)
{
incomingMessageTemp += incomingMessage;
if (!incomingMessage.Equals(":") && commandMessage)
{
itsACommand = true;
msgArray[1] += incomingMessage;
}
if (!incomingMessage.Equals(":") && !commandMessage)
{
normalMessage = true;
}
// Check if msg should be read as command
if (incomingMessage.Equals(":") && !commandMessage)
{
commandMessage = true;
}
else if (incomingMessage.Equals(":") && commandMessage)
{
if (itsACommand)
{
normalMessage = false;
}
if (!itsACommand)
{
normalMessage = true;
}
commandMessage = false;
}
// Read message as normal characters
if (!incomingMessage.Equals(";") && !commandMessage && normalMessage)
{
msgArray[0] += incomingMessage;
itsACommand = false;
}
else if (incomingMessage.Equals(";") && !commandMessage && normalMessage)
{
normalMessage = false;
if (this.statusChangedEvent != null)
{
this.statusChangedEvent(this.communicationName + ": Message received from Client - " + incomingMessage);
}
// TODO: Validate the length of incoming message and the content to request resend
// Fire the receive event and save sensor values to database
if (this.messageReceivedEvent != null)
{
this.messageReceivedEvent(msgArray);
}
//if (this.tunnelingMessage != null) this.tunnelingMessage(incomingMessageTemp);
// Test to use one thread for tunneling to client and to filtering...
//sendToPhone(incomingMessageTemp);
//if(globalDataSet.DebugMode) Debug.Write("Message received: " + incomingMessageTemp + "\n");
msgArray = new String[] { "", "" };
incomingMessageTemp = "";
}
}
}
catch (System.IO.IOException ex)
{
// TODO Validate shutdown implementation
this.shutDown = true;
}
}
}
public static void Main()
{
IPAddress myIP = IPAddress.Parse("127.0.0.1");
IPEndPoint myIpEndPoint = new IPEndPoint(myIP, 8888);
System.Net.Sockets.TcpListener listener = new System.Net.Sockets.TcpListener(myIpEndPoint);
listener.Start();
Console.WriteLine(
"Listenを開始しました({0}:{1})。",
((IPEndPoint)listener.LocalEndpoint).Address,
((IPEndPoint)listener.LocalEndpoint).Port
);
System.Net.Sockets.TcpClient client = listener.AcceptTcpClient();
Console.WriteLine(
"クライアント({0}:{1})と接続しました。",
((IPEndPoint)client.Client.RemoteEndPoint).Address,
((IPEndPoint)client.Client.RemoteEndPoint).Port
);
System.Net.Sockets.NetworkStream ns = client.GetStream();
System.Text.Encoding enc = System.Text.Encoding.UTF8;
int commentNo = 0;
Queue <string> messages = new Queue <string>(510);
while (ns.CanRead)
{
int resSize = 0;
byte[] resBytes = new byte[2048];
System.IO.MemoryStream ms = new System.IO.MemoryStream();
do
{
resSize = ns.Read(resBytes, 0, resBytes.Length);
ms.Write(resBytes, 0, resSize);
} while (ns.DataAvailable);
string resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
resMsg = resMsg.TrimEnd('\n');
Dictionary <string, string> dic = JsonConvert.DeserializeObject <Dictionary <string, string> >(resMsg);
bool isContainTip = dic.ContainsKey("tip_username");
commentNo++;
if (isContainTip)
{
resMsg = commentNo.ToString() + "\t" + dic["time"].Replace("\t", " ") + "\t" + dic["username"].Replace("\t", " ") + "\t" + dic["comment"].Replace("\t", " ") + "\t" + "1";
}
else
{
resMsg = commentNo.ToString() + "\t" + dic["time"].Replace("\t", " ") + "\t" + dic["username"].Replace("\t", " ") + "\t" + dic["comment"].Replace("\t", " ") + "\t" + "0";
}
ms.Close();
messages.Enqueue(resMsg);
if (messages.Count > 500)
{
messages.Dequeue();
}
try {
