//static Stethoscope stethoscope;
static void Main(string[] args)
{
RobotRaconteurNativeLoader.Load();
// Create and initialize the stehtoscope object
Littman3200_impl scope = new Littman3200_impl();
// Create and register the local transport
LocalTransport t1 = new LocalTransport();
t1.StartServerAsNodeName("Littman3200_Stethoscope.Littman3200_Interface");
RobotRaconteurNode.s.RegisterTransport(t1);
// Create and register the TCP transport
TcpTransport t2 = new TcpTransport();
t2.StartServer(7418);
t2.EnableNodeAnnounce();
RobotRaconteurNode.s.RegisterTransport(t2);
//Register the Webcam_interface type so that the node can understand the service definition
RobotRaconteurNode.s.RegisterServiceType(new Littman3200_StethoscopeFactory());
//Register the webcam host object as a service so that it can be connected to
RobotRaconteurNode.s.RegisterService("Stethoscope", "Littman3200_Stethoscope", scope);
//Stay open until shut down
Console.WriteLine("Stethoscope server started. Connect with URL");
Console.WriteLine("http://localhost:7418/{0}/Stethoscope");
//scope.StartAudioStream();
Console.WriteLine("\nPress enter to exit\n");
Console.ReadLine();
// string connect = scope.Connect();
//if(connect != ""){
// scope.Stream();
//}
//scope.Stream();
//scope.StopAudioStream();
//Disconnect and shut down
scope.Disconnect();
RobotRaconteurNode.s.Shutdown();
}
static void Main(string[] args)
{
//string path = @"C:\Users\wasonj\Documents\RobotRaconteur2\bin_devel\out_debug\NET\Native\RobotRaconteurNETNative.dll";
//Environment.SetEnvironmentVariable("PATH", Path.GetDirectoryName(path) + ";" + Environment.GetEnvironmentVariable("PATH"));
string exepath = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location);
MultiDimArrayTest.testdatapath = System.IO.Path.Combine(exepath, System.IO.Path.Combine("..", "testdata"));
RobotRaconteurNode.s.SetExceptionHandler(delegate(Exception e)
{
Console.WriteLine(e.ToString());
});
string command = "loopback";
if (args.Length >= 1)
{
command = args[0];
}
if (command == "loopback")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
TcpTransport t = new TcpTransport();
t.StartServer(2323);
t.EnableNodeDiscoveryListening();
t.EnableNodeAnnounce();
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
MultiDimArrayTest.Test();
RobotRaconteurTestServiceSupport sup = new RobotRaconteurTestServiceSupport();
sup.RegisterServices(t);
int count = 1;
if (args.Length >= 2)
{
count = int.Parse(args[1]);
}
for (int i = 0; i < count; i++)
{
ServiceTestClient c = new ServiceTestClient();
c.RunFullTest("tcp://localhost:2323/{0}/RobotRaconteurTestService", "tcp://localhost:2323/{0}/RobotRaconteurTestService_auth");
//System.Threading.Thread.Sleep(100);
}
/* c = new ServiceTestClient();
* c.RunFullTest("tcp://localhost:2323/{0}/RobotRaconteurTestService", "tcp://localhost:2323/{0}/RobotRaconteurTestService_auth");
* System.Threading.Thread.Sleep(1000);*/
/*System.Threading.Thread.Sleep(10000);
*
* ServiceInfo2[] services = RobotRaconteurNode.s.FindServiceByType("RobotRaconteurTestService.testroot", new string[] { "tcp" });*/
try
{
object o = RobotRaconteurNode.s.ConnectService("tcp://localhost:2323/{0}/RobotRaconteurTestService");
}
catch { }
//System.Threading.Thread.Sleep(17000);
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test completed");
return;
}
if (command == "loopback2")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
using (var setup = new ServerNodeSetup("com.robotraconteur.testing.TestService2", 4565,
RobotRaconteurNodeSetupFlags.ENABLE_TCP_TRANSPORT | RobotRaconteurNodeSetupFlags.TCP_TRANSPORT_START_SERVER))
{
MultiDimArrayTest.Test();
RobotRaconteurTestServiceSupport2 sup = new RobotRaconteurTestServiceSupport2();
sup.RegisterServices(setup.TcpTransport);
ServiceTestClient2 c = new ServiceTestClient2();
c.RunFullTest("rr+tcp://localhost:4565/?service=RobotRaconteurTestService2");
}
Console.WriteLine("Test completed");
return;
}
if (command == "loopback3")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
using (var setup = new ServerNodeSetup("com.robotraconteur.testing.TestService3", 4567,
RobotRaconteurNodeSetupFlags.ENABLE_TCP_TRANSPORT | RobotRaconteurNodeSetupFlags.TCP_TRANSPORT_START_SERVER))
{
RobotRaconteurTestServiceSupport3 sup = new RobotRaconteurTestServiceSupport3();
