private void initClient()
{
transport = new TFramedTransport(new TSocket(SERVER_IP, SERVER_PORT, TIME_OUT));
TProtocol protocol = new TBinaryProtocol(transport);
client = new BigQueueService.Client(protocol);
transport.Open();
}
public void Setup()
{
var socket = new TSocket(host, port);
transport = new TFramedTransport(socket);
var protocol = new TBinaryProtocol(transport);
Client = new ZipkinCollector.Client(protocol);
transport.Open();
}
public MainController(MainWindow window)
{
this.window = window;
this.nao = new NaoController(NAO_IP, this);
this.thriftTransport = new TSocket(SERVER_IP, 9090);
thriftTransport.Open();
TProtocol protocol = new TBinaryProtocol(thriftTransport);
this.thriftClient = new Rpc.Client(protocol);
this.lib = new ObjectLibrary(this, this.thriftClient, MainController.OBJECT_LIB_PATH);
this.updateThread = new Thread(this.lib.updatePointClouds);
this.updateThread.Start();
this.nav = new NavigationController(this, nao, lib);
this.navThread = null;
switchStates(State.waiting);
}
/// <summary>
/// 推送比对记录
/// </summary>
/// <param name="info"></param>
/// <param name="IP"></param>
/// <returns></returns>
public int UpdateCmp(RealtimeCmpInfo info, string IP)
{
try
{
// 生成socket套接字；
Thrift.Transport.TSocket tsocket = new Thrift.Transport.TSocket(IP, 6000);
//设置连接超时为100；
tsocket.Timeout = 3000;
//生成客户端对象
Thrift.Transport.TTransport transport = tsocket;
Thrift.Protocol.TProtocol protocol = new Thrift.Protocol.TBinaryProtocol(transport);
UIServer.Client _BusinessServerClient = new UIServer.Client(protocol);
transport.Open();
_BusinessServerClient.UpdateRealtimeCmp(info, "##@" + info.Channel);
transport.Close();
return(0);
}
catch (Exception ex)
{
_WriteLog.WriteToLog("UpdateCmp", ex);
return(-1);
}
}
public override void Open()
{
transport.Open();
}
/// <summary>
/// Establish a connection to the server (ARE)
/// </summary>
/// <param name="ipAddress">IP-Address of the ARE</param>
/// <param name="port">Port to connect</param>
/// <returns>A ASAPI-client object</returns>
public AsapiServer.Client Connect(string ipAddress, int port, int timeOutParam)
{
int timeOut = 10000;
if (timeOutParam == -1) {
// read socket timeout from the ini-file
try {
IniFile ini = null;
if (File.Exists(Environment.GetFolderPath(System.Environment.SpecialFolder.ApplicationData) + "\\AsTeRICS\\ACS\\asterics.ini")) {
ini = new IniFile(Environment.GetFolderPath(System.Environment.SpecialFolder.ApplicationData) + "\\AsTeRICS\\ACS\\asterics.ini");
} else if (File.Exists(AppDomain.CurrentDomain.BaseDirectory + "asterics.ini")) {
ini = new IniFile(AppDomain.CurrentDomain.BaseDirectory + "asterics.ini");
}
if (ini != null) {
timeOut = int.Parse(ini.IniReadValue("ARE", "socket_timeout"));
if (timeOut < 100) {
timeOut = 10000;
}
}
} catch (Exception) {
}
} else {
timeOut = timeOutParam;
}
try {
transport = new TSocket(ipAddress, port, timeOut); // set socket timeout to 10000ms
protocol = new TBinaryProtocol(transport);
client = new AsapiServer.Client(protocol);
transport.Open();
return client;
} catch (Exception) { //catch (TApplicationException x) {
//throw e;
return null;
}
}
public override void Open()
{
CheckNotDisposed();
transport.Open();
}
public static void ClientTest(TTransport transport)
{
TBinaryProtocol binaryProtocol = new TBinaryProtocol(transport);
ThriftTest.Client client = new ThriftTest.Client(binaryProtocol);
try
{
if (!transport.IsOpen)
{
transport.Open();
}
}
catch (TTransportException ttx)
{
Console.WriteLine("Connect failed: " + ttx.Message);
return;
}
long start = DateTime.Now.ToFileTime();
Console.Write("testVoid()");
client.testVoid();
Console.WriteLine(" = void");
Console.Write("testString(\"Test\")");
string s = client.testString("Test");
Console.WriteLine(" = \"" + s + "\"");
Console.Write("testByte(1)");
byte i8 = client.testByte((byte)1);
Console.WriteLine(" = " + i8);
Console.Write("testI32(-1)");