System.IO.StreamWriter sw = new System.IO.StreamWriter(@"FC2.log", false, System.Text.Encoding.GetEncoding("utf-8"));
sw.Write(string.Join("\n", messages.ToArray()));
sw.Close();
} catch (Exception e) {
Console.WriteLine("System.IO.StreamWriter: " + e.ToString());
}
Console.WriteLine("{0}", resMsg);
}
}
public static void Main()
{
//サーバーに送信するデータを入力してもらう
Console.WriteLine("文字列を入力し、Enterキーを押してください。");
string sendMsg = Console.ReadLine();
//何も入力されなかった時は終了
if (sendMsg == null || sendMsg.Length == 0)
{
return;
}
//サーバーのIPアドレス（または、ホスト名）とポート番号
string ipOrHost = "127.0.0.1";
//string ipOrHost = "localhost";
int port = 2001;
//TcpClientを作成し、サーバーと接続する
System.Net.Sockets.TcpClient tcp =
new System.Net.Sockets.TcpClient(ipOrHost, port);
Console.WriteLine("サーバー({0}:{1})と接続しました({2}:{3})。",
((System.Net.IPEndPoint)tcp.Client.RemoteEndPoint).Address,
((System.Net.IPEndPoint)tcp.Client.RemoteEndPoint).Port,
((System.Net.IPEndPoint)tcp.Client.LocalEndPoint).Address,
((System.Net.IPEndPoint)tcp.Client.LocalEndPoint).Port);
//NetworkStreamを取得する
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
//読み取り、書き込みのタイムアウトを10秒にする
//デフォルトはInfiniteで、タイムアウトしない
//(.NET Framework 2.0以上が必要)
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
//サーバーにデータを送信する
//文字列をByte型配列に変換
System.Text.Encoding enc = System.Text.Encoding.UTF8;
byte[] sendBytes = enc.GetBytes(sendMsg + '\n');
//データを送信する
ns.Write(sendBytes, 0, sendBytes.Length);
Console.WriteLine(sendMsg);
//サーバーから送られたデータを受信する
System.IO.MemoryStream ms = new System.IO.MemoryStream();
byte[] resBytes = new byte[256];
int resSize = 0;
do
{
//データの一部を受信する
resSize = ns.Read(resBytes, 0, resBytes.Length);
//Readが0を返した時はサーバーが切断したと判断
if (resSize == 0)
{
Console.WriteLine("サーバーが切断しました。");
break;
}
//受信したデータを蓄積する
ms.Write(resBytes, 0, resSize);
//まだ読み取れるデータがあるか、データの最後が\nでない時は、
// 受信を続ける
} while (ns.DataAvailable || resBytes[resSize - 1] != '\n');
//受信したデータを文字列に変換
string resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
ms.Close();
//末尾の\nを削除
resMsg = resMsg.TrimEnd('\n');
Console.WriteLine(resMsg);
//閉じる
ns.Close();
tcp.Close();
Console.WriteLine("切断しました。");
Console.ReadLine();
}
//接続ボタン
void ClientMode()
{
m_ActiveRecv = true;
timerReconnect.Enabled = false;
string strSrcIP = textBoxSrcIp.Text;
int sSrcPort = Int32.Parse(textBoxSrcPort.Text);
string strDstIP = textBoxDstIp.Text;
int sDstPort = Int32.Parse(textBoxDstPort.Text);
try
{
localSocket = new Socket(SocketType.Stream, ProtocolType.Tcp);
localSocket.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, 1);
var local = new System.Net.IPEndPoint(IPAddress.Parse(strSrcIP), sSrcPort);
localSocket.Bind(local);
//TcpClientを作成し、サーバーと接続する
m_tcp = new System.Net.Sockets.TcpClient();
m_tcp.Client = localSocket;
m_tcp.Connect(strDstIP, sDstPort);
listBox1.Items.Add("接続成功");
listBox1.SelectedIndex = listBox1.Items.Count - 1;
listBox1.TopIndex = listBox1.SelectedIndex;
//NetworkStreamを取得する
m_ns = m_tcp.GetStream();
//読み取り、書き込みのタイムアウトを10秒にする
m_ns.ReadTimeout = 1000;
m_ns.WriteTimeout = 1000;
m_thread = new Thread(new ThreadStart(() =>
{
System.IO.MemoryStream ms = new System.IO.MemoryStream();
byte[] resBytes = new byte[65536];
int resSize = 0;
do
{
try
{
//データの一部を受信する
resSize = m_ns.Read(resBytes, 0, resBytes.Length);
//Readが0を返した時はサーバーが切断したと判断
if (resSize != 0)
{
//受信したデータを蓄積する
ms.Write(resBytes, 0, resSize);
//まだ読み取れるデータがあるか、データの最後が\nでない時は、
// 受信を続ける