sup.RegisterServices();
ServiceTestClient3 c = new ServiceTestClient3();
c.RunFullTest("rr+tcp://localhost:4567/?service=RobotRaconteurTestService3");
}
Console.WriteLine("Test completed");
return;
}
if (command == "client")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
string url = args[1];
string url_auth = args[2];
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
LocalTransport t2 = new LocalTransport();
RobotRaconteurNode.s.RegisterTransport(t2);
HardwareTransport t4 = new HardwareTransport();
RobotRaconteurNode.s.RegisterTransport(t4);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
MultiDimArrayTest.Test();
RobotRaconteurTestServiceSupport sup = new RobotRaconteurTestServiceSupport();
sup.RegisterServices(t);
int count = 1;
if (args.Length >= 4)
{
count = int.Parse(args[3]);
}
for (int i = 0; i < count; i++)
{
ServiceTestClient c = new ServiceTestClient();
c.RunFullTest(url, url_auth);
//System.Threading.Thread.Sleep(100);
}
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test completed");
return;
}
if (command == "client2")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
string url = args[1];
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService3.com__robotraconteur__testing__TestService3Factory());
MultiDimArrayTest.Test();
RobotRaconteurTestServiceSupport2 sup = new RobotRaconteurTestServiceSupport2();
sup.RegisterServices(t);
ServiceTestClient2 c = new ServiceTestClient2();
c.RunFullTest(url);
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test completed");
return;
}
if (command == "client3")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
string url = args[1];
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService5.com__robotraconteur__testing__TestService5Factory());
ServiceTestClient3 c = new ServiceTestClient3();
c.RunFullTest(url);
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test completed");
return;
}
if (command == "server")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
int port;
if (args[1] == "sharer")
{
port = -1;
}
else
{
port = Int32.Parse(args[1]);
}
string name = args[2];
LocalTransport t2 = new LocalTransport();
RobotRaconteurNode.s.RegisterTransport(t2);
t2.StartServerAsNodeName(name);
TcpTransport t = new TcpTransport();
t.EnableNodeAnnounce();
if (port > 0)
{
t.StartServer(port);
}
else
{
t.StartServerUsingPortSharer();
}
try
{
t.LoadTlsNodeCertificate();
}
catch (Exception)
{
Console.WriteLine("warning: Could not load local node certificate");
}
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService3.com__robotraconteur__testing__TestService3Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService5.com__robotraconteur__testing__TestService5Factory());
RobotRaconteurTestServiceSupport sup = new RobotRaconteurTestServiceSupport();
sup.RegisterServices(t);
RobotRaconteurTestServiceSupport2 sup2 = new RobotRaconteurTestServiceSupport2();
sup2.RegisterServices(t);
RobotRaconteurTestServiceSupport2 sup3 = new RobotRaconteurTestServiceSupport2();
sup3.RegisterServices(t);
Console.WriteLine("Server started, press enter to quit");
Console.ReadLine();
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test complete, no error detected");
return;
}
if (command == "findservicebytype")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
string type = args[1];
string[] tschemes = args[2].Split(new char[] { ',' });
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
LocalTransport t2 = new LocalTransport();
RobotRaconteurNode.s.RegisterTransport(t2);
System.Threading.Thread.Sleep(6000);
ServiceInfo2[] ret = RobotRaconteurNode.s.FindServiceByType(type, tschemes);
foreach (ServiceInfo2 r in ret)
{
print_ServiceInfo2(r);
}
var t1 = RobotRaconteurNode.s.AsyncFindServiceByType(type, tschemes);
t1.Wait();
var ret2 = t1.Result;
{
foreach (ServiceInfo2 r in ret2)
{
print_ServiceInfo2(r);
}
}
System.Threading.Thread.Sleep(10000);
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "findnodebyid")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
NodeID id = new NodeID(args[1]);
string[] tschemes = args[2].Split(new char[] { ',' });
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
LocalTransport t2 = new LocalTransport();
RobotRaconteurNode.s.RegisterTransport(t2);
