// Use this for initialization
void Start()
{
trialNumber = 0;
totalTrials = 10;
messageText.text = "Trial No: " + trialNumber;
image = Google.Protobuf.ByteString.Empty;
SpawnCar();
thread = new Thread(new ThreadStart(ThreadMethod));
thread.Start();
StartCoroutine(GameLoop());
}
public void MergeFrom(pb.CodedInputStream input)
{
#if !GOOGLE_PROTOBUF_REFSTRUCT_COMPATIBILITY_MODE
input.ReadRawMessage(this);
#else
uint tag;
while ((tag = input.ReadTag()) != 0)
{
switch (tag)
{
default:
_unknownFields = pb.UnknownFieldSet.MergeFieldFrom(_unknownFields, input);
break;
case 10: {
ClientId = input.ReadString();
break;
}
case 18: {
MessageId = input.ReadString();
break;
}
case 24: {
Type = (MessageType)input.ReadEnum();
break;
}
case 34: {
if (time_ == null)
{
Time = new global.Google.Protobuf.WellKnownTypes.Timestamp();
}
input.ReadMessage(Time);
break;
}
case 40: {
Status = (MessageStatus)input.ReadEnum();
break;
}
case 50: {
Payload = input.ReadBytes();
break;
}
}
}
#endif
}
private void ReadHeadings()
{
foreach (var item in pose_readers)
{
RefID refID = item.Key;
BinaryReaderX reader = item.Value;
//send heading bytes to GRPC
byte[] byteArray = reader.ReadBytes((int)reader.BaseStream.Length);
Google.Protobuf.ByteString byteString = Google.Protobuf.ByteString.CopyFrom(byteArray, 0, byteArray.Length);
client.SendHeadingBytes(new Heading {
RefId = refID.ToString(), Data = byteString
});
}
}
void pb.IBufferMessage.InternalMergeFrom(ref pb.ParseContext input)
{
uint tag;
while ((tag = input.ReadTag()) != 0)
{
switch (tag)
{
default:
_unknownFields = pb.UnknownFieldSet.MergeFieldFrom(_unknownFields, ref input);
break;
case 10: {
ClientId = input.ReadString();
break;
}
case 18: {
MessageId = input.ReadString();
break;
}
case 24: {
Type = (MessageType)input.ReadEnum();
break;
}
case 34: {
if (time_ == null)
{
Time = new Google.Protobuf.WellKnownTypes.Timestamp();
}
input.ReadMessage(Time);
break;
}
case 40: {
Status = (MessageStatus)input.ReadEnum();
break;
}
case 50: {
Payload = input.ReadBytes();
break;
}
}
}
}
public void InteractPoseStreams(float deltaT)
{
if (channel.State != ChannelState.Ready)
{
return;
}
try
{
//UniLog.Log("InteractPoseStreams");
foreach (var item in pose_writers)
{
RefID refID = item.Key;
BinaryWriter writer = item.Value;
//read heading bytes from GRPC
//byte[] bs = null;
ByteString bs1 = client.GetFrameBytes(new RefIDMessage {
RefId = refID.ToString()
}).Data;
//writer.Write(bs1.ToByteArray());
//writer.BaseStream.Write(bs1.ToByteArray(),(int) writer.BaseStream.Position, bs1.Length);
UniLog.Log(writer.BaseStream.Position);
writer.Write(bs1.ToByteArray());
UniLog.Log(writer.BaseStream.Position);
UniLog.Log(bs1.Length);
writer.BaseStream.Position -= bs1.Length;
//writer.Write(frame_bs);
}
metagen_comp.streamPlayer.PlayStreams();
metagen_comp.metaRecorder.streamRecorder.RecordStreams(deltaT);
foreach (var item in pose_readers)
{
RefID refID = item.Key;
BinaryReaderX reader = item.Value;
//send heading bytes to GRPC
byte[] byteArray = reader.ReadBytes((int)reader.BaseStream.Length);
Google.Protobuf.ByteString byteString = Google.Protobuf.ByteString.CopyFrom(byteArray, 0, byteArray.Length);
client.SendFrameBytes(new Frame {
RefId = refID.ToString(), Data = byteString
});
}
}
catch (Exception e)
{
UniLog.Log("OwO: " + e.Message);
}
}
private IEnumerator TrialRunning()
{
while (!carManager.HasFailed())
{
if (processData)
{
lock (lockObject)
{
if (dataReceived == "FD")
{
carManager.MoveForward();
}
else if (dataReceived == "BK")
{
carManager.MoveBackward();
}
else if (dataReceived == "RT")
{
carManager.TurnRight();
}
else if (dataReceived == "LT")
{
carManager.TurnLeft();
}
else
{
carManager.Stop();
}
processData = false;
image = Google.Protobuf.ByteString.CopyFrom(carManager.GetImage(256, 256));
sensorData = carManager.PollSensors();
/*
* Debug.Log("data: ");
* for(int i=0; i<10; i++)
* {
* Debug.Log("Sensor " + i + " : " + sensorData[i]);
* }
*/
}
}
yield return(null);
}
}
private void Auth()
{
