/// <summary>
/// Receive robot output data from HEL
/// </summary>
private async void ReceiveData()
{
var conn = new Grpc.Core.Channel(EmulatorManager.DEFAULT_HOST + ":" + ((EmulatorManager.programType == UserProgram.Type.JAVA) ? DEFAULT_JAVA_PORT : DEFAULT_NATIVE_PORT), Grpc.Core.ChannelCredentials.Insecure);
var client = new EmulationReader.EmulationReaderClient(conn);
while (EmulatorManager.IsTryingToRunRobotCode() && Instance && isConnectionOpen) // Run while robot code is running or until the object stops existing
{
try
{
using (var call = client.RobotOutputs(new RobotOutputsRequest {
Api = API_VERSION,
TargetPlatform = EmulatorManager.programType == UserProgram.Type.JAVA ? TargetPlatform.Java : TargetPlatform.Native,
}))
{
while (await call.ResponseStream.MoveNext())
{
receiverConnected = true;
EmulatedRoboRIO.RobotOutputs = call.ResponseStream.Current.OutputData;
// Debug.Log("Received " + EmulatedRoboRIO.RobotOutputs);
}
}
}
catch (Exception)
{
receiverConnected = false;
await Task.Delay(ERROR_DELAY); // ms
}
}
receiverConnected = false;
isConnectionOpen = false;
}
/// <summary>
/// Send robot input data to HEL
/// </summary>
private async void SendData()
{
var conn = new Grpc.Core.Channel(EmulatorManager.DEFAULT_HOST + ":" + ((EmulatorManager.programType == UserProgram.Type.JAVA) ? DEFAULT_JAVA_PORT : DEFAULT_NATIVE_PORT), Grpc.Core.ChannelCredentials.Insecure);
var client = new EmulationWriter.EmulationWriterClient(conn);
while (EmulatorManager.IsTryingToRunRobotCode() && Instance && isConnectionOpen) // Run while robot code is running or until the object stops existing
{
try
{
using (var call = client.RobotInputs())
{
while (EmulatorManager.IsTryingToRunRobotCode() && Instance && isConnectionOpen)
{
await call.RequestStream.WriteAsync(new UpdateRobotInputsRequest
{
Api = API_VERSION,
TargetPlatform = EmulatorManager.programType == UserProgram.Type.JAVA ? TargetPlatform.Java : TargetPlatform.Native,
InputData = EmulatedRoboRIO.RobotInputs,
});
senderConnected = true;
// Debug.Log("Sending " + EmulatedRoboRIO.RobotInputs);
await Task.Delay(LOOP_DELAY); // ms
}
}
}
catch (Exception)
{
senderConnected = false;
await Task.Delay(ERROR_DELAY); // ms
}
}
using (var call = client.RobotInputs())
{
await call.RequestStream.CompleteAsync();
}
senderConnected = false;
isConnectionOpen = false;
}
public void OnApplicationQuit()
{
EmulatorManager.KillEmulator();
}
/// <summary>
/// Check to see if the given requirement is met, dispatch a warning if not
/// </summary>
/// <param name="requirement">The requirement to check</param>
/// <returns>True if the requirement the requirements it depends on are met</returns>
public static bool CheckRequirement(Requirement requirement)
{
switch (requirement)
{
case Requirement.UseEmulation:
if (!EmulatorManager.UseEmulation)
{
UserMessageManager.Dispatch("Not configured to use emulation", WARNING_DURATION);
return(false);
}
return(true);
case Requirement.VMInstalled:
if (!EmulatorManager.IsVMInstalled())
{
UserMessageManager.Dispatch("Emulator not installed", WARNING_DURATION);
return(false);
}
return(true);
case Requirement.VMRunning:
if (!EmulatorManager.IsVMRunning())
{
if (CheckRequirement(Requirement.VMInstalled))
{
UserMessageManager.Dispatch("Emulator not running", WARNING_DURATION);
}
return(false);
}
return(true);
case Requirement.VMConnected:
if (!EmulatorManager.IsVMConnected())
{
if (CheckRequirement(Requirement.VMRunning))
{
UserMessageManager.Dispatch("Waiting for emulator to boot", WARNING_DURATION);
}
return(false);
}
return(true);
case Requirement.UserProgramPresent:
if (!EmulatorManager.IsFRCUserProgramPresent())
{
if (CheckRequirement(Requirement.VMConnected))
{
UserMessageManager.Dispatch("User program not found", WARNING_DURATION);
}
return(false);
}
return(true);
case Requirement.UserProgramNotRestarting:
if (EmulatorManager.IsRobotCodeRestarting())
{
UserMessageManager.Dispatch("Waiting for user program to start", WARNING_DURATION);
return(false);
}
return(true);
case Requirement.UserProgramRunnerRunning:
if (!EmulatorManager.IsRunningRobotCodeRunner())
{
if (CheckRequirement(Requirement.UserProgramPresent))
{
if (EmulatorManager.IsTryingToRunRobotCode())
{
UserMessageManager.Dispatch("Waiting for user program to start", WARNING_DURATION);
}
else
{
UserMessageManager.Dispatch("User program not running", WARNING_DURATION);
}
}
return(false);
}
return(true);
case Requirement.UserProgramConnected:
if (!EmulatorNetworkConnection.Instance.IsConnected())
{
if (CheckRequirement(Requirement.UserProgramRunnerRunning))
{
UserMessageManager.Dispatch("Connecting to user program (may take a few seconds)", WARNING_DURATION);
}
return(false);
}
return(true);
default:
throw new NotSupportedException("Unknown emulation requirement");
}
}