System.Threading.Thread.Sleep(6000);
NodeInfo2[] ret = RobotRaconteurNode.s.FindNodeByID(id, tschemes);
foreach (NodeInfo2 r in ret)
{
print_NodeInfo2(r);
}
var ts1 = RobotRaconteurNode.s.AsyncFindNodeByID(id, tschemes);
ts1.Wait();
var ret2 = ts1.Result;
{
foreach (NodeInfo2 r in ret2)
{
print_NodeInfo2(r);
}
}
System.Threading.Thread.Sleep(10000);
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "findnodebyname")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
string name = args[1];
string[] tschemes = args[2].Split(new char[] { ',' });
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
LocalTransport t2 = new LocalTransport();
RobotRaconteurNode.s.RegisterTransport(t2);
System.Threading.Thread.Sleep(6000);
NodeInfo2[] ret = RobotRaconteurNode.s.FindNodeByName(name, tschemes);
foreach (NodeInfo2 r in ret)
{
print_NodeInfo2(r);
}
var ts1 = RobotRaconteurNode.s.AsyncFindNodeByName(name, tschemes);
ts1.Wait();
var ret2 = ts1.Result;
{
foreach (NodeInfo2 r in ret2)
{
print_NodeInfo2(r);
}
}
System.Threading.Thread.Sleep(10000);
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "stresstestclient")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
string url1 = args[1];
LocalTransport t2 = new LocalTransport();
RobotRaconteurNode.s.RegisterTransport(t2);
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
servicetest_count = 0;
servicetest_keepgoing = true;
object obj = RobotRaconteurNode.s.ConnectService(url1);
async_testroot o = (async_testroot)obj;
testroot o2 = (testroot)obj;
o.async_func3(1, 2).ContinueWith(ts1 => servicetest2(o, ts1));
Pipe <double> .PipeEndpoint p = o2.broadcastpipe.Connect(-1);
p.PacketReceivedEvent += servicetest7;
Wire <double> .WireConnection w = o2.broadcastwire.Connect();
RobotRaconteur.Timer tt = RobotRaconteurNode.s.CreateTimer(40, delegate(TimerEvent ev) { servicetest5(p, w, ev); });
tt.Start();
Console.WriteLine("Press enter to quit");
Console.ReadLine();
servicetest_keepgoing = false;
tt.Stop();
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "latencytestclient" || command == "latencytestclient2")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
string url1 = args[1];
LocalTransport t2 = new LocalTransport();
RobotRaconteurNode.s.RegisterTransport(t2);
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
servicetest_count = 0;
servicetest_keepgoing = true;
object obj = RobotRaconteurNode.s.ConnectService(url1);
async_testroot o = (async_testroot)obj;
testroot o2 = (testroot)obj;
var o3 = o2.get_o1();
int iters = 100000;
var d = new double[10];
DateTime start;
DateTime end;
if (command == "latencytestclient")
{
start = DateTime.UtcNow;
for (int i = 0; i < iters; i++)
{
o3.d1 = d;
}
end = DateTime.UtcNow;
}
else
{
start = DateTime.UtcNow;
for (int i = 0; i < iters; i++)
{
var dummy = o2.struct1;
}
end = DateTime.UtcNow;
}
var diff = (end - start).Ticks / (TimeSpan.TicksPerMillisecond / 1000);
double period = ((double)diff) / ((double)iters);
Console.WriteLine("Period = {0}", period);
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "peeridentity")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
if (args.Length < 2)
{
Console.WriteLine("Usage for peeridentity: RobotRaconteurTest peeridentity url [nodeid]");
return;
}
var url1 = args[1];
Console.WriteLine(url1);
var c = new TcpTransport();
if (args.Length > 2)
{
var nodeid = args[2];
var id = new NodeID(nodeid);
RobotRaconteurNode.s.NodeID = id;
try
{
c.LoadTlsNodeCertificate();
}
catch (Exception)
{
Console.WriteLine("warning: Could not load local node certificate");
}
}
Console.WriteLine(RobotRaconteurNode.s.NodeID);
var c2 = new LocalTransport();
var c5 = new HardwareTransport();
RobotRaconteurNode.s.RegisterTransport(c);
RobotRaconteurNode.s.RegisterTransport(c2);
RobotRaconteurNode.s.RegisterTransport(c5);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
var oo = (testroot)RobotRaconteurNode.s.ConnectService(url1);
oo.func3(1.0, 2.3);
if (c.IsTransportConnectionSecure(oo))
{
Console.WriteLine("Connection is secure");
if (c.IsSecurePeerIdentityVerified(oo))
{
Console.WriteLine("Peer identity is verified: " + c.GetSecurePeerIdentity(oo));
}
else
{
Console.WriteLine("Peer identity is not verified");
}
}
else
{
Console.WriteLine("Connection is not secure");
}
