private static void Console_CancelKeyPress(object sender, ConsoleCancelEventArgs e)
{
LogQueue.Enqueue(new LogEntry($"Stopping server...", ConsoleColor.Red, string.Empty, LogLevel.MASTER));
stopServer = true;
TcpListener.Stop();
e.Cancel = true;
}
private unsafe static void TcpHandleRandomPointRequest(BinaryWriter writer, byte[] bytes)
{
RandomPointRequest request = Utils.FromBytes <RandomPointRequest>(bytes);
lock (querylock)
{
if (!AmeisenNav.IsMapLoaded(request.MapId))
{
LogQueue.Enqueue(new LogEntry("[MMAPS] ", ConsoleColor.Green, $"Loading Map: {request.MapId}", LogLevel.INFO));
AmeisenNav.LoadMap(request.MapId);
}
}
fixed(float *pointerStart = request.A.ToArray())
{
float[] randomPoint;
lock (querylock)
{
randomPoint = request.MaxRadius > 0f ? AmeisenNav.GetRandomPointAround(request.MapId, pointerStart, request.MaxRadius)
: AmeisenNav.GetRandomPoint(request.MapId);
}
fixed(float *pRandomPoint = randomPoint)
{
TcpSendData(writer, pRandomPoint, sizeof(Vector3));
}
}
}
public void LogAll(IReadOnlyCollection <LogEntry> logs)
{
foreach (LogEntry log in logs)
{
LogQueue.Enqueue(log);
}
}
public void Log(string tag, string message, LogLevel logLevel = LogLevel.Debug, [CallerFilePath] string callingClass = "", [CallerMemberName] string callingFunction = "", [CallerLineNumber] int callingCodeline = 0)
{
if (logLevel <= ActiveLogLevel)
{
LogQueue.Enqueue(new LogEntry(logLevel, $"[{tag}] {message}", Path.GetFileNameWithoutExtension(callingClass), callingFunction, callingCodeline));
}
}
private static void PreloadMaps()
{
LogQueue.Enqueue(new LogEntry($"Preloading Maps: ", ConsoleColor.Green, JsonConvert.SerializeObject(Settings.PreloadMaps), LogLevel.DEBUG));
foreach (int i in Settings.PreloadMaps)
{
AmeisenNav.LoadMap(i);
LogQueue.Enqueue(new LogEntry($"Preloaded Map: ", ConsoleColor.Green, i.ToString(), LogLevel.DEBUG));
}
LogQueue.Enqueue(new LogEntry($"Preloaded {Settings.PreloadMaps.Length} Maps", ConsoleColor.Green, string.Empty, LogLevel.DEBUG));
}
public static List <Vector3> GetPath(Vector3 start, Vector3 end, int mapId, PathRequestFlags flags, string clientIp)
{
int pathSize;
List <Vector3> path = new List <Vector3>();
Stopwatch sw = new Stopwatch();
sw.Start();
lock (maplock)
{
if (!AmeisenNav.IsMapLoaded(mapId))
{
AmeisenNav.LoadMap(mapId);
}
unsafe
{
fixed(float *pointerStart = start.ToArray())
fixed(float *pointerEnd = end.ToArray())
{
float *path_raw = AmeisenNav.GetPath(mapId, pointerStart, pointerEnd, &pathSize);
// postprocess the raw path to a list of Vector3
// the raw path looks like this:
// [ x1, y1, z1, x2, y2, z2, ...]
for (int i = 0; i < pathSize * 3; i += 3)
{
path.Add(new Vector3(path_raw[i], path_raw[i + 1], path_raw[i + 2]));
}
}
}
}
if (flags.HasFlag(PathRequestFlags.NaturalSteeringBehavior))
{
path = NaturalSteeringBehavior.Perform(path);
}
if (flags.HasFlag(PathRequestFlags.ChaikinCurve))
{
path = ChaikinCurve.Perform(path);
}
//// bugged atm path = NodeReduction.Perform(path);
sw.Stop();
LogQueue.Enqueue(new LogEntry($"[{clientIp}] ", ConsoleColor.Green, $"Building Path with {path.Count} Nodes took {sw.ElapsedMilliseconds}ms ({sw.ElapsedTicks} ticks)", LogLevel.INFO));
return(path);
}
// Logs string to log file.