int i32 = client.testI32(-1);
Console.WriteLine(" = " + i32);
Console.Write("testI64(-34359738368)");
long i64 = client.testI64(-34359738368);
Console.WriteLine(" = " + i64);
Console.Write("testDouble(5.325098235)");
double dub = client.testDouble(5.325098235);
Console.WriteLine(" = " + dub);
Console.Write("testStruct({\"Zero\", 1, -3, -5})");
Xtruct o = new Xtruct();
o.String_thing = "Zero";
o.Byte_thing = (byte)1;
o.I32_thing = -3;
o.I64_thing = -5;
Xtruct i = client.testStruct(o);
Console.WriteLine(" = {\"" + i.String_thing + "\", " + i.Byte_thing + ", " + i.I32_thing + ", " + i.I64_thing + "}");
Console.Write("testNest({1, {\"Zero\", 1, -3, -5}, 5})");
Xtruct2 o2 = new Xtruct2();
o2.Byte_thing = (byte)1;
o2.Struct_thing = o;
o2.I32_thing = 5;
Xtruct2 i2 = client.testNest(o2);
i = i2.Struct_thing;
Console.WriteLine(" = {" + i2.Byte_thing + ", {\"" + i.String_thing + "\", " + i.Byte_thing + ", " + i.I32_thing + ", " + i.I64_thing + "}, " + i2.I32_thing + "}");
Dictionary<int, int> mapout = new Dictionary<int, int>();
for (int j = 0; j < 5; j++)
{
mapout[j] = j - 10;
}
Console.Write("testMap({");
bool first = true;
foreach (int key in mapout.Keys)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(key + " => " + mapout[key]);
}
Console.Write("})");
Dictionary<int, int> mapin = client.testMap(mapout);
Console.Write(" = {");
first = true;
foreach (int key in mapin.Keys)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(key + " => " + mapin[key]);
}
Console.WriteLine("}");
List<int> listout = new List<int>();
for (int j = -2; j < 3; j++)
{
listout.Add(j);
}
Console.Write("testList({");
first = true;
foreach (int j in listout)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(j);
}
Console.Write("})");
List<int> listin = client.testList(listout);
Console.Write(" = {");
first = true;
foreach (int j in listin)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(j);
}
Console.WriteLine("}");
//set
THashSet<int> setout = new THashSet<int>();
for (int j = -2; j < 3; j++)
{
setout.Add(j);
}
Console.Write("testSet({");
first = true;
foreach (int j in setout)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(j);
}
Console.Write("})");
THashSet<int> setin = client.testSet(setout);
Console.Write(" = {");
first = true;
foreach (int j in setin)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(j);
}
Console.WriteLine("}");
Console.Write("testEnum(ONE)");
Numberz ret = client.testEnum(Numberz.ONE);
Console.WriteLine(" = " + ret);
Console.Write("testEnum(TWO)");
ret = client.testEnum(Numberz.TWO);
Console.WriteLine(" = " + ret);
Console.Write("testEnum(THREE)");
ret = client.testEnum(Numberz.THREE);
Console.WriteLine(" = " + ret);
Console.Write("testEnum(FIVE)");
ret = client.testEnum(Numberz.FIVE);
Console.WriteLine(" = " + ret);
Console.Write("testEnum(EIGHT)");
ret = client.testEnum(Numberz.EIGHT);
Console.WriteLine(" = " + ret);
Console.Write("testTypedef(309858235082523)");
long uid = client.testTypedef(309858235082523L);
Console.WriteLine(" = " + uid);
Console.Write("testMapMap(1)");
Dictionary<int, Dictionary<int, int>> mm = client.testMapMap(1);
Console.Write(" = {");
foreach (int key in mm.Keys)
{
Console.Write(key + " => {");
Dictionary<int, int> m2 = mm[key];
foreach (int k2 in m2.Keys)
{
Console.Write(k2 + " => " + m2[k2] + ", ");
}
Console.Write("}, ");
}
Console.WriteLine("}");
Insanity insane = new Insanity();
insane.UserMap = new Dictionary<Numberz, long>();
insane.UserMap[Numberz.FIVE] = 5000L;
Xtruct truck = new Xtruct();
truck.String_thing = "Truck";
truck.Byte_thing = (byte)8;
truck.I32_thing = 8;
truck.I64_thing = 8;
insane.Xtructs = new List<Xtruct>();
insane.Xtructs.Add(truck);
Console.Write("testInsanity()");
Dictionary<long, Dictionary<Numberz, Insanity>> whoa = client.testInsanity(insane);
Console.Write(" = {");
foreach (long key in whoa.Keys)
{
Dictionary<Numberz, Insanity> val = whoa[key];