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test completed, no errors detected");
return;
}
if (command == "multidimarraytest")
{
MultiDimArrayTest.Test();
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "subscribertest")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
if (args.Length < 2)
{
Console.WriteLine("Usage for subscribertest: RobotRaconteurTest subscribertest servicetype");
return;
}
var servicetype = args[1];
LocalTransport t2 = new LocalTransport();
t2.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t2);
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
HardwareTransport t3 = new HardwareTransport();
RobotRaconteurNode.s.RegisterTransport(t3);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
var subscription = RobotRaconteurNode.s.SubscribeServiceByType(new string[] { servicetype });
subscription.ClientConnected += delegate(ServiceSubscription c, ServiceSubscriptionClientID d, object e)
{
Console.WriteLine("Client connected: " + d.NodeID.ToString() + ", " + d.ServiceName);
testroot e1 = (testroot)e;
Console.WriteLine("d1 = " + e1.d1);
};
subscription.ClientDisconnected += delegate(ServiceSubscription c, ServiceSubscriptionClientID d, object e)
{
Console.WriteLine("Client disconnected: " + d.NodeID.ToString() + ", " + d.ServiceName);
};
var wire_subscription = subscription.SubscribeWire <double>("broadcastwire");
wire_subscription.WireValueChanged += delegate(WireSubscription <double> c, double d, TimeSpec e)
{
//Console.WriteLine("Wire value changed: " + d);
};
var pipe_subscription = subscription.SubscribePipe <double>("broadcastpipe");
pipe_subscription.PipePacketReceived += delegate(PipeSubscription <double> c)
{
double val;
while (c.TryReceivePacket(out val))
{
Console.WriteLine("Received pipe packet: " + val);
}
};
System.Threading.Thread.Sleep(6000);
var connected_clients = subscription.GetConnectedClients();
foreach (var c in connected_clients)
{
Console.WriteLine("Client: " + c.Key.NodeID + ", " + c.Key.ServiceName);
}
TimeSpec w1_time = null;
double w1_value;
var w1_res = wire_subscription.TryGetInValue(out w1_value);
if (w1_res)
{
Console.WriteLine("Got broadcastwire value: " + w1_value + " " + w1_time?.seconds);
}
Console.WriteLine("Waiting for services...");
Console.ReadLine();
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "subscriberurltest")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
if (args.Length < 2)
{
Console.WriteLine("Usage for subscriberurltest: RobotRaconteurTest subscriberurltest url");
return;
}
var url = args[1];
LocalTransport t2 = new LocalTransport();
t2.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t2);
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
HardwareTransport t3 = new HardwareTransport();
RobotRaconteurNode.s.RegisterTransport(t3);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
var subscription = RobotRaconteurNode.s.SubscribeService(url);
subscription.ClientConnected += delegate(ServiceSubscription c, ServiceSubscriptionClientID d, object e)
{
Console.WriteLine("Client connected: " + d.NodeID.ToString() + ", " + d.ServiceName);
testroot e1 = (testroot)e;
Console.WriteLine("d1 = " + e1.d1);
};
subscription.ClientDisconnected += delegate(ServiceSubscription c, ServiceSubscriptionClientID d, object e)
{
Console.WriteLine("Client disconnected: " + d.NodeID.ToString() + ", " + d.ServiceName);
};
subscription.ClientConnectFailed += delegate(ServiceSubscription c, ServiceSubscriptionClientID d, string[] url2, Exception err)
{
Console.WriteLine("Client connect failed: " + d.NodeID.ToString() + " url: " + String.Join(",", url2) + err.ToString());
};
subscription.AsyncGetDefaultClient(1000).ContinueWith(delegate(Task <object> res)
{
if (res.IsFaulted)
{
Console.WriteLine("AsyncGetDefaultClient failed");
}
else if (res.Result == null)
{
Console.WriteLine("AsyncGetDefaultClient returned null");
}
else
{
Console.WriteLine($"AsyncGetDefaultClient successful: {res.Result}");
}
});
var client2 = subscription.GetDefaultClientWait(6000);
object client3;
var try_res = subscription.TryGetDefaultClientWait(out client3, 6000);
Console.WriteLine($"try_res = {try_res}");
var connected_clients = subscription.GetConnectedClients();
foreach (var c in connected_clients)
{
Console.WriteLine("Client: " + c.Key.NodeID + ", " + c.Key.ServiceName);