Invoke(new ListAddDelegate(OutputLogRecv));
}
else
{
//切断
break;
}
}
catch (ArgumentNullException e1)
{
}
catch (ArgumentOutOfRangeException e2)
{
}
catch (InvalidOperationException e3)
{
//切断
break;
}
catch (IOException e4)
{
}
} while (m_ActiveRecv);
//受信したデータを文字列に変換
ms.Close();
m_ns.Close();
m_ns = null;
m_tcp.Close();
m_tcp = null;
localSocket.Close();
localSocket = null;
try
{
Invoke(new ListAddDelegate(ErrDiscconect));
}
catch (Exception)
{
}
}));
m_thread.Start();
buttonConnect.Enabled = false;
buttonSend.Enabled = true;
buttonDisconnect.Enabled = true;
//連続送信する場合タイマきどう
if (checkBoxReSend.Checked == true)
{
timerResend.Interval = Int32.Parse(textBox1.Text);
timerResend.Enabled = true;
}
}
catch (Exception)
{
listBox1.Items.Add("接続失敗");
listBox1.SelectedIndex = listBox1.Items.Count - 1;
listBox1.TopIndex = listBox1.SelectedIndex;
if (m_ns != null)
{
m_ns.Close();
}
if (m_tcp != null)
{
m_tcp.Close();
}
if (localSocket != null)
{
localSocket.Close();
}
}
//再接続時間が設定されている場合、再接続
if (checkBoxReconnect.Checked)
{
timerReconnect.Interval = Int32.Parse(textBoxReconnectTime.Text);
timerReconnect.Enabled = true;
buttonConnect.Enabled = false;
buttonDisconnect.Enabled = true;
}
}
public static void Main()
{
// ListenするIPアドレス
string ipString = "127.0.0.1";
System.Net.IPAddress ipAdd = System.Net.IPAddress.Parse(ipString);
// Listenするポート番号
int port = 2001;
// TcpListenerオブジェクトの作成
System.Net.Sockets.TcpListener listener = new System.Net.Sockets.TcpListener(ipAdd, port);
// Listenを開始
listener.Start();
Console.WriteLine("Listenを開始しました({0}:{1}).",
((System.Net.IPEndPoint)listener.LocalEndpoint).Address,
((System.Net.IPEndPoint)listener.LocalEndpoint).Port);
// 接続要求があったら受け入れる
System.Net.Sockets.TcpClient client = listener.AcceptTcpClient();
Console.WriteLine("クライアント({0}:{1})と接続しました.",
((System.Net.IPEndPoint)listener.LocalEndpoint).Address,
((System.Net.IPEndPoint)listener.LocalEndpoint).Port);
// NetworkStreamを取得
System.Net.Sockets.NetworkStream ns = client.GetStream();
// 読取り，書き込みのタイムアウトを10秒にする
// デフォルトはInfiniteでタイムアウトしない
// (.NET Framework 2.0以上が必要
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
// クライアントから送られたデータを受信する
System.Text.Encoding enc = System.Text.Encoding.UTF8;
bool disconnected = false;
System.IO.MemoryStream ms = new System.IO.MemoryStream();
byte[] resBytes = new byte[256];
int resSize = 0;
do
{
// データの一部を受信する
resSize = ns.Read(resBytes, 0, resBytes.Length);
// Readが0を返した時はクライアントが切断したと判断
if (resSize == 0)
{
disconnected = true;
Console.WriteLine("クライアントが切断しました．");
break;
}
// 受信したデータを蓄積する
ms.Write(resBytes, 0, resSize);
// まだ読み取れるデータがあるか，データの最後が\n出ない時は，受信を続ける
} while (ns.DataAvailable || resBytes[resSize - 1] != '\n');
// 受信したデータを文字列に変換
string resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
ms.Close();
// 末尾の\nを削除
resMsg = resMsg.TrimEnd('\n');
Console.WriteLine(resMsg);
if (!disconnected)
{
// クライアントにデータを送信する
// クライアントに送信する文字列を作成
string sendMsg = resMsg.Length.ToString();
// 文字列をByte型配列に変換
byte[] sendBytes = enc.GetBytes(sendMsg + "\n");
// データを送信する
ns.Write(sendBytes, 0, sendBytes.Length);
Console.WriteLine(sendMsg);
}
// 閉じる
ns.Close();
client.Close();
Console.WriteLine("クライアントとの接続を閉じました.");
// リスナを閉じる
listener.Stop();
Console.WriteLine("Listenerを閉じました．");
Console.ReadLine();
}
public static void Main()
{
string ipString = "127.0.0.1";
System.Net.IPAddress ipAdd = System.Net.IPAddress.Parse(ipString);