// -----------------------------------------------------------------------
public static void LogEntry(string log)
{
// TODO: These might be used for timeouts later. Needed at this time for proper task creation.
var source = new CancellationTokenSource();
var token = source.Token;
LogQueue.Enqueue(log);
// Creates a thread that will write to a log file.
Task.Factory.StartNew(() =>
{
logEntryThreadCall(log, true);
},
token, TaskCreationOptions.PreferFairness, TaskScheduler.Default);
}
/// <summary>
/// Flush the stream
/// </summary>
public void Flush()
{
lock (this)
{
LogList entries = new LogList(this);
this.Clear();
logQueue.Enqueue(entries);
WriteLogs();
//foreach (LogEntry l in entries)
//{
// Writer.WriteLine(l.Content);
//}
//Writer.Flush();
}
}
public static void EnterServerLoop()
{
while (!stopServer)
{
try
{
TcpClient newClient = TcpListener.AcceptTcpClient();
Thread userThread = new Thread(new ThreadStart(() => HandleClient(newClient)));
userThread.Start();
}
catch (Exception e)
{
if (!stopServer)
{
string errorMsg = $"{e.GetType()} occured while at the TcpListener\n";
LogQueue.Enqueue(new LogEntry(errorMsg, ConsoleColor.Red, e.ToString(), LogLevel.ERROR));
}
}
}
}
public void Log(Level logLevel, string source, string message)
{
try
{
string currentTime = DateTime.Now.ToString("hh:mm:ss.s: ");
string logMessageLine = currentTime + LabelDictionary[logLevel] + source + " - " + message;
if ((int)logLevel <= (int)GlobalLogLevel)
{
LogQueue.Enqueue(logMessageLine);
}
if (GuiOutput)
{
OnGuiLogPrint?.Invoke(new LogItem(logLevel, logMessageLine));
MainWindow.GuiLogQueue.Enqueue(new LogItem(logLevel, logMessageLine));
}
}
catch (KeyNotFoundException e)
{
Log(Level.ERROR, "LogHelper", "Key from " + source + " - " + e.Message);
}
}
public static void HandleClient(TcpClient client)
{
LogQueue.Enqueue(new LogEntry($"Client connected: {client.Client.RemoteEndPoint}", ConsoleColor.Cyan));
using (StreamReader reader = new StreamReader(client.GetStream(), Encoding.ASCII))
using (StreamWriter writer = new StreamWriter(client.GetStream(), Encoding.ASCII))
{
bool isClientConnected = true;
Interlocked.Increment(ref clientCount);
UpdateConnectedClientCount();
while (isClientConnected)
{
try
{
string rawData = reader.ReadLine().Replace(">", string.Empty);
if (!string.IsNullOrEmpty(rawData))
{
PathRequest pathRequest = JsonConvert.DeserializeObject <PathRequest>(rawData);
List <Vector3> path = GetPath(pathRequest.A, pathRequest.B, pathRequest.MapId, pathRequest.Flags, client.Client.RemoteEndPoint.ToString());
writer.WriteLine(JsonConvert.SerializeObject(path) + " >");
writer.Flush();
}
}
catch (Exception e)
{
string errorMsg = $"{e.GetType()} occured at client ";
LogQueue.Enqueue(new LogEntry(errorMsg, ConsoleColor.Red, $"{client.Client.RemoteEndPoint}", LogLevel.ERROR));
isClientConnected = false;
}
}
Interlocked.Decrement(ref clientCount);
UpdateConnectedClientCount();
LogQueue.Enqueue(new LogEntry($"Client disconnected: ", ConsoleColor.Cyan, client.Client.RemoteEndPoint.ToString()));
}
}
/// <summary>
/// Log a message.