}
try
{
Console.WriteLine(((testroot)subscription.GetDefaultClient()).d1);
}
catch (Exception)
{
Console.WriteLine("Client not connected");
}
object client1;
subscription.TryGetDefaultClient(out client1);
Console.WriteLine("Waiting for services...");
Console.ReadLine();
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "subscriberfiltertest")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
if (args.Length < 2)
{
throw new Exception("Usage for subscriberfiltertest: RobotRaconteurTest subscriberfiltertest servicetype");
}
var servicetype = args[1];
var f = new ServiceSubscriptionFilter();
if (args.Length >= 3)
{
var subcommand = args[2];
if (subcommand == "nodeid")
{
if (args.Length < 4)
{
throw new Exception("Usage for subscriberfiltertest: RobotRaconteurTest subscriberfiltertest nodeid <nodeid>");
}
var n = new ServiceSubscriptionFilterNode();
n.NodeID = new NodeID(args[3]);
f.Nodes = new ServiceSubscriptionFilterNode[] { n };
}
else if (subcommand == "nodename")
{
if (args.Length < 4)
{
throw new Exception("Usage for subscriberfiltertest: RobotRaconteurTest subscriberfiltertest nodename <nodename>");
}
var n = new ServiceSubscriptionFilterNode();
n.NodeName = args[3];
f.Nodes = new ServiceSubscriptionFilterNode[] { n };
}
else
if (subcommand == "nodeidscheme")
{
if (args.Length < 5)
{
throw new Exception("Usage for subscriberfiltertest: RobotRaconteurTest subscriberfiltertest nodeidscheme <nodeid> <schemes>");
}
var n = new ServiceSubscriptionFilterNode();
n.NodeID = new NodeID(args[3]);
f.Nodes = new ServiceSubscriptionFilterNode[] { n };
f.TransportSchemes = args[4].Split(new char[] { ',' });
}
else
if (subcommand == "nodeidauth")
{
if (args.Length < 6)
{
throw new Exception("Usage for subscriberfiltertest: RobotRaconteurTest subscriberfiltertest nodeidauth <nodeid> <username> <password>");
}
var n = new ServiceSubscriptionFilterNode();
n.NodeID = new NodeID(args[3]);
n.Username = args[4];
n.Credentials = new Dictionary <string, object>()
{
{ "password", args[5] }
};
f.Nodes = new ServiceSubscriptionFilterNode[] { n };
}
else
if (subcommand == "servicename")
{
if (args.Length < 4)
{
throw new Exception("Usage for subscriberfiltertest: RobotRaconteurTest subscriberfiltertest servicename <servicename>");
}
var n = new ServiceSubscriptionFilterNode();
f.ServiceNames = new string[] { args[3] };
}
else if (subcommand == "predicate")
{
f.Predicate = delegate(ServiceInfo2 info)
{
Console.WriteLine("Predicate: " + info.NodeName);
return(info.NodeName == "testprog");
};
}
else
{
throw new Exception("Unknown subscriberfiltertest command");
}
LocalTransport t2 = new LocalTransport();
t2.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t2);
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
HardwareTransport t3 = new HardwareTransport();
RobotRaconteurNode.s.RegisterTransport(t3);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
var subscription = RobotRaconteurNode.s.SubscribeServiceByType(new string[] { servicetype }, f);
subscription.ClientConnected += delegate(ServiceSubscription c, ServiceSubscriptionClientID d, object e)
{
Console.WriteLine("Client connected: " + d.NodeID.ToString() + ", " + d.ServiceName);
testroot e1 = (testroot)e;
Console.WriteLine("d1 = " + e1.d1);
};
subscription.ClientDisconnected += delegate(ServiceSubscription c, ServiceSubscriptionClientID d, object e)
{
Console.WriteLine("Client disconnected: " + d.NodeID.ToString() + ", " + d.ServiceName);
};
Console.ReadLine();
RobotRaconteurNode.s.Shutdown();
return;
}
return;
}
if (command == "serviceinfo2subscribertest")
{
RobotRaconteurNode.s.SetLogLevelFromEnvVariable();
if (args.Length < 2)
{
Console.WriteLine("Usage for subscribertest: RobotRaconteurTest subscribertest servicetype");
return;
}
var servicetype = args[1];
LocalTransport t2 = new LocalTransport();
t2.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t2);
TcpTransport t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
HardwareTransport t3 = new HardwareTransport();
RobotRaconteurNode.s.RegisterTransport(t3);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
var subscription = RobotRaconteurNode.s.SubscribeServiceInfo2(new string[] { servicetype });