int port = 2001;
System.Net.Sockets.TcpListener listener =
new System.Net.Sockets.TcpListener(ipAdd, port);
listener.Start();
Console.WriteLine("Listenを開始しました({0}:{1})。",
((System.Net.IPEndPoint)listener.LocalEndpoint).Address,
((System.Net.IPEndPoint)listener.LocalEndpoint).Port);
// 接続要求があったら受け入れる
System.Net.Sockets.TcpClient client = listener.AcceptTcpClient();
Console.WriteLine("クライアント({0}:{1})と接続しました。",
((System.Net.IPEndPoint)client.Client.RemoteEndPoint).Address,
((System.Net.IPEndPoint)client.Client.RemoteEndPoint).Port);
// NetworkStreamを取得データの流れ
System.Net.Sockets.NetworkStream ns = client.GetStream();
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
System.Text.Encoding enc = System.Text.Encoding.UTF8;
bool disconnected = false;
System.IO.MemoryStream ms = new System.IO.MemoryStream();
byte[] resBytes = new byte[256];
int resSize = 0;
do
{
//データの一部を受信する
resSize = ns.Read(resBytes, 0, resBytes.Length);
//Readが0を返した時はクライアントが切断したと判断
if (resSize == 0)
{
disconnected = true;
Console.WriteLine("クライアントが切断しました。");
break;
}
//受信したデータを蓄積する
ms.Write(resBytes, 0, resSize);
//まだ読み取れるデータがあるか、データの最後が\nでない時は、
// 受信を続ける
} while (ns.DataAvailable || resBytes[resSize - 1] != '\n');
//受信したデータを文字列に変換
string resMsg = enc.GetString(ms.GetBuffer(), 0, (int)ms.Length);
ms.Close();
resMsg = resMsg.TrimEnd('\n');
Console.WriteLine(resMsg);
if (!disconnected)
{
//クライアントにデータを送信する
//クライアントに送信する文字列を作成
string sendMsg = resMsg.Length.ToString();
//文字列をByte型配列に変換
byte[] sendBytes = enc.GetBytes(sendMsg + '\n');
//データを送信する
ns.Write(sendBytes, 0, sendBytes.Length);
Console.WriteLine(sendMsg);
}
ns.Close();
client.Close();
Console.WriteLine("クライアントとの接続を閉じました。");
listener.Stop();
Console.WriteLine("Listenerを閉じました。");
Console.ReadLine();
}
static void Main(string[] args)
{
//Connect
TcpClient tcpClient = new TcpClient();
tcpClient.Connect("localhost", 3334);
MessageSender messageSender = new MessageSender(tcpClient.Session);
MessageReceiver messageReceiver = new MessageReceiver(tcpClient.Session);
MessageExecutor messageExecutor =
new MessageExecutor(messageSender, messageReceiver, new InstantTaskScheduler());
messageExecutor.Configuration.DefaultTimeout = 10000;
var notificationListener = new NotificationListener();
messageReceiver.AddListener(-1, notificationListener);
//auth
AuthorizeHciRequest request = new AuthorizeHciRequest();
request.ClientId = -1;
request.Locale = "en-US";
var future = messageExecutor.Submit <AuthorizeHciResponse>(request);
future.Wait();
AuthorizeHciResponse AuthorizeHciResponse = future.Value;
int clientId = AuthorizeHciResponse.ClientId;
System.Console.WriteLine("AuthorizeHciResponse precessed");
//login
LoginRequest loginRequest = new LoginRequest();
loginRequest.UserLogin = "******";
loginRequest.UserPassword = "******";
loginRequest.ClientId = clientId;
var loginResponcetask = messageExecutor.Submit <LoginResponse>(loginRequest);
loginResponcetask.Wait();
// Id of the emu-copter is 2
var vehicleToControl = new Vehicle {
Id = 3
};
TcpClientt.TcpListener server = new TcpClientt.TcpListener(IPAddress.Any, 8080);
server.Start(); // run server
byte[] ok = new byte[100];
ok = Encoding.Default.GetBytes("ok");
while (true) // бесконечный цикл обслуживания клиентов
{
TcpClientt.TcpClient client = server.AcceptTcpClient();
TcpClientt.NetworkStream ns = client.GetStream();
while (client.Connected)
