/// <summary>
/// Returns a raw stream which can be SSL encoded and the original
/// Network stream so both are accessible. Use the raw stream
/// for read/write and the Network Stream for checking data
/// availability
/// </summary>
/// <param name="secure"></param>
/// <returns></returns>
WebRequestContext OpenConnection(bool secure = false)
{
WebRequestContext requestContext = new WebRequestContext();
try
{
requestContext.Connection = TcpServer.AcceptTcpClient();
requestContext.Connection.ReceiveTimeout = 3000;
requestContext.Connection.SendTimeout = 3000;
requestContext.NetworkStream = requestContext.Connection.GetStream();
if (secure)
{
requestContext.Stream = new SslStream(requestContext.NetworkStream);
}
else
{
requestContext.Stream = requestContext.NetworkStream;
}
}
catch
{
return(null);
}
return(requestContext);
}
/// <summary>
/// 等待处理新的连接
/// </summary>
private void GetAcceptTcpClient()
{
try
{
semap.WaitOne();
TcpClient _tclient = TcpServer.AcceptTcpClient();
Socket _socket = _tclient.Client;
NetworkStream _stream = new NetworkStream(_socket, true); //承载这个Socket
TcpClientConnectSession _connectedSession = new TcpClientConnectSession(_tclient.Client.RemoteEndPoint as IPEndPoint, _tclient, _stream);
_connectedSession.NewClientFlag = true;
AddTcpClientConnecedSession(_connectedSession);
_connectedSession.SkStream.BeginRead(recBuffer, 0, recBuffer.Length, new AsyncCallback(EndReader), _connectedSession);
if (_stream.CanWrite)
{
}
semap.Release();
}
catch (Exception ex)
{
semap.Release();
RaiseDataReceivedEvent(TcpOperateEventCode.NewClientConnectError, null, ex, null, null);
}
}
private void Connect()
{
TcpListener server = null;
try
{
Int32 port = 13000;
IPAddress localAddr = IPAddress.Parse("127.0.0.1");
server = new TcpServer();
server.Start();
byte[] bytes = new byte[BUFFER];
// uses "*" as seperation, since the vectors are in the form of (x,y,z), in which "," is already used.
string lidarData = String.Join("*", lidarReadings);
while (true)
{
Debug.log("Waiting for a connection...");
TcpClient client = server.AcceptTcpClient();
NetworkStream stream = client.GetStream();
int i;
string req;
while ((i = stream.Read(bytes, 0, bytes.Length)) != 0)
{
req = System.Text.Encoding.ASCII.GetString(bytes, 0, i);
byte[] msg;
if (req.Equals("Lidar"))
{
msg = System.Text.Encoding.ASCII.GetBytes(lidarData);
stream.Write(msg, 0, msg.Length);
}
else if (req.Equals("GPS"))
{
msg = System.Text.ASCII.GetBytes(rover.transform.position.toString()); // ?? this may not be correct
}
}
}
// Close everything.
stream.Close();
client.Close();
}
catch (Exception e)
{
Debug.Log("Exception: {0}, retyring in 3 seconds.", e);
Thread.Sleep(3000);
Connect();
}
}