subscription.ServiceDetected += delegate(ServiceInfo2Subscription sub, ServiceSubscriptionClientID id, ServiceInfo2 info)
{
Console.WriteLine("Service detected: " + info.NodeID.ToString() + ", " + info.Name);
};
subscription.ServiceLost += delegate(ServiceInfo2Subscription sub, ServiceSubscriptionClientID id, ServiceInfo2 info)
{
Console.WriteLine("Service lost: " + info.NodeID.ToString() + ", " + info.Name);
};
System.Threading.Thread.Sleep(6000);
var connected_clients = subscription.GetDetectedServiceInfo2();
foreach (var c in connected_clients)
{
Console.WriteLine("Client: " + c.Key.NodeID + ", " + c.Key.ServiceName);
}
Console.WriteLine("Waiting for services...");
Console.ReadLine();
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "nowutc")
{
Console.WriteLine(RobotRaconteurNode.s.NowUTC);
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "testlogging")
{
var r = new RRLogRecord();
var node = RobotRaconteurNode.s;
var nodeid = node.NodeID;
r.Node = node;
r.Time = DateTime.UtcNow;
r.Level = LogLevel.LogLevel_Warning;
r.Message = "This is a test warning";
RobotRaconteurNode.s.LogRecord(r);
RobotRaconteurNode.s.Shutdown();
return;
}
if (command == "testloghandler")
{
var user_log_handler = new UserLogRecordHandler(x => Console.WriteLine("csharp handler: " + x.ToString()));
RobotRaconteurNode.s.SetLogRecordHandler(user_log_handler);
RobotRaconteurNode.s.SetLogLevel(LogLevel.LogLevel_Debug);
TcpTransport t = new TcpTransport();
t.StartServer(2323);
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
RobotRaconteurTestServiceSupport sup = new RobotRaconteurTestServiceSupport();
sup.RegisterServices(t);
ServiceTestClient c = new ServiceTestClient();
c.RunFullTest("tcp://localhost:2323/{0}/RobotRaconteurTestService", "tcp://localhost:2323/{0}/RobotRaconteurTestService_auth");
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test completed");
return;
}
if (command == "server2")
{
ServerNodeSetup node_setup = new ServerNodeSetup("testprog", 22222, args);
using (node_setup)
{
var t = node_setup.TcpTransport;
RobotRaconteurTestServiceSupport sup = new RobotRaconteurTestServiceSupport();
sup.RegisterServices(t);
RobotRaconteurTestServiceSupport2 sup2 = new RobotRaconteurTestServiceSupport2();
sup2.RegisterServices(t);
RobotRaconteurTestServiceSupport3 sup3 = new RobotRaconteurTestServiceSupport3();
sup3.RegisterServices();
Console.WriteLine("Server started, press enter to quit");
Console.ReadLine();
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test complete, no error detected");
return;
}
}
throw new Exception("Unknown command");
}
static void Main(string[] args)
{
string command = args[0];
if (command == "loopback")
{
var t = new TcpTransport();
t.StartServer(22332);
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
var s1 = new RobotRaconteurTestServiceSupport();
s1.RegisterServices(t);
ServiceTestClient s = new ServiceTestClient();
s.RunFullTest("rr+tcp://localhost:22332/?service=RobotRaconteurTestService",
"rr+tcp://localhost:22332/?service=RobotRaconteurTestService_auth")
.GetAwaiter().GetResult();
RobotRaconteurNode.s.Shutdown();
}
else
if (command == "client")
{
var url = args[1];
var auth_url = args[2];
int count = 1;
if (args.Length >= 4)
{
count = Int32.Parse(args[3]);
}
var t = new TcpTransport();
var t2 = new LocalTransport();
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterTransport(t2);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
for (int i = 0; i < count; i++)
{
ServiceTestClient s = new ServiceTestClient();
s.RunFullTest(url, auth_url).GetAwaiter().GetResult();
}
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test complete, no errors detected");
}
else if (command == "server")
{
int port = int.Parse(args[1]);
//NodeID id = new NodeID(args[2]);
string name = args[2];
var t2 = new LocalTransport();
t2.StartServerAsNodeName(name);
var t = new TcpTransport();
RobotRaconteurNode.s.RegisterTransport(t2);
t.StartServer(port);
RobotRaconteurNode.s.RegisterTransport(t);
t.EnableNodeAnnounce();
try
{
t.LoadTlsNodeCertificate();
}
catch (Exception)
{
Console.WriteLine("Warning: Could not load TLS certificate");
}
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService3.com__robotraconteur__testing__TestService3Factory());
var s = new RobotRaconteurTestServiceSupport();
s.RegisterServices(t);