Console.Write(key + " => {");
foreach (Numberz k2 in val.Keys)
{
Insanity v2 = val[k2];
Console.Write(k2 + " => {");
Dictionary<Numberz, long> userMap = v2.UserMap;
Console.Write("{");
if (userMap != null)
{
foreach (Numberz k3 in userMap.Keys)
{
Console.Write(k3 + " => " + userMap[k3] + ", ");
}
}
else
{
Console.Write("null");
}
Console.Write("}, ");
List<Xtruct> xtructs = v2.Xtructs;
Console.Write("{");
if (xtructs != null)
{
foreach (Xtruct x in xtructs)
{
Console.Write("{\"" + x.String_thing + "\", " + x.Byte_thing + ", " + x.I32_thing + ", " + x.I32_thing + "}, ");
}
}
else
{
Console.Write("null");
}
Console.Write("}");
Console.Write("}, ");
}
Console.Write("}, ");
}
Console.WriteLine("}");
byte arg0 = 1;
int arg1 = 2;
long arg2 = long.MaxValue;
Dictionary<short, string> multiDict = new Dictionary<short, string>();
multiDict[1] = "one";
Numberz arg4 = Numberz.FIVE;
long arg5 = 5000000;
Console.Write("Test Multi(" + arg0 + "," + arg1 + "," + arg2 + "," + multiDict + "," + arg4 + "," + arg5 + ")");
Xtruct multiResponse = client.testMulti(arg0, arg1, arg2, multiDict, arg4, arg5);
Console.Write(" = Xtruct(byte_thing:" + multiResponse.Byte_thing + ",String_thing:" + multiResponse.String_thing
+ ",i32_thing:" + multiResponse.I32_thing + ",i64_thing:" + multiResponse.I64_thing + ")\n");
Console.WriteLine("Test Async(1)");
client.testAsync(1);
}
private void ValidateInstance(TTransport instance)
{
if (!instance.IsOpen)
{
instance.Open();
}
}
public bool connect(String address, int port)
{
if(IsConnected)
{
//Don't bother trying to connect as we are already connected
return true;
}
//Create a new thrift socket
transport = new TSocket(address, port);
try
{
//Attmept to open the transport
transport.Open();
}
catch (Exception exp)
{
isConnected = false;
return false;
}
//Create the protocol
protocol = new TBinaryProtocol(transport);
client = new Apache.Hadoop.Hbase.Thrift.Hbase.Client(protocol);
//Flag the new connection status
isConnected = true;
return true;
}
/// <summary>
/// 取出对象时校验对象
/// </summary>
private void ValidateOnBorrow(TTransport instance)
{
if (!instance.IsOpen)
{
instance.Open();
}
}
public static void ClientTest(TTransport transport)
{
TProtocol proto;
if (protocol == "compact")
proto = new TCompactProtocol(transport);
else if (protocol == "json")
proto = new TJSONProtocol(transport);
else
proto = new TBinaryProtocol(transport);
ThriftTest.Client client = new ThriftTest.Client(proto);
try
{
if (!transport.IsOpen)
{
transport.Open();
}
}
catch (TTransportException ttx)
{
Console.WriteLine("Connect failed: " + ttx.Message);
return;
}
long start = DateTime.Now.ToFileTime();
Console.Write("testVoid()");
client.testVoid();
Console.WriteLine(" = void");
Console.Write("testString(\"Test\")");
string s = client.testString("Test");
Console.WriteLine(" = \"" + s + "\"");
Console.Write("testByte(1)");
sbyte i8 = client.testByte((sbyte)1);
Console.WriteLine(" = " + i8);
Console.Write("testI32(-1)");
int i32 = client.testI32(-1);
Console.WriteLine(" = " + i32);
Console.Write("testI64(-34359738368)");
long i64 = client.testI64(-34359738368);
Console.WriteLine(" = " + i64);
Console.Write("testDouble(5.325098235)");
double dub = client.testDouble(5.325098235);
Console.WriteLine(" = " + dub);
byte[] binOut = PrepareTestData(true);
Console.Write("testBinary(" + BytesToHex(binOut) + ")");
try
{
byte[] binIn = client.testBinary(binOut);
Console.WriteLine(" = " + BytesToHex(binIn));
if (binIn.Length != binOut.Length)
throw new Exception("testBinary: length mismatch");
for (int ofs = 0; ofs < Math.Min(binIn.Length, binOut.Length); ++ofs)
if (binIn[ofs] != binOut[ofs])
throw new Exception("testBinary: content mismatch at offset " + ofs.ToString());
}
catch (Thrift.TApplicationException e)
{
Console.Write("testBinary(" + BytesToHex(binOut) + "): "+e.Message);
}
// binary equals? only with hashcode option enabled ...
if( typeof(CrazyNesting).GetMethod("Equals").DeclaringType == typeof(CrazyNesting))
{
CrazyNesting one = new CrazyNesting();
CrazyNesting two = new CrazyNesting();
one.String_field = "crazy";
two.String_field = "crazy";
one.Binary_field = new byte[10] { 0x00, 0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80, 0xFF };
two.Binary_field = new byte[10] { 0x00, 0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80, 0xFF };
if (!one.Equals(two))
throw new Exception("CrazyNesting.Equals failed");
}
Console.Write("testStruct({\"Zero\", 1, -3, -5})");
Xtruct o = new Xtruct();
o.String_thing = "Zero";
o.Byte_thing = (sbyte)1;
o.I32_thing = -3;
o.I64_thing = -5;
Xtruct i = client.testStruct(o);
Console.WriteLine(" = {\"" + i.String_thing + "\", " + i.Byte_thing + ", " + i.I32_thing + ", " + i.I64_thing + "}");
Console.Write("testNest({1, {\"Zero\", 1, -3, -5}, 5})");
Xtruct2 o2 = new Xtruct2();
o2.Byte_thing = (sbyte)1;
o2.Struct_thing = o;
o2.I32_thing = 5;
Xtruct2 i2 = client.testNest(o2);
i = i2.Struct_thing;
Console.WriteLine(" = {" + i2.Byte_thing + ", {\"" + i.String_thing + "\", " + i.Byte_thing + ", " + i.I32_thing + ", " + i.I64_thing + "}, " + i2.I32_thing + "}");
Dictionary<int, int> mapout = new Dictionary<int, int>();
for (int j = 0; j < 5; j++)
{
mapout[j] = j - 10;
}
Console.Write("testMap({");
bool first = true;
foreach (int key in mapout.Keys)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(key + " => " + mapout[key]);
}
Console.Write("})");
Dictionary<int, int> mapin = client.testMap(mapout);
Console.Write(" = {");
first = true;
foreach (int key in mapin.Keys)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(key + " => " + mapin[key]);
}
Console.WriteLine("}");
List<int> listout = new List<int>();
for (int j = -2; j < 3; j++)
{
listout.Add(j);
}
Console.Write("testList({");
first = true;
foreach (int j in listout)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(j);
}
Console.Write("})");
List<int> listin = client.testList(listout);
Console.Write(" = {");
first = true;
foreach (int j in listin)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(j);
}
Console.WriteLine("}");
//set
THashSet<int> setout = new THashSet<int>();
for (int j = -2; j < 3; j++)
{
setout.Add(j);
}
Console.Write("testSet({");
first = true;
foreach (int j in setout)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(j);
}
Console.Write("})");
THashSet<int> setin = client.testSet(setout);
Console.Write(" = {");
first = true;
foreach (int j in setin)
{
if (first)
{
first = false;
}
else
{
Console.Write(", ");
}
Console.Write(j);
}
Console.WriteLine("}");
Console.Write("testEnum(ONE)");
Numberz ret = client.testEnum(Numberz.ONE);
Console.WriteLine(" = " + ret);
Console.Write("testEnum(TWO)");
ret = client.testEnum(Numberz.TWO);
Console.WriteLine(" = " + ret);
Console.Write("testEnum(THREE)");
ret = client.testEnum(Numberz.THREE);
Console.WriteLine(" = " + ret);
Console.Write("testEnum(FIVE)");
ret = client.testEnum(Numberz.FIVE);
Console.WriteLine(" = " + ret);
Console.Write("testEnum(EIGHT)");
ret = client.testEnum(Numberz.EIGHT);
Console.WriteLine(" = " + ret);
Console.Write("testTypedef(309858235082523)");
long uid = client.testTypedef(309858235082523L);
Console.WriteLine(" = " + uid);
Console.Write("testMapMap(1)");
Dictionary<int, Dictionary<int, int>> mm = client.testMapMap(1);
Console.Write(" = {");
foreach (int key in mm.Keys)
{
Console.Write(key + " => {");
Dictionary<int, int> m2 = mm[key];
foreach (int k2 in m2.Keys)
{
Console.Write(k2 + " => " + m2[k2] + ", ");
}
Console.Write("}, ");
}
Console.WriteLine("}");
Insanity insane = new Insanity();
insane.UserMap = new Dictionary<Numberz, long>();
insane.UserMap[Numberz.FIVE] = 5000L;
Xtruct truck = new Xtruct();
truck.String_thing = "Truck";
truck.Byte_thing = (sbyte)8;
truck.I32_thing = 8;
truck.I64_thing = 8;
insane.Xtructs = new List<Xtruct>();
insane.Xtructs.Add(truck);
Console.Write("testInsanity()");
Dictionary<long, Dictionary<Numberz, Insanity>> whoa = client.testInsanity(insane);
Console.Write(" = {");
foreach (long key in whoa.Keys)
{
Dictionary<Numberz, Insanity> val = whoa[key];
Console.Write(key + " => {");
foreach (Numberz k2 in val.Keys)
{
Insanity v2 = val[k2];
Console.Write(k2 + " => {");
Dictionary<Numberz, long> userMap = v2.UserMap;
Console.Write("{");
if (userMap != null)
{
foreach (Numberz k3 in userMap.Keys)
{
Console.Write(k3 + " => " + userMap[k3] + ", ");
}
}
else
{
Console.Write("null");
}
Console.Write("}, ");
List<Xtruct> xtructs = v2.Xtructs;
Console.Write("{");
if (xtructs != null)
{
foreach (Xtruct x in xtructs)
{
Console.Write("{\"" + x.String_thing + "\", " + x.Byte_thing + ", " + x.I32_thing + ", " + x.I32_thing + "}, ");
}
}
else
{
Console.Write("null");
}
Console.Write("}");
Console.Write("}, ");
}
Console.Write("}, ");
}
Console.WriteLine("}");
sbyte arg0 = 1;
int arg1 = 2;
long arg2 = long.MaxValue;
Dictionary<short, string> multiDict = new Dictionary<short, string>();
multiDict[1] = "one";
Numberz arg4 = Numberz.FIVE;
long arg5 = 5000000;
Console.Write("Test Multi(" + arg0 + "," + arg1 + "," + arg2 + "," + multiDict + "," + arg4 + "," + arg5 + ")");
Xtruct multiResponse = client.testMulti(arg0, arg1, arg2, multiDict, arg4, arg5);
Console.Write(" = Xtruct(byte_thing:" + multiResponse.Byte_thing + ",String_thing:" + multiResponse.String_thing
+ ",i32_thing:" + multiResponse.I32_thing + ",i64_thing:" + multiResponse.I64_thing + ")\n");
Console.WriteLine("Test Oneway(1)");
client.testOneway(1);
Console.Write("Test Calltime()");
var startt = DateTime.UtcNow;
for ( int k=0; k<1000; ++k )
client.testVoid();
Console.WriteLine(" = " + (DateTime.UtcNow - startt).TotalSeconds.ToString() + " ms a testVoid() call" );
}
protected bool Connect(IPEndPoint endPoint)
{
_transport = new TSocket(endPoint.Address.ToString(), endPoint.Port);
var proto = new TBinaryProtocol(_transport);
_client = new Idaas.Database.Client(proto);
Enumerations = new Enumerations(_client);
Structures = new Structures(_client);
Strings = new Strings(_client);
Functions = new Functions(_client);
Instructions = new Instructions(_client);
Names = new Names(_client);
TypeLibraries = new TypeLibraries(_client);
_transport.Open();
return true;
}