{
byte[] msg = new byte[100];
int count = ns.Read(msg, 0, msg.Length);
Console.Write(Encoding.Default.GetString(msg, 0, count));
string allMessage = Encoding.Default.GetString(msg);
string result = allMessage.Substring(0, count - 1);
var commandName = result.ToString().Split(":")[0];
switch (commandName)
{
case "takeoff_command":
{
Console.Write("got command: {0}", commandName);
SendCommandRequest takeoff = new SendCommandRequest
{
ClientId = clientId,
Command = new Command
{
Code = "takeoff_command",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = true,
ResultIndifferent = true
}
};
takeoff.Vehicles.Add(vehicleToControl);
var takeoffCmd = messageExecutor.Submit <SendCommandResponse>(takeoff);
takeoffCmd.Wait();
Thread.Sleep(5000);
ns.Write(ok, 0, ok.Length);
break;
}
case "direct_vehicle_control":
{
Console.Write("got command: {0}", commandName);
var commandArgs = result.Split(":")[1];
Console.Write("args of command: {0}", commandArgs);
// Vehicle control in joystick mode
SendCommandRequest vehicleJoystickControl = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "direct_vehicle_control",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = true,
ResultIndifferent = true
}
};
vehicleJoystickControl.Vehicles.Add(vehicleToControl);
List <CommandArgument> listJoystickCommands = new List <CommandArgument>();
var directionCommand = commandArgs.ToString().Split(",")[0];
string commandValueStr = commandArgs.ToString().Split(",")[1];
double commandValue = double.Parse(commandValueStr,
System.Globalization.CultureInfo.InvariantCulture);
switch (directionCommand)
{
case "roll":
listJoystickCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = commandValue
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "pitch",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "throttle",
Value = new Value()
{
DoubleValue = 0
}
});
break;
case "pitch":
listJoystickCommands.Add(new CommandArgument
{
Code = "pitch",
Value = new Value()
{
DoubleValue = commandValue
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "throttle",
Value = new Value()
{
DoubleValue = 0
}
});
break;
case "throttle":
listJoystickCommands.Add(new CommandArgument
{
Code = "throttle",
Value = new Value()
{
DoubleValue = commandValue
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "pitch",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = 0
}
});
break;
case "yaw":
listJoystickCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = commandValue
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "pitch",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickCommands.Add(new CommandArgument
{
Code = "throttle",
Value = new Value()
{
DoubleValue = 0
}
});
break;
}
vehicleJoystickControl.Command.Arguments.AddRange(listJoystickCommands);
var sendJoystickCommandResponse =
messageExecutor.Submit <SendCommandResponse>(vehicleJoystickControl);
sendJoystickCommandResponse.Wait();
System.Console.WriteLine("Was sent {0}", commandValue);
Thread.Sleep(2000);
ns.Write(ok, 0, ok.Length);
break;
}
case "set_relative_heading":
{
Console.Write("got command: {0}", commandName);
var commandArgs = result.Split(":")[1];
Console.Write("args of command: {0}", commandArgs);
// Vehicle control in joystick mode
SendCommandRequest vehicleRelativeOffsetControl = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "set_relative_heading",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = false,
ResultIndifferent = false
}
};
vehicleRelativeOffsetControl.Vehicles.Add(vehicleToControl);
List <CommandArgument> listRelativeOffsetCommands = new List <CommandArgument>();
var directionCommand = commandArgs.ToString().Split(",")[0];
string commandValueStr = commandArgs.ToString().Split(",")[1];
double commandValue = double.Parse(commandValueStr,
System.Globalization.CultureInfo.InvariantCulture);
switch (directionCommand)
{
case "relative_heading":
listRelativeOffsetCommands.Add(new CommandArgument
{
Code = "relative_heading",
Value = new Value()
{
DoubleValue = commandValue
}
});
break;
}
vehicleRelativeOffsetControl.Command.Arguments.AddRange(listRelativeOffsetCommands);
var sendRelativeOffsetCommandResponse =
messageExecutor.Submit <SendCommandResponse>(vehicleRelativeOffsetControl);
sendRelativeOffsetCommandResponse.Wait();
System.Console.WriteLine("Was sent {0}", commandValue);
Thread.Sleep(2000);
ns.Write(ok, 0, ok.Length);
break;
}
case "set_position_offset":
{
Console.Write("got command: {0}", commandName);
var commandArgs = result.Split(":")[1];
Console.Write("args of command: {0}", commandArgs);
// Vehicle control in joystick mode
SendCommandRequest vehicleJoystickOffset = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "set_position_offset",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = false,
ResultIndifferent = false
}
};
vehicleJoystickOffset.Vehicles.Add(vehicleToControl);
List <CommandArgument> listJoystickOffsetCommands = new List <CommandArgument>();
var directionCommand = commandArgs.ToString().Split(",")[0];
string commandValueStr = commandArgs.ToString().Split(",")[1];
double commandValue = double.Parse(commandValueStr,
System.Globalization.CultureInfo.InvariantCulture);
switch (directionCommand)
{
case "x":
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "x",
Value = new Value()
{
DoubleValue = commandValue
}
});
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "y",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "z",
Value = new Value()
{
DoubleValue = 0
}
});
break;
case "y":
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "y",
Value = new Value()
{
DoubleValue = commandValue
}
});
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "x",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "z",
Value = new Value()
{
DoubleValue = 0
}
});
break;
case "z":
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "z",
Value = new Value()
{
DoubleValue = commandValue
}
});
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "y",
Value = new Value()
{
DoubleValue = 0
}
});
listJoystickOffsetCommands.Add(new CommandArgument
{
Code = "x",
Value = new Value()
{
DoubleValue = 0
}
});
break;
}
vehicleJoystickOffset.Command.Arguments.AddRange(listJoystickOffsetCommands);
var sendJoystickOffsetResponse =
messageExecutor.Submit <SendCommandResponse>(vehicleJoystickOffset);
sendJoystickOffsetResponse.Wait();
System.Console.WriteLine("Was sent {0}", commandValue);
Thread.Sleep(2000);
ns.Write(ok, 0, ok.Length);
break;
}
case "payload_control":
{
Console.Write("got command: {0}", commandName);
var commandArgs = result.ToString().Split(":")[1];
Console.Write("args of command: {0}", commandArgs);
SendCommandRequest vehiclePayloadCommandRequest = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "payload_control",