var s2 = new RobotRaconteurTestServiceSupport2();
s2.RegisterServices(t);
Console.WriteLine("Press enter to quit...");
Console.ReadLine();
RobotRaconteurNode.s.Shutdown();
}
else if (command == "findservicebytype")
{
string servicetype = args[1];
string[] schemes = args[2].Split(new char[] { ',' });
var t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
System.Threading.Thread.Sleep(5000);
var r = RobotRaconteurNode.s.FindServiceByType(servicetype, schemes).Result;
foreach (var e in r)
{
Console.WriteLine("Name: " + e.Name);
Console.WriteLine("RootObjectType: " + e.RootObjectType);
Console.WriteLine("RootObjectImplements: " + e.ConnectionURL);
Console.WriteLine("ConnectionURL: " + String.Join(", ", e.ConnectionURL));
Console.WriteLine("NodeID: " + e.NodeID.ToString());
Console.WriteLine("NodeName: " + e.NodeName);
Console.WriteLine();
}
RobotRaconteurNode.s.Shutdown();
}
else if (command == "findnodebyid")
{
var nodeid = new NodeID(args[1]);
string[] schemes = args[2].Split(new char[] { ',' });
var t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
System.Threading.Thread.Sleep(6000);
var r = RobotRaconteurNode.s.FindNodeByID(nodeid, schemes).Result;
foreach (var e in r)
{
Console.WriteLine("NodeID: " + e.NodeID);
Console.WriteLine("NodeName: " + e.NodeName);
Console.WriteLine("ConnectionURL: " + String.Join(", ", e.ConnectionURL));
Console.WriteLine();
}
RobotRaconteurNode.s.Shutdown();
}
else if (command == "findnodebyname")
{
var name = args[1];
string[] schemes = args[2].Split(new char[] { ',' });
var t = new TcpTransport();
t.EnableNodeDiscoveryListening();
RobotRaconteurNode.s.RegisterTransport(t);
System.Threading.Thread.Sleep(6000);
var r = RobotRaconteurNode.s.FindNodeByName(name, schemes).Result;
foreach (var e in r)
{
Console.WriteLine("NodeID: " + e.NodeID);
Console.WriteLine("NodeName: " + e.NodeName);
Console.WriteLine("ConnectionURL: " + String.Join(", ", e.ConnectionURL));
Console.WriteLine();
}
RobotRaconteurNode.s.Shutdown();
}
else if (command == "robdeftest")
{
var robdef_filenames = args.Skip(1).ToArray();
var defs = new Dictionary <string, ServiceDefinition>();
var defs2 = new Dictionary <string, ServiceDefinition>();
foreach (var fname in robdef_filenames)
{
string robdef_text = new StreamReader(fname).ReadToEnd();
var def = new ServiceDefinition();
def.FromString(robdef_text);
defs.Add(def.Name, def);
string robdef_text2 = def.ToString();
var def3 = new ServiceDefinition();
def3.FromString(robdef_text2);
defs2.Add(def3.Name, def3);
}
ServiceDefinitionUtil.VerifyServiceDefinitions(defs);
foreach (var n in defs.Keys)
{
if (!ServiceDefinitionUtil.CompareServiceDefinitions(defs[n], defs2[n]))
{
throw new Exception("Service definition parse does not match");
}
}
foreach (var def in defs.Values)
{
Console.WriteLine(def.ToString());
}
foreach (var def in defs.Values)
{
foreach (var c in def.Constants.Values)
{
if (c.Name == "strconst")
{
var strconst = c.ValueToString();
Console.WriteLine("strconst " + strconst);
var strconst2 = ConstantDefinition.EscapeString(strconst);
var strconst3 = ConstantDefinition.UnescapeString(strconst2);
if (strconst3 != strconst)
{
throw new Exception("");
}
}
if (c.Name == "int32const")
{
Console.WriteLine("int32const: " + c.ValueToScalar <int>());
}
if (c.Name == "int32const_array")
{
var a = c.ValueToArray <int>();
Console.WriteLine("int32const_array: " + a.Length);
}
if (c.Name == "doubleconst_array")
{
var a = c.ValueToArray <double>();
Console.WriteLine("doubleconst_array: " + a.Length);
}
if (c.Name == "structconst")
{
var s = c.ValueToStructFields();
foreach (var f in s)
{
Console.Write(f.Name + ": " + f.ConstantRefName + " ");
}
Console.WriteLine();
}
}
}
ServiceDefinition def1;
if (defs.TryGetValue("com.robotraconteur.testing.TestService1", out def1))
{
var entry = def1.Objects["testroot"];
var p1 = (PropertyDefinition)entry.Members["d1"];
if (p1.Direction != MemberDefinition_Direction.both)
{
throw new Exception();
}
var p2 = (PipeDefinition)entry.Members["p1"];
if (p2.Direction != MemberDefinition_Direction.both)
{
throw new Exception();
}
if (p2.IsUnreliable)
{
throw new Exception();
}
var w1 = (WireDefinition)entry.Members["w1"];
if (w1.Direction != MemberDefinition_Direction.both)
{
throw new Exception();
}
var m1 = (MemoryDefinition)entry.Members["m1"];