channel = new Channel(ip + ":" + port, ChannelCredentials.Insecure);
client = new Chat.ChatClient(channel);
var req = new RequestAuthorize();
req.Name = userName;
try {
var res = client.Authorize(req);
sid = res.SessionId;
}
catch (RpcException e) {
Debug.Log(ExceptionMsg(e));
return;
}
Task.Run(() => Connect());
}
public void MergeFrom(ResponseMessage other)
{
if (other == null)
{
return;
}
if (other.ClientId.Length != 0)
{
ClientId = other.ClientId;
}
if (other.MessageId.Length != 0)
{
MessageId = other.MessageId;
}
if (other.Type != MessageType.Undefined)
{
Type = other.Type;
}
if (other.time_ != null)
{
if (time_ == null)
{
Time = new Google.Protobuf.WellKnownTypes.Timestamp();
}
Time.MergeFrom(other.Time);
}
if (other.Status != MessageStatus.Undefined)
{
Status = other.Status;
}
if (other.Payload.Length != 0)
{
Payload = other.Payload;
}
_unknownFields = pb.UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
}
/// <summary>
/// Write a byte string, without a tag, to the stream.
/// The data is length-prefixed.
/// </summary>
/// <param name="value">The value to write</param>
public void WriteBytes(ByteString value)
{
WriteLength(value.Length);
value.WriteRawBytesTo(this);
}
public void AllSingleFields()
{
var message = new TestAllTypes
{
SingleBool = true,
SingleBytes = ByteString.CopyFrom(1, 2, 3, 4),
SingleDouble = 23.5,
SingleFixed32 = 23,
SingleFixed64 = 1234567890123,
SingleFloat = 12.25f,
SingleForeignEnum = ForeignEnum.ForeignBar,
SingleForeignMessage = new ForeignMessage {
C = 10
},
SingleImportEnum = ImportEnum.ImportBaz,
SingleImportMessage = new ImportMessage {
D = 20
},
SingleInt32 = 100,
SingleInt64 = 3210987654321,
SingleNestedEnum = TestAllTypes.Types.NestedEnum.Foo,
SingleNestedMessage = new TestAllTypes.Types.NestedMessage {
Bb = 35
},
SinglePublicImportMessage = new PublicImportMessage {
E = 54
},
SingleSfixed32 = -123,
SingleSfixed64 = -12345678901234,
SingleSint32 = -456,
SingleSint64 = -12345678901235,
SingleString = "test\twith\ttabs",
SingleUint32 = uint.MaxValue,
SingleUint64 = ulong.MaxValue,
};
var actualText = JsonFormatter.Default.Format(message);
// Fields in numeric order
var expectedText = "{ " +
"'singleInt32': 100, " +
"'singleInt64': '3210987654321', " +
"'singleUint32': 4294967295, " +
"'singleUint64': '18446744073709551615', " +
"'singleSint32': -456, " +
"'singleSint64': '-12345678901235', " +
"'singleFixed32': 23, " +
"'singleFixed64': '1234567890123', " +
"'singleSfixed32': -123, " +
"'singleSfixed64': '-12345678901234', " +
"'singleFloat': 12.25, " +
"'singleDouble': 23.5, " +
"'singleBool': true, " +
"'singleString': 'test\\twith\\ttabs', " +
"'singleBytes': 'AQIDBA==', " +
"'singleNestedMessage': { 'bb': 35 }, " +
"'singleForeignMessage': { 'c': 10 }, " +
"'singleImportMessage': { 'd': 20 }, " +
"'singleNestedEnum': 'FOO', " +
"'singleForeignEnum': 'FOREIGN_BAR', " +
"'singleImportEnum': 'IMPORT_BAZ', " +
"'singlePublicImportMessage': { 'e': 54 }" +
" }";
AssertJson(expectedText, actualText);
}
public void AllSingleFields()
{
var message = new TestAllTypes
{
SingleBool = true,
SingleBytes = ByteString.CopyFrom(1, 2, 3, 4),
SingleDouble = 23.5,
SingleFixed32 = 23,
SingleFixed64 = 1234567890123,
SingleFloat = 12.25f,
SingleForeignEnum = ForeignEnum.FOREIGN_BAR,
SingleForeignMessage = new ForeignMessage {
C = 10
},
SingleImportEnum = ImportEnum.IMPORT_BAZ,
SingleImportMessage = new ImportMessage {
D = 20
},
SingleInt32 = 100,
SingleInt64 = 3210987654321,
SingleNestedEnum = TestAllTypes.Types.NestedEnum.FOO,
SingleNestedMessage = new TestAllTypes.Types.NestedMessage {
Bb = 35
},
SinglePublicImportMessage = new PublicImportMessage {
E = 54
},
SingleSfixed32 = -123,
SingleSfixed64 = -12345678901234,
SingleSint32 = -456,
SingleSint64 = -12345678901235,
SingleString = "test\twith\ttabs",
SingleUint32 = uint.MaxValue,
SingleUint64 = ulong.MaxValue,
};
var actualText = JsonFormatter.Default.Format(message);
// Fields in declaration order, which matches numeric order.