Subsystem = Subsystem.S_CAMERA,
Silent = false,
ResultIndifferent = false
}
};
vehiclePayloadCommandRequest.Vehicles.Add(vehicleToControl);
List <CommandArgument> listPayloadCommands = new List <CommandArgument>();
var directionCommand = commandArgs.ToString().Split(",")[0];
string commandValueStr = commandArgs.ToString().Split(",")[1];
double commandValue = double.Parse(commandValueStr,
System.Globalization.CultureInfo.InvariantCulture);
switch (directionCommand)
{
case "tilt":
listPayloadCommands.Add(new CommandArgument
{
Code = "tilt",
Value = new Value()
{
DoubleValue = commandValue
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = 0
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = 0
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "zoom_level",
Value = new Value()
{
DoubleValue = 0
}
});
break;
case "roll":
listPayloadCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = commandValue
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "tilt",
Value = new Value()
{
DoubleValue = 0
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = 0
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "zoom_level",
Value = new Value()
{
DoubleValue = 0
}
});
break;
case "zoom_level":
listPayloadCommands.Add(new CommandArgument
{
Code = "zoom_level",
Value = new Value()
{
DoubleValue = commandValue
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "tilt",
Value = new Value()
{
DoubleValue = 0
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = 0
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = 0
}
});
break;
case "yaw":
listPayloadCommands.Add(new CommandArgument
{
Code = "yaw",
Value = new Value()
{
DoubleValue = commandValue
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "tilt",
Value = new Value()
{
DoubleValue = 0
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "roll",
Value = new Value()
{
DoubleValue = 0
}
});
listPayloadCommands.Add(new CommandArgument
{
Code = "zoom_level",
Value = new Value()
{
DoubleValue = 0
}
});
break;
}
vehiclePayloadCommandRequest.Command.Arguments.AddRange(listPayloadCommands);
var sendPayloadCommandResponse =
messageExecutor.Submit <SendCommandResponse>(vehiclePayloadCommandRequest);
sendPayloadCommandResponse.Wait();
System.Console.WriteLine("Was sent {0}", commandValue);
Thread.Sleep(2000);
ns.Write(ok, 0, ok.Length);
break;
}
case "land_command":
{
SendCommandRequest land = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "land_command",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = false,
ResultIndifferent = false
}
};
land.Vehicles.Add(vehicleToControl);
var landCmd = messageExecutor.Submit <SendCommandResponse>(land);
landCmd.Wait();
Thread.Sleep(5000);
ns.Write(ok, 0, ok.Length);
break;
}
case "joystick":
{
SendCommandRequest joystickModeCommand = new SendCommandRequest
{
ClientId = clientId,
Command = new UGCS.Sdk.Protocol.Encoding.Command
{
Code = "joystick",
Subsystem = Subsystem.S_FLIGHT_CONTROLLER,
Silent = false,
ResultIndifferent = false
}
};
joystickModeCommand.Vehicles.Add(vehicleToControl);
var joystickMode = messageExecutor.Submit <SendCommandResponse>(joystickModeCommand);
joystickMode.Wait();
ns.Write(ok, 0, ok.Length);
break;
}
case "manual":
{
break;
}
}
}
// System.Console.ReadKey();
// tcpClient.Close();
// messageSender.Cancel();
// messageReceiver.Cancel();
// messageExecutor.Close();
// notificationListener.Dispose();
}
}