public static RosSocket ConnectToRos(Protocol protocolType, string serverUrl, EventHandler onConnected = null, EventHandler onClosed = null, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.Microsoft)
{
IProtocol protocol = ProtocolInitializer.GetProtocol(protocolType, serverUrl);
protocol.OnConnected += onConnected;
protocol.OnClosed += onClosed;
return(new RosSocket(protocol, serializer));
}
public ActionClient(TAction action, string actionName, string serverURL, Protocol protocol = Protocol.WebSocketSharp, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON, float timeStep = 0.2f)
{
this.action = action;
this.actionName = actionName;
this.timeStep = timeStep;
this.serverURL = serverURL;
socket = new RosSocket(ProtocolInitializer.GetProtocol(protocol, serverURL), serializer);
}
public ActionServer(TAction action, string actionName, Protocol protocol, string serverURL, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON, int timeout = 10, float timeStep = 0.1f)
{
this.action = action;
this.actionName = actionName;
this.timeStep = timeStep;
this.serverURL = serverURL;
socket = new RosSocket(ProtocolInitializer.GetProtocol(protocol, serverURL), serializer);
}
public ActionClient(TAction action, string actionName, string serverURL, Protocol protocol = Protocol.WebSocketSharp, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON, float secondsTimeout = 5f, float secondsTimestep = 0.2f)
{
this.action = action;
this.actionName = actionName;
this.millisecondsTimeout = (int)(secondsTimeout * 1000);
this.millisecondsTimestep = (int)(secondsTimestep * 1000);
this.serverURL = serverURL;
socket = new RosSocket(ProtocolInitializer.GetProtocol(protocol, serverURL), serializer);
}
//JAVA TO C# CONVERTER WARNING: Method 'throws' clauses are not available in C#:
//ORIGINAL LINE: public void start() throws Throwable
public override void Start()
{
bool useEpoll = _useEpoll && Epoll.Available;
ServerConfigurationProvider configurationProvider = useEpoll ? EpollConfigurationProvider.INSTANCE : NioConfigurationProvider.INSTANCE;
_bossGroup = configurationProvider.CreateEventLoopGroup(1, _tf);
// These threads handle live channels. Each thread has a set of channels it is responsible for, and it will
// continuously run a #select() loop to react to new events on these channels.
_selectorGroup = configurationProvider.CreateEventLoopGroup(_numSelectorThreads, _tf);
// Bootstrap the various ports and protocols we want to handle
foreach (KeyValuePair <BoltConnector, ProtocolInitializer> bootstrapEntry in _bootstrappersMap.SetOfKeyValuePairs())
{
try
{
ProtocolInitializer protocolInitializer = bootstrapEntry.Value;
BoltConnector boltConnector = bootstrapEntry.Key;
ServerBootstrap serverBootstrap = CreateServerBootstrap(configurationProvider, protocolInitializer);
ChannelFuture channelFuture = serverBootstrap.bind(protocolInitializer.Address().socketAddress()).sync();
InetSocketAddress localAddress = ( InetSocketAddress )channelFuture.channel().localAddress();
_connectionRegister.register(boltConnector.Key(), localAddress);
string host = protocolInitializer.Address().Hostname;
int port = localAddress.Port;
if (host.Contains(":"))
{
// IPv6
_log.info("Bolt enabled on [%s]:%s.", host, port);
}
else
{
// IPv4
_log.info("Bolt enabled on %s:%s.", host, port);
}
}
catch (Exception e)
{
// We catch throwable here because netty uses clever tricks to have method signatures that look like they do not
// throw checked exceptions, but they actually do. The compiler won't let us catch them explicitly because in theory
// they shouldn't be possible, so we have to catch Throwable and do our own checks to grab them
throw new PortBindException(bootstrapEntry.Value.address(), e);
}
}
}
/// <summary>
/// Ritorna un nuovo oggetto ProtocolInitializer per la protocollazione automatica di una UDS
/// </summary>
public ProtocolInitializer GetProtocolInitializer(UDSDto dto)
{
ProtocolInitializer protInitializer = new ProtocolInitializer();
// Oggetto
protInitializer.Subject = dto.UDSModel.Model.Subject.Value;
if (dto.UDSModel.Model.ProtocolDirectionSpecified)
{
switch (dto.UDSModel.Model.ProtocolDirection)
{
case ProtocolDirectionType.None:
break;
case ProtocolDirectionType.In:
{
protInitializer.ProtocolType = -1;
break;
}
case ProtocolDirectionType.Out:
{
protInitializer.ProtocolType = 1;
break;
}
case ProtocolDirectionType.InternalOffice:
{
protInitializer.ProtocolType = 0;
break;
}
default:
break;
}
}
// Classificazione
if (dto.UDSModel.Model.Category.DefaultEnabled)
{
int idCategory = int.Parse(dto.UDSModel.Model.Category.IdCategory);
protInitializer.Category = FacadeFactory.Instance.CategoryFacade.GetById(idCategory);
}
// Gestione documenti
if (dto.UDSModel.Model.Documents != null)
{
// Documento principale
ICollection <BiblosDocumentInfo> mainDocuments = FillUDSDocuments(dto.UDSModel.Model.Documents.Document);
if (mainDocuments.Count > 0)
{
protInitializer.MainDocument = mainDocuments.FirstOrDefault();
}
// Allegati
ICollection <BiblosDocumentInfo> attachments = FillUDSDocuments(dto.UDSModel.Model.Documents.DocumentAttachment);
if (attachments.Any())
{
protInitializer.Attachments = attachments.Cast <DocumentInfo>().ToList();
}
// Annessi
ICollection <BiblosDocumentInfo> annexed = FillUDSDocuments(dto.UDSModel.Model.Documents.DocumentAnnexed);
if (annexed.Any())
{
protInitializer.Annexed = annexed.Cast <DocumentInfo>().ToList();
}
}
// Contatti
protInitializer.Senders = new List <ContactDTO>();
protInitializer.Recipients = new List <ContactDTO>();
if (dto.UDSModel.Model.Contacts != null)
{
foreach (Contacts contact in dto.UDSModel.Model.Contacts)
{
ICollection <ContactDTO> contactDtos = FillUDSContacts(contact.ContactInstances).Concat(FillUDSContacts(contact.ContactManualInstances)).ToList();
if (contact.ContactType.Equals(Helpers.UDS.ContactType.Sender))
{
protInitializer.Senders.AddRange(contactDtos);
}
else
{
protInitializer.Recipients.AddRange(contactDtos);
}
}
}
// Settori
if (dto.UDSModel.Model.Authorizations != null && dto.UDSModel.Model.Authorizations.Instances != null)
{
IList <Data.Role> roles = new List <Data.Role>();
foreach (AuthorizationInstance auth in dto.UDSModel.Model.Authorizations.Instances)
{
Data.Role role = FacadeFactory.Instance.RoleFacade.GetById(auth.IdAuthorization);
roles.Add(role);
}
protInitializer.Roles = roles;
}
return(protInitializer);
}
public ProtocolInitializer GetProtocolInitializer(IReadOnlyCollection <TenantModel> tenantModels, ProtocolModel protocolModel,
Collaboration collaboration, WorkflowProperty dsw_p_CollaborationSignSummaryTemplateId, WorkflowProperty dsw_a_Collaboration_GenerateSignSummary,
WorkflowProperty dsw_p_ProposerRole, UDSDto udsDto)
{
ProtocolInitializer protInitializer = new ProtocolInitializer();
// Oggetto
protInitializer.Subject = protocolModel.Object;
// Protocol Type
protInitializer.ProtocolType = protocolModel.ProtocolType.EntityShortId;
//Note
protInitializer.Notes = protocolModel.Note;
//Protocollo
protInitializer.DocumentProtocol = protocolModel.DocumentProtocol;
//Date
protInitializer.DocumentDate = protocolModel.DocumentDate;
// Classificazione
if (protocolModel.Category != null && protocolModel.Category.IdCategory.HasValue)
{
protInitializer.Category = FacadeFactory.Instance.CategoryFacade.GetById(protocolModel.Category.IdCategory.Value);
}
if (protocolModel.Container != null && protocolModel.Container.IdContainer.HasValue)
{
protInitializer.Containers = new List <Data.Container> {
FacadeFactory.Instance.ContainerFacade.GetById(Convert.ToInt32(protocolModel.Container.IdContainer))
};
}
if (protocolModel.DocumentTypeCode != null)
{
protInitializer.DocumentTypeLabel = FacadeFactory.Instance.TableDocTypeFacade.GetByCode(protocolModel.DocumentTypeCode).Description;
}
string owner = DocSuiteContext.Current.User.UserName;
// Gestione documenti
if (protocolModel.MainDocument != null && !string.IsNullOrEmpty(protocolModel.MainDocument.FileName) &&
(protocolModel.MainDocument.ContentStream != null || protocolModel.MainDocument.DocumentId.HasValue))
{
protInitializer.MainDocument = SaveStream(owner, protocolModel.MainDocument);
}
// Allegati
IEnumerable <DocumentModel> results = null;
if (protocolModel.Attachments != null && (results = protocolModel.Attachments.Where(f => !string.IsNullOrEmpty(f.FileName) && (f.ContentStream != null || f.DocumentId.HasValue))).Any())
{
protInitializer.Attachments = SaveStream(owner, results);
}
if (collaboration != null && dsw_p_CollaborationSignSummaryTemplateId != null && dsw_a_Collaboration_GenerateSignSummary != null &&
dsw_a_Collaboration_GenerateSignSummary.ValueBoolean.HasValue && dsw_a_Collaboration_GenerateSignSummary.ValueBoolean.Value &&
dsw_p_CollaborationSignSummaryTemplateId.ValueGuid.HasValue && dsw_p_CollaborationSignSummaryTemplateId.ValueGuid.Value != Guid.Empty)
{
TemplateDocumentRepository templateDocumentRepository = WebAPIImpersonatorFacade.ImpersonateFinder(new TemplateDocumentRepositoryFinder(tenantModels),
(impersonationType, finder) =>
{
finder.UniqueId = dsw_p_CollaborationSignSummaryTemplateId.ValueGuid.Value;
finder.EnablePaging = false;
return(finder.DoSearch().SingleOrDefault()?.Entity);
});
if (templateDocumentRepository != null)
{
BiblosChainInfo biblosChainInfo = new BiblosChainInfo(templateDocumentRepository.IdArchiveChain);
DocumentInfo biblosDocumentInfo = biblosChainInfo.Documents.Single(f => !f.IsRemoved);
List <BuildValueModel> buildValueModels = new List <BuildValueModel>();
buildValueModels.Add(new BuildValueModel()
{
IsHTML = false,
Name = "oggetto",
Value = protInitializer.Subject,
});
DateTime signDate;
string token;
foreach (CollaborationSign item in collaboration.CollaborationSigns)
{
signDate = item.SignDate ?? item.LastChangedDate.Value.DateTime;
token = signDate.DayOfWeek == DayOfWeek.Sunday ? "la" : "il";
buildValueModels.Add(new BuildValueModel()
{
IsHTML = false,
Name = $"signer_info_{item.Incremental}",
Value = $"{item.SignName} {token} {signDate.ToLongDateString()}",
});
}
buildValueModels = BuildValueProposerRole(dsw_p_ProposerRole, buildValueModels);
buildValueModels = BuildValueUDS(udsDto, buildValueModels);
byte[] pdf = Services.StampaConforme.Service.BuildPDF(biblosDocumentInfo.Stream, buildValueModels.ToArray(), string.Empty);
if (protInitializer.Attachments == null)
{
protInitializer.Attachments = new List <DocumentInfo>();
}
protInitializer.Attachments.Add(SaveStream(owner, pdf, "riepilogo_firmatari.pdf"));
}
}
// Annessi
results = null;
if (protocolModel.Annexes != null && (results = protocolModel.Annexes.Where(f => !string.IsNullOrEmpty(f.FileName) && (f.ContentStream != null || f.DocumentId.HasValue))).Any())
{
protInitializer.Annexed = SaveStream(owner, results);
}
// Contatti
protInitializer.Senders = new List <Data.ContactDTO>();
protInitializer.Recipients = new List <Data.ContactDTO>();
if (protocolModel.ContactManuals != null && protocolModel.ContactManuals.Any())
{
foreach (ProtocolContactManualModel protocolContactManualModel in protocolModel.ContactManuals)
{
Data.Contact contact = new Data.Contact();
contact.ContactType = new Data.ContactType(Data.ContactType.Aoo);
contact.Description = protocolContactManualModel.Description;
contact.CertifiedMail = protocolContactManualModel.CertifiedEmail;
contact.EmailAddress = protocolContactManualModel.EMail;
if (!string.IsNullOrEmpty(protocolContactManualModel.Address))
{
contact.Address = new Data.Address();
contact.Address.Address = protocolContactManualModel.Address;
}
if (protocolContactManualModel.ComunicationType == ComunicationType.Sender)
{
protInitializer.Senders.Add(new Data.ContactDTO(contact, Data.ContactDTO.ContactType.Manual));
}
else
{
protInitializer.Recipients.Add(new Data.ContactDTO(contact, Data.ContactDTO.ContactType.Manual));
}
}
}
if (protocolModel.Contacts != null && protocolModel.Contacts.Any())
{
foreach (ProtocolContactModel protocolContactModel in protocolModel.Contacts)
{
Data.Contact contact = FacadeFactory.Instance.ContactFacade.GetById(protocolContactModel.IdContact);
if (protocolContactModel.ComunicationType == ComunicationType.Sender)
{
protInitializer.Senders.Add(new Data.ContactDTO(contact, Data.ContactDTO.ContactType.Address));
}
else
{
protInitializer.Recipients.Add(new Data.ContactDTO(contact, Data.ContactDTO.ContactType.Address));
}
}
}
return(protInitializer);
}
private ServerBootstrap CreateServerBootstrap(ServerConfigurationProvider configurationProvider, ProtocolInitializer protocolInitializer)
{
return((new ServerBootstrap()).group(_bossGroup, _selectorGroup).channel(configurationProvider.ChannelClass).option(ChannelOption.ALLOCATOR, PooledByteBufAllocator.DEFAULT).option(ChannelOption.SO_REUSEADDR, true).childOption(ChannelOption.SO_KEEPALIVE, true).childHandler(protocolInitializer.ChannelInitializer()));
}