var expectedText = "{ " +
"\"singleInt32\": 100, " +
"\"singleInt64\": \"3210987654321\", " +
"\"singleUint32\": 4294967295, " +
"\"singleUint64\": \"18446744073709551615\", " +
"\"singleSint32\": -456, " +
"\"singleSint64\": \"-12345678901235\", " +
"\"singleFixed32\": 23, " +
"\"singleFixed64\": \"1234567890123\", " +
"\"singleSfixed32\": -123, " +
"\"singleSfixed64\": \"-12345678901234\", " +
"\"singleFloat\": 12.25, " +
"\"singleDouble\": 23.5, " +
"\"singleBool\": true, " +
"\"singleString\": \"test\\twith\\ttabs\", " +
"\"singleBytes\": \"AQIDBA==\", " +
"\"singleNestedMessage\": { \"bb\": 35 }, " +
"\"singleForeignMessage\": { \"c\": 10 }, " +
"\"singleImportMessage\": { \"d\": 20 }, " +
"\"singleNestedEnum\": \"FOO\", " +
"\"singleForeignEnum\": \"FOREIGN_BAR\", " +
"\"singleImportEnum\": \"IMPORT_BAZ\", " +
"\"singlePublicImportMessage\": { \"e\": 54 }" +
" }";
Assert.AreEqual(expectedText, actualText);
}
/// <summary>
/// Adds a length-delimited value.
/// </summary>
internal UnknownField AddLengthDelimited(ByteString value)
{
lengthDelimitedList = Add(lengthDelimitedList, value);
return(this);
}
/// <summary>
/// Write a byte string, without a tag, to the stream.
/// The data is length-prefixed.
/// </summary>
public static void WriteBytes(ref Span <byte> buffer, ref WriterInternalState state, ByteString value)
{
WriteLength(ref buffer, ref state, value.Length);
WriteRawBytes(ref buffer, ref state, value.Span);
}
public void ToBase64_Array()
{
ByteString bs = ByteString.CopyFrom(Encoding.UTF8.GetBytes("Hello world"));
Assert.AreEqual("SGVsbG8gd29ybGQ=", bs.ToBase64());
}
/// <summary>
/// Computes the number of bytes that would be needed to encode a
/// bytes field, including the tag.
/// </summary>
public static int ComputeBytesSize(ByteString value)
{
return(ComputeLengthSize(value.Length) + value.Length);
}
public void ToStringUtf8()
{
ByteString bs = ByteString.CopyFromUtf8("\u20ac");
Assert.AreEqual("\u20ac", bs.ToStringUtf8());
}
public void IsEmptyWhenNotEmpty()
{
Assert.IsFalse(ByteString.CopyFromUtf8("X").IsEmpty);
}
public void IsEmptyWhenEmpty()
{
Assert.IsTrue(ByteString.CopyFromUtf8("").IsEmpty);
}
/// <summary>
/// Creates a new sample TestAllTypes message with all fields populated.
/// The "oneof" field is populated with the string property (OneofString).