/// Check first for config and enqueue the message if necessary.
/// </summary>
/// <param name="message">The message to log.</param>
/// <param name="logType">Log type.</param>
/// <param name="sender">The sender as a string.</param>
/// <param name="context">The context of the message, this will normally be the sender or this class.</param>
private static void Log(string message, LogType logType, string sender, Object context)
{
// Log everything if application is not playing.
if (Application.isPlaying)
{
if (config == null)
{
LogQueue.Enqueue(new QueueableLog(message, logType, sender, context));
if (askedForInitialization)
{
return;
}
askedForInitialization = true;
ConfigurationManager.OnServiceReady += service =>
{
config = service.GetConfig <DebugConfig>();
if (config == null)
{
UnityEngine
.Debug
.LogError("There is no debug config file. Won't be able to log anything!");
}
};
return;
}
while (LogQueue.Count > 0)
{
QueueableLog log = LogQueue.Dequeue();
LogSingleMessage(log.Message, log.LogType, log.Sender, log.Context);
}
}
LogSingleMessage(message, logType, sender, context);
}
private static Settings LoadConfigFile()
{
Settings settings = null;
try
{
if (File.Exists(SettingsPath))
{
settings = JsonConvert.DeserializeObject <Settings>(File.ReadAllText(SettingsPath));
if (!settings.MmapsFolder.EndsWith("/") && !settings.MmapsFolder.EndsWith("\\"))
{
settings.MmapsFolder += "/";
}
if (settings.LogToFile)
{
LogCheckFileExistence();
}
LogQueue.Enqueue(new LogEntry($"MaxPolyPathCount = {settings.MaxPolyPathCount}", ConsoleColor.White));
LogQueue.Enqueue(new LogEntry($"MaxPointPathCount = {settings.MaxPointPathCount}", ConsoleColor.White));
LogQueue.Enqueue(new LogEntry("Loaded config file", ConsoleColor.Green));
}
else
{
settings = new Settings();
File.WriteAllText(SettingsPath, JsonConvert.SerializeObject(settings));
LogQueue.Enqueue(new LogEntry("Created default config file", ConsoleColor.White));
}
}
catch (Exception ex)
{
LogQueue.Enqueue(new LogEntry("Failed to parse config.json...\n", ConsoleColor.Red, ex.ToString(), LogLevel.ERROR));
}
return(settings);
}
public void LogRequest(string oldUrl, string referrer)
{
var bufferSize = Configuration.Configuration.Instance.BufferSize;
if (LogQueue.Count > 0 && LogQueue.Count >= bufferSize)
{
lock (LogQueue)
{
try
{
if (LogQueue.Count >= bufferSize)
{
LogRequests(LogQueue);
}
}
catch (Exception ex)
{
Logger.Error("An error occurred while trying to log 404 errors. ", ex);
}
}
}
LogQueue.Enqueue(new LogEvent(oldUrl, DateTime.UtcNow, referrer));
}
public unsafe static void TcpHandleClient(TcpClient client)
{
LogQueue.Enqueue(new LogEntry($"Client connected: ", ConsoleColor.Cyan, client.Client.RemoteEndPoint.ToString()));
using Stream stream = client.GetStream();
using BinaryReader binaryReader = new BinaryReader(stream);
using BinaryWriter binaryWriter = new BinaryWriter(stream);
stream.ReadTimeout = 3000;
stream.WriteTimeout = 3000;
bool isClientConnected = true;
Interlocked.Increment(ref clientCount);
UpdateConnectedClientCount();
int failCounter = 0;
while (isClientConnected)
{
try
{
byte[] sizeBytes = binaryReader.ReadBytes(4);
if (sizeBytes.Length > 0)
{
int dataSize = BitConverter.ToInt32(sizeBytes, 0);
if (dataSize > 0)
{
byte[] bytes = binaryReader.ReadBytes(dataSize);
int msgType = BitConverter.ToInt32(bytes, 0);
if (bytes != null && Enum.IsDefined(typeof(MsgType), msgType))
{
switch ((MsgType)msgType)
{
case MsgType.KeepAlive:
TcpHandleKeepAlive(binaryWriter);
break;
case MsgType.Path:
if (bytes.Length == sizeof(PathRequest))
{
TcpHandlePathRequest(binaryWriter, bytes);
}
else
{
LogQueue.Enqueue(new LogEntry("Received malformed PathRequest...", ConsoleColor.Red, $"{client.Client.RemoteEndPoint}", LogLevel.ERROR));
}
break;
case MsgType.RandomPoint:
if (bytes.Length == sizeof(RandomPointRequest))
{
Stopwatch sw = Stopwatch.StartNew();
TcpHandleRandomPointRequest(binaryWriter, bytes);
sw.Stop();
LogQueue.Enqueue(new LogEntry("[RANDOMPOINT] ", ConsoleColor.Green, $"took {sw.ElapsedMilliseconds}ms ({sw.ElapsedTicks} ticks)", LogLevel.INFO));
}
else
{
LogQueue.Enqueue(new LogEntry("Received malformed RandomPointRequest...", ConsoleColor.Red, $"{client.Client.RemoteEndPoint}", LogLevel.ERROR));
}
break;
}
}
}
}
else
{
if (failCounter >= 5)
{
isClientConnected = false;
}
Thread.Sleep(500);
++failCounter;
}
}
catch (IOException)
{
// occurs when client disconnects
isClientConnected = false;
}
catch (Exception e)
{
string errorMsg = $"{e.GetType()} occured at client: \n{e.StackTrace}";
LogQueue.Enqueue(new LogEntry(errorMsg, ConsoleColor.Red, $"{client.Client.RemoteEndPoint}", LogLevel.ERROR));
isClientConnected = false;
}
}
Interlocked.Decrement(ref clientCount);
UpdateConnectedClientCount();
LogQueue.Enqueue(new LogEntry("Client disconnected: ", ConsoleColor.Cyan, client.Client.RemoteEndPoint.ToString()));
}
public static List <Vector3> GetPath(Vector3 start, Vector3 end, float maxRadius, int mapId, MovementType movementType, PathRequestFlags flags, string clientIp)
{
int pathSize;
List <Vector3> path = new List <Vector3>();
Stopwatch sw = new Stopwatch();
sw.Start();
lock (querylock)
{
if (!AmeisenNav.IsMapLoaded(mapId))
{
AmeisenNav.LoadMap(mapId);
}
unsafe
{
fixed(float *pointerStart = start.ToArray())
fixed(float *pointerEnd = end.ToArray())
{
switch (movementType)
{
case MovementType.MoveToPosition:
float[] movePath = AmeisenNav.GetPath(mapId, pointerStart, pointerEnd, &pathSize);
for (int i = 0; i < pathSize * 3; i += 3)
{
path.Add(new Vector3(movePath[i], movePath[i + 1], movePath[i + 2]));
}
if (flags.HasFlag(PathRequestFlags.ChaikinCurve))
{
path = ChaikinCurve.Perform(path);
}
break;
case MovementType.MoveAlongSurface:
float[] surfacePath = AmeisenNav.MoveAlongSurface(mapId, pointerStart, pointerEnd);
path.Add(new Vector3(surfacePath[0], surfacePath[1], surfacePath[2]));
break;
case MovementType.CastMovementRay:
if (AmeisenNav.CastMovementRay(mapId, pointerStart, pointerEnd))
{
// return end if target is in line of sight
path.Add(end);
}
else
{
// return none if target is not in line of sight
path.Clear();
}
break;
case MovementType.GetRandomPoint:
float[] randomPoint = AmeisenNav.GetRandomPoint(mapId);
path.Add(new Vector3(randomPoint[0], randomPoint[1], randomPoint[2]));
break;
case MovementType.GetRandomPointAround:
float[] randomPointAround = AmeisenNav.GetRandomPointAround(mapId, pointerStart, maxRadius);
path.Add(new Vector3(randomPointAround[0], randomPointAround[1], randomPointAround[2]));
break;
}
}
}
}
sw.Stop();
LogQueue.Enqueue(new LogEntry($"[{clientIp}] ", ConsoleColor.Green, $"{movementType} with {path.Count}/{Settings.MaxPointPathCount} Nodes took {sw.ElapsedMilliseconds}ms ({sw.ElapsedTicks} ticks)", LogLevel.INFO));
return(path);
}
private unsafe static void HandlePathRequest(BinaryWriter writer, byte[] bytes)
{
PathRequest request = Utils.FromBytes <PathRequest>(bytes);
lock (querylock)
{
if (!AmeisenNav.IsMapLoaded(request.MapId))
{
LogQueue.Enqueue(new LogEntry("[MMAPS] ", ConsoleColor.Green, $"Loading Map: {request.MapId}", LogLevel.INFO));
AmeisenNav.LoadMap(request.MapId);
}
}
fixed(float *pStartPosition = request.A.ToArray())
fixed(float *pEndPosition = request.B.ToArray())
{
switch (request.MovementType)
{
case MovementType.FindPath:
int pathSize = 0;
float[] movePath;
Stopwatch swPath = Stopwatch.StartNew();
try
{
lock (querylock) { movePath = AmeisenNav.GetPath(request.MapId, pStartPosition, pEndPosition, &pathSize); }
}
catch { movePath = null; }
List <Vector3> path = new List <Vector3>(movePath != null ? movePath.Length * 3 : 1);
if (movePath == null || movePath.Length == 0)
{
path.Add(Vector3.Zero);
fixed(Vector3 *pPath = path.ToArray())
SendData(writer, pPath, sizeof(Vector3));
return;
}
for (int i = 0; i < pathSize * 3; i += 3)
{
path.Add(new Vector3(movePath[i], movePath[i + 1], movePath[i + 2]));
}
if (request.Flags.HasFlag(PathRequestFlags.ChaikinCurve))
{
if (path.Count > 1)
{
path = ChaikinCurve.Perform(path, Settings.ChaikinIterations);
}
else
{
request.Flags &= ~PathRequestFlags.ChaikinCurve;
}
}
if (request.Flags.HasFlag(PathRequestFlags.CatmullRomSpline))
{
if (path.Count >= 4)
{
path = CatmullRomSpline.Perform(path, Settings.CatmullRomSplinePoints);
}
else
{
request.Flags &= ~PathRequestFlags.CatmullRomSpline;
}
}
int size = sizeof(Vector3) * path.Count;
fixed(Vector3 *pPath = path.ToArray())
SendData(writer, pPath, size);
swPath.Stop();
LogQueue.Enqueue(new LogEntry("[FINDPATH] ", ConsoleColor.Green, $"Generating path with {path.Count}/{Settings.MaxPointPathCount} nodes took {swPath.ElapsedMilliseconds}ms ({swPath.ElapsedTicks} ticks) (Flags: {request.Flags})", LogLevel.INFO));
break;
case MovementType.MoveAlongSurface:
Stopwatch swMoveAlongSurface = Stopwatch.StartNew();
float[] surfacePath;
lock (querylock) { surfacePath = AmeisenNav.MoveAlongSurface(request.MapId, pStartPosition, pEndPosition); }
fixed(float *pSurfacePath = surfacePath)
SendData(writer, pSurfacePath, sizeof(Vector3));
swMoveAlongSurface.Stop();
LogQueue.Enqueue(new LogEntry("[MOVEALONGSURFACE] ", ConsoleColor.Green, $"MoveAlongSurface took {swMoveAlongSurface.ElapsedMilliseconds}ms ({swMoveAlongSurface.ElapsedTicks} ticks)", LogLevel.INFO));
break;
case MovementType.CastMovementRay:
Stopwatch swCastMovementRay = Stopwatch.StartNew();
Vector3 castRayResult;
lock (querylock) { castRayResult = AmeisenNav.CastMovementRay(request.MapId, pStartPosition, pEndPosition) ? request.B : Vector3.Zero; }
SendData(writer, &castRayResult, sizeof(Vector3));
swCastMovementRay.Stop();
LogQueue.Enqueue(new LogEntry("[CASTMOVEMENTRAY] ", ConsoleColor.Green, $"CastMovementRay took {swCastMovementRay.ElapsedMilliseconds}ms ({swCastMovementRay.ElapsedTicks} ticks)", LogLevel.INFO));
break;
}
}
}
public void Log(LogEntry log) => LogQueue.Enqueue(log);
private unsafe static void TcpHandlePathRequest(BinaryWriter writer, byte[] bytes)
{
PathRequest request = Utils.FromBytes <PathRequest>(bytes);
lock (querylock)
{
if (!AmeisenNav.IsMapLoaded(request.MapId))
{
LogQueue.Enqueue(new LogEntry("[MMAPS] ", ConsoleColor.Green, $"Loading Map: {request.MapId}", LogLevel.INFO));
AmeisenNav.LoadMap(request.MapId);
}
}
Stopwatch sw = Stopwatch.StartNew();
fixed(float *pStartPosition = request.A.ToArray())
fixed(float *pEndPosition = request.B.ToArray())
{
switch (request.MovementType)
{
case MovementType.FindPath:
int pathSize = 0;
float[] movePath = null;
try
{
lock (querylock)
{
movePath = AmeisenNav.GetPath(request.MapId, pStartPosition, pEndPosition, &pathSize);
}
}
catch { }
if (movePath != null && movePath.Length != 0)
{
// we can't apply the chaikin-curve on a path that has just a single node
if (request.Flags.HasFlag(PathRequestFlags.ChaikinCurve) &&
pathSize > 1)
{
movePath = ChaikinCurve.Perform(movePath, Settings.ChaikinIterations);
}
// we can't apply the catmull-rom-spline on a path with less than 4 nodes
if (request.Flags.HasFlag(PathRequestFlags.CatmullRomSpline) &&
pathSize >= 4)
{
movePath = CatmullRomSpline.Perform(movePath, Settings.CatmullRomSplinePoints);
}
pathSize = movePath.Length / 3;
fixed(float *pPath = movePath)
{
TcpSendData(writer, pPath, sizeof(Vector3) * pathSize);
}
}
sw.Stop();
LogQueue.Enqueue(new LogEntry("[FINDPATH] ", ConsoleColor.Green, $"took {sw.ElapsedMilliseconds}ms ({sw.ElapsedTicks} ticks) Nodes: {pathSize}/{Settings.MaxPointPathCount} Flags: {request.Flags}"));
break;
case MovementType.MoveAlongSurface:
float[] surfacePath;
lock (querylock) { surfacePath = AmeisenNav.MoveAlongSurface(request.MapId, pStartPosition, pEndPosition); }
fixed(float *pSurfacePath = surfacePath)
{
TcpSendData(writer, pSurfacePath, sizeof(Vector3));
}
sw.Stop();
// LogQueue.Enqueue(new LogEntry("[MOVEALONGSURFACE] ", ConsoleColor.Green, $"took {sw.ElapsedMilliseconds}ms ({sw.ElapsedTicks} ticks)"));
break;
case MovementType.CastMovementRay:
Vector3 castRayResult;
lock (querylock) { castRayResult = AmeisenNav.CastMovementRay(request.MapId, pStartPosition, pEndPosition) ? request.B : Vector3.Zero; }
TcpSendData(writer, &castRayResult, sizeof(Vector3));
sw.Stop();
LogQueue.Enqueue(new LogEntry("[CASTMOVEMENTRAY] ", ConsoleColor.Green, $"took {sw.ElapsedMilliseconds}ms ({sw.ElapsedTicks} ticks)"));
break;
}
}
}