if (m1.Direction != MemberDefinition_Direction.both)
{
throw new Exception();
}
}
ServiceDefinition def2;
if (defs.TryGetValue("com.robotraconteur.testing.TestService3", out def2))
{
var entry = def2.Objects["testroot3"];
var p1 = (PropertyDefinition)entry.Members["readme"];
if (p1.Direction != MemberDefinition_Direction.readonly_)
{
throw new Exception();
}
var p2 = (PropertyDefinition)entry.Members["writeme"];
if (p2.Direction != MemberDefinition_Direction.writeonly)
{
throw new Exception();
}
var p3 = (PipeDefinition)entry.Members["unreliable1"];
if (p3.Direction != MemberDefinition_Direction.readonly_)
{
throw new Exception();
}
if (!p3.IsUnreliable)
{
throw new Exception();
}
var p4 = (PipeDefinition)entry.Members["unreliable2"];
if (p4.Direction != MemberDefinition_Direction.both)
{
throw new Exception();
}
if (!p4.IsUnreliable)
{
throw new Exception();
}
var w1 = (WireDefinition)entry.Members["peekwire"];
if (w1.Direction != MemberDefinition_Direction.readonly_)
{
throw new Exception();
}
var w2 = (WireDefinition)entry.Members["pokewire"];
if (w2.Direction != MemberDefinition_Direction.writeonly)
{
throw new Exception();
}
var m1 = (MemoryDefinition)entry.Members["readmem"];
if (m1.Direction != MemberDefinition_Direction.readonly_)
{
throw new Exception();
}
Console.WriteLine("Found it");
}
return;
}
else
if (command == "loopback2")
{
var t = new TcpTransport();
t.StartServer(22332);
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService3.com__robotraconteur__testing__TestService3Factory());
var s1 = new RobotRaconteurTestServiceSupport2();
s1.RegisterServices(t);
ServiceTestClient2 s = new ServiceTestClient2();
s.RunFullTest("rr+tcp://localhost:22332/?service=RobotRaconteurTestService2")
.GetAwaiter().GetResult();
RobotRaconteurNode.s.Shutdown();
}
else
if (command == "client2")
{
var url = args[1];
int count = 1;
if (args.Length >= 3)
{
count = Int32.Parse(args[2]);
}
var t = new TcpTransport();
RobotRaconteurNode.s.RegisterTransport(t);
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService1.com__robotraconteur__testing__TestService1Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService2.com__robotraconteur__testing__TestService2Factory());
RobotRaconteurNode.s.RegisterServiceType(new com.robotraconteur.testing.TestService3.com__robotraconteur__testing__TestService3Factory());
for (int i = 0; i < count; i++)
{
ServiceTestClient2 s = new ServiceTestClient2();
s.RunFullTest(url).GetAwaiter().GetResult();
}
RobotRaconteurNode.s.Shutdown();
Console.WriteLine("Test complete, no errors detected");
}
else
{
throw new Exception("Unknown command");
}
}
public RobotRaconteurNodeSetup(RobotRaconteurNode node, ServiceFactory[] service_types, bool scan_assembly_types, string nodename, ushort tcp_port, RobotRaconteurNodeSetupFlags flags)
{
Node = node;
if (flags.HasFlag(RobotRaconteurNodeSetupFlags.EnableLocalTransport))
{
LocalTransport = new LocalTransport(node);
if (flags.HasFlag(RobotRaconteurNodeSetupFlags.LocalTransportStartServer))
{
LocalTransport.StartServerAsNodeName(nodename);
}
else if (flags.HasFlag(RobotRaconteurNodeSetupFlags.LocalTransportStartClient) && !string.IsNullOrEmpty(nodename))
{
LocalTransport.StartClientAsNodeName(nodename);
}
if (flags.HasFlag(RobotRaconteurNodeSetupFlags.EnableNodeDiscoveryListening))
{
LocalTransport.EnableNodeDiscoveryListening();
}
node.RegisterTransport(LocalTransport);
}
if (flags.HasFlag(RobotRaconteurNodeSetupFlags.EnableTcpTransport))
{
TcpTransport = new TcpTransport(node);
if (flags.HasFlag(RobotRaconteurNodeSetupFlags.TcpTransportStartServer))
{
TcpTransport.StartServer(tcp_port);
}
if (flags.HasFlag(RobotRaconteurNodeSetupFlags.EnableNodeDiscoveryListening))
{
TcpTransport.EnableNodeDiscoveryListening();
}
if (flags.HasFlag(RobotRaconteurNodeSetupFlags.EnableNodeAnnounce))
{
TcpTransport.EnableNodeAnnounce();
}
node.RegisterTransport(TcpTransport);
}
if (service_types != null)
{
foreach (var t in service_types)
{
node.RegisterServiceType(t);
}
}
if (scan_assembly_types)
{
try
{
var scanned_types = ScanAssembliesForServiceTypes();
foreach (var t in scanned_types)
{
node.RegisterServiceType(t);
}
}
catch (Exception e)
{
Console.Error.WriteLine("warning: assembly scanning failed: " + e.Message);
}
}
}