/// </summary>
public static TestAllTypes CreateFullTestAllTypes()
{
return(new TestAllTypes
{
SingleBool = true,
SingleBytes = ByteString.CopyFrom(1, 2, 3, 4),
SingleDouble = 23.5,
SingleFixed32 = 23,
SingleFixed64 = 1234567890123,
SingleFloat = 12.25f,
SingleForeignEnum = ForeignEnum.ForeignBar,
SingleForeignMessage = new ForeignMessage {
C = 10
},
SingleImportEnum = ImportEnum.ImportBaz,
SingleImportMessage = new ImportMessage {
D = 20
},
SingleInt32 = 100,
SingleInt64 = 3210987654321,
SingleNestedEnum = TestAllTypes.Types.NestedEnum.Foo,
SingleNestedMessage = new TestAllTypes.Types.NestedMessage {
Bb = 35
},
SinglePublicImportMessage = new PublicImportMessage {
E = 54
},
SingleSfixed32 = -123,
SingleSfixed64 = -12345678901234,
SingleSint32 = -456,
SingleSint64 = -12345678901235,
SingleString = "test",
SingleUint32 = UInt32.MaxValue,
SingleUint64 = UInt64.MaxValue,
RepeatedBool = { true, false },
RepeatedBytes = { ByteString.CopyFrom(1, 2, 3, 4), ByteString.CopyFrom(5, 6), ByteString.CopyFrom(new byte[1000]) },
RepeatedDouble = { -12.25, 23.5 },
RepeatedFixed32 = { UInt32.MaxValue, 23 },
RepeatedFixed64 = { UInt64.MaxValue, 1234567890123 },
RepeatedFloat = { 100f, 12.25f },
RepeatedForeignEnum = { ForeignEnum.ForeignFoo, ForeignEnum.ForeignBar },
RepeatedForeignMessage = { new ForeignMessage(), new ForeignMessage {
C = 10
} },
RepeatedImportEnum = { ImportEnum.ImportBaz, ImportEnum.Unspecified },
RepeatedImportMessage = { new ImportMessage {
D = 20
}, new ImportMessage{
D = 25
} },
RepeatedInt32 = { 100, 200 },
RepeatedInt64 = { 3210987654321, Int64.MaxValue },
RepeatedNestedEnum = { TestAllTypes.Types.NestedEnum.Foo, TestAllTypes.Types.NestedEnum.Neg },
RepeatedNestedMessage = { new TestAllTypes.Types.NestedMessage {
Bb = 35
}, new TestAllTypes.Types.NestedMessage{
Bb = 10
} },
RepeatedPublicImportMessage = { new PublicImportMessage {
E = 54
}, new PublicImportMessage{
E = -1
} },
RepeatedSfixed32 = { -123, 123 },
RepeatedSfixed64 = { -12345678901234, 12345678901234 },
RepeatedSint32 = { -456, 100 },
RepeatedSint64 = { -12345678901235, 123 },
RepeatedString = { "foo", "bar" },
RepeatedUint32 = { UInt32.MaxValue, UInt32.MinValue },
RepeatedUint64 = { UInt64.MaxValue, UInt32.MinValue },
OneofString = "Oneof string"
});
}
/// <summary>
/// Converts the given message into a byte string in protobuf encoding.
/// </summary>
/// <param name="message">The message to convert.</param>
/// <returns>The message data as a byte string.</returns>
public static ByteString ToByteString(this IMessage message)
{
ProtoPreconditions.CheckNotNull(message, nameof(message));
return(ByteString.AttachBytes(message.ToByteArray()));
}
public void ToStringWithExplicitEncoding()
{
ByteString bs = ByteString.CopyFrom("\u20ac", Encoding.Unicode);
Assert.AreEqual("\u20ac", bs.ToString(Encoding.Unicode));
}
/// <summary> /// Merges data from the given byte string into an existing message. /// </summary> /// <param name="message">The message to merge the data into.</param> /// <param name="data">The data to merge, which must be protobuf-encoded binary data.</param> public static void MergeFrom(this IMessage message, ByteString data) => MergeFrom(message, data, false, null);
public void FromBase64_Empty()
{
// Optimization which also fixes issue 61.
Assert.AreSame(ByteString.Empty, ByteString.FromBase64(""));
}
public void TestCodedInputOutputPosition()
{
byte[] content = new byte[110];
for (int i = 0; i < content.Length; i++)
{
content[i] = (byte)i;
}
byte[] child = new byte[120];
{
MemoryStream ms = new MemoryStream(child);
CodedOutputStream cout = new CodedOutputStream(ms, 20);
// Field 11: numeric value: 500
cout.WriteTag(11, WireFormat.WireType.Varint);
Assert.AreEqual(1, cout.Position);
cout.WriteInt32(500);
Assert.AreEqual(3, cout.Position);
//Field 12: length delimited 120 bytes
cout.WriteTag(12, WireFormat.WireType.LengthDelimited);
Assert.AreEqual(4, cout.Position);
cout.WriteBytes(ByteString.CopyFrom(content));
Assert.AreEqual(115, cout.Position);
// Field 13: fixed numeric value: 501
cout.WriteTag(13, WireFormat.WireType.Fixed32);
Assert.AreEqual(116, cout.Position);
cout.WriteSFixed32(501);
Assert.AreEqual(120, cout.Position);
cout.Flush();
}
byte[] bytes = new byte[130];
{
CodedOutputStream cout = new CodedOutputStream(bytes);
// Field 1: numeric value: 500
cout.WriteTag(1, WireFormat.WireType.Varint);
Assert.AreEqual(1, cout.Position);
cout.WriteInt32(500);
Assert.AreEqual(3, cout.Position);
//Field 2: length delimited 120 bytes
cout.WriteTag(2, WireFormat.WireType.LengthDelimited);
Assert.AreEqual(4, cout.Position);
cout.WriteBytes(ByteString.CopyFrom(child));
Assert.AreEqual(125, cout.Position);
// Field 3: fixed numeric value: 500
cout.WriteTