public ClientContext(RobotRaconteurNode node) : base(node)
{
//rec_event = new AutoResetEvent(false);
stubs = new Dictionary <string, ServiceStub>();
DynamicServiceFactory_ = node.DynamicServiceFactory;
UsePulledServiceTypes = DynamicServiceFactory_ != null;
}
public static com.robotraconteur.datetime.DateTimeLocal LocalNow(RobotRaconteurNode node = null, DeviceInfo info = null)
{
if (node == null)
{
node = RobotRaconteurNode.s;
}
var now = node.NowUTC;
var epoch_now = now - (new DateTime(1970, 1, 1, 0, 0, 0, DateTimeKind.Utc));
var ret = new com.robotraconteur.datetime.DateTimeLocal();
ret.seconds = (long)Math.Floor(epoch_now.TotalSeconds);
ret.nanoseconds = (int)((epoch_now - TimeSpan.FromSeconds(ret.seconds)).Ticks * ((long)1e6 / TimeSpan.TicksPerMillisecond));
var utc_offset = TimeZoneInfo.Local.GetUtcOffset(now);
ret.seconds += (long)utc_offset.TotalSeconds;
var clock_info = new com.robotraconteur.datetime.ClockInfo();
clock_info.clock_type = (int)com.robotraconteur.datetime.ClockTypeCode.default_;
var device_uuid_bytes = info?.device?.uuid.uuid_bytes;
clock_info.clock_uuid.uuid_bytes = device_uuid_bytes ?? new byte[16];
ret.clock_info = clock_info;
ret.utc_offset_seconds = (int)utc_offset.TotalSeconds;
ret.timezone_name = TimeZoneInfo.Local.Id;
return(ret);
}
public override MessageElementStructure PackStructure(Object s)
{
if (s == null)
{
return(null);
}
string objtype = s.GetType().ToString();
if (RobotRaconteurNode.SplitQualifiedName(objtype)[0].TrimEnd(new char[] { '_' }) == "sensors.ati.mini45")
{
string objshort = RemovePath(objtype);
switch (objshort)
{
case "FTData":
return(FTData_stubentry.PackStructure(s));
default:
break;
}
}
else
{
return(RobotRaconteurNode.s.PackStructure(s));
}
throw new Exception();
}
public override ServiceStub CreateStub(WrappedServiceStub innerstub)
{
string objecttype = innerstub.RR_objecttype.GetServiceDefinition().Name + "." + innerstub.RR_objecttype.Name; string objshort;
if (CompareNamespace(objecttype, out objshort))
{
switch (objshort)
{
case "baseobj":
return(new baseobj_stub(innerstub));
case "subobj":
return(new subobj_stub(innerstub));
default:
break;
}
}
else
{
string ext_service_type = RobotRaconteurNode.SplitQualifiedName(objecttype).Item1;
return(RobotRaconteurNode.s.GetServiceType(ext_service_type).CreateStub(innerstub));
}
throw new ServiceException("Could not create stub");
}
public override ServiceSkel CreateSkel(object obj)
{
string objtype = RobotRaconteurNode.GetTypeString(ServiceSkelUtil.FindParentInterface(obj.GetType()));
string objshort;
if (CompareNamespace(objtype, out objshort))
{
switch (objshort)
{
case "baseobj":
return(new baseobj_skel((baseobj)obj));
case "subobj":
return(new subobj_skel((subobj)obj));
default:
break;
}
}
else
{
string ext_service_type = RobotRaconteurNode.SplitQualifiedName(objtype).Item1;
return(RobotRaconteurNode.s.GetServiceFactory(ext_service_type).CreateSkel(obj));
}
throw new ServiceException("Could not create skel");
}
public override ServiceSkel CreateSkel(object obj)
{
string objtype = ServiceSkelUtil.UnfixName(ServiceSkelUtil.FindParentInterface(obj.GetType()).ToString());
if (RobotRaconteurNode.SplitQualifiedName(objtype.ToString())[0].TrimEnd(new char[] { '_' }) == "sensors.ati.mini45")
{
string sobjtype = RemovePath(objtype);
switch (sobjtype)
{
case "ATImini45Host":
return(new ATImini45Host_skel((ATImini45Host)obj));
case "ATImini45":
return(new ATImini45_skel((ATImini45)obj));
default:
break;
}
}
else
{
string ext_service_type = RobotRaconteurNode.SplitQualifiedName(objtype.ToString())[0].TrimEnd(new char[] { '_' });
return(RobotRaconteurNode.s.GetServiceFactory(ext_service_type).CreateSkel(obj));
}
throw new ServiceException("Could not create skel");
}
public override ServiceStub CreateStub(WrappedServiceStub innerstub)
{
string objecttype = innerstub.RR_objecttype.GetServiceDefinition().Name + "." + innerstub.RR_objecttype.Name; if (RobotRaconteurNode.SplitQualifiedName(objecttype)[0].TrimEnd(new char[] { '_' }) == "sensors.ati.mini45")
{
string objshort = RemovePath(objecttype);
switch (objshort)
{
case "ATImini45Host":
return(new ATImini45Host_stub(innerstub));
case "ATImini45":
return(new ATImini45_stub(innerstub));
default:
break;
}
}
else
{
string ext_service_type = RobotRaconteurNode.SplitQualifiedName(objecttype)[0].TrimEnd(new char[] { '_' });
return(RobotRaconteurNode.s.GetServiceType(ext_service_type).CreateStub(innerstub));
}
throw new ServiceException("Could not create stub");
}
public static SensorDataHeader FillSensorDataHeader(RobotRaconteurNode node, DeviceInfo device_info, ulong seqno)
{
var ret = new SensorDataHeader();
ret.seqno = seqno;
ret.ts = DateTimeUtil.TimeSpec2Now(node, device_info);
return(ret);
}
public static DeviceTime FillDeviceTime(RobotRaconteurNode node, DeviceInfo device_info, ulong seqno)
{
var ret = new DeviceTime();
ret.device_seqno = seqno;
ret.device_ts = TimeSpec2Now(node, device_info);
ret.device_utc = UtcNow(node, device_info);
return(ret);
}
protected Transport(RobotRaconteurNode node = null)
{
if (node != null)
{
this.node = node;
}
else
{
this.node = RobotRaconteurNode.s;
}
}
public Endpoint(RobotRaconteurNode node)
{
if (node == null)
{
this.node = RobotRaconteurNode.s;
}
else
{
this.node = node;
}
}
public static com.robotraconteur.datetime.TimeSpec3 TimeSpec3Now(RobotRaconteurNode node = null)
{
if (node == null)
{
node = RobotRaconteurNode.s;
}
var now = node.NowTimeSpec;
var ret = new com.robotraconteur.datetime.TimeSpec3();
ret.microseconds = now.seconds * 1000000 + now.nanoseconds / 1000;
return(ret);
}
public ServiceFactory(RobotRaconteurNode node = null, ClientContext context = null)
{
if (node != null)
{
this.node = node;
}
else
{
this.node = RobotRaconteurNode.s;
}
this.context = context;
}
public WallTimer(int period, Action <TimerEvent> handler, bool oneshot, RobotRaconteurNode node = null)
{
if (node == null)
{
this.node = RobotRaconteurNode.s;
}
else
{
this.node = node;
}
this.Period = period;
this.handler = handler;
this.oneshot = oneshot;
}
public WallRate(double frequency, RobotRaconteurNode node = null)
{
if (node == null)
{
this.node = RobotRaconteurNode.s;
}
else
{
this.node = node;
}
this.period = (double)(1000.0 / frequency);
last_time = node.UtcNow;
start_time = node.UtcNow;
}
public override RobotRaconteurException DownCastException(RobotRaconteurException rr_exp)
{
if (rr_exp == null)
{
return(rr_exp);
}
string rr_type = rr_exp.Error;
if (!rr_type.Contains("."))
{
return(rr_exp);
}
string[] rr_stype = RobotRaconteurNode.SplitQualifiedName(rr_type);
if (rr_stype[0] != "sensors.ati.mini45")
{
return(RobotRaconteurNode.s.DownCastException(rr_exp));
}
return(rr_exp);
}
public static com.robotraconteur.datetime.TimeSpec2 TimeSpec2Now(RobotRaconteurNode node = null, DeviceInfo info = null)
{
if (node == null)
{
node = RobotRaconteurNode.s;
}
var now = node.NowTimeSpec;
var ret = new com.robotraconteur.datetime.TimeSpec2();
ret.seconds = now.seconds;
ret.nanoseconds = now.nanoseconds;
var clock_info = new com.robotraconteur.datetime.ClockInfo();
clock_info.clock_type = (int)com.robotraconteur.datetime.ClockTypeCode.node_default;
var device_uuid_bytes = info?.device?.uuid.uuid_bytes;
clock_info.clock_uuid.uuid_bytes = device_uuid_bytes ?? new byte[16];
ret.clock_info = clock_info;
return(ret);
}
public override T UnpackStructure <T>(MessageElementStructure l)
{
if (l == null)
{
return(default(T));
}
if (RobotRaconteurNode.SplitQualifiedName(l.Type)[0].TrimEnd(new char[] { '_' }) == "sensors.ati.mini45")
{
string objshort = RemovePath(l.Type);
switch (objshort)
{
case "FTData":
return(FTData_stubentry.UnpackStructure <T>(l));
default:
break;
}
}
else
{
return(RobotRaconteurNode.s.UnpackStructure <T>(l));
}
throw new DataTypeException("Could not unpack structure");
}
public ostruct2_stub(com__robotraconteur__testing__TestService2Factory d, RobotRaconteurNode node, ClientContext context)
{
def = d; rr_node = node; rr_context = context;
}
public BrowserWebSocketTransport(RobotRaconteurNode node = null) : base(node)
{
DefaultReceiveTimeout = 15000;
DefaultConnectTimeout = 2500;
parent_adapter = new AsyncStreamTransportParentImpl(this);
}
public ClientNodeSetup(RobotRaconteurNode node, ServiceFactory[] service_types, string nodename = null, RobotRaconteurNodeSetupFlags flags = RobotRaconteurNodeSetupFlags.ClientDefault)
: base(node, service_types, false, nodename, 0, flags)
{
}
public ClientNodeSetup(RobotRaconteurNode node, string nodename = null, RobotRaconteurNodeSetupFlags flags = RobotRaconteurNodeSetupFlags.ClientDefault)
: base(node, null, true, nodename, 0, flags)
{
}
public ServerNodeSetup(RobotRaconteurNode node, ServiceFactory[] service_types, string nodename, ushort tcp_port, RobotRaconteurNodeSetupFlags flags = RobotRaconteurNodeSetupFlags.ServerDefault)
: base(node, service_types, false, nodename, tcp_port, flags)
{
}
public ServerNodeSetup(RobotRaconteurNode node, string nodename, ushort tcp_port, RobotRaconteurNodeSetupFlags flags = RobotRaconteurNodeSetupFlags.ServerDefault)
: base(node, null, true, nodename, tcp_port, flags)
{
}
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);
}
}
}
public RobotRaconteurServiceIndexFactory(RobotRaconteurNode node = null) : base(node)
{
NodeInfo_stubentry = new NodeInfo_stub(this);
ServiceInfo_stubentry = new ServiceInfo_stub(this);
}
public com__robotraconteur__testing__TestService2Factory(RobotRaconteurNode node = null, ClientContext context = null) : base(node, context)
{
ostruct2_stubentry = new ostruct2_stub(this, this.node, this.context);
}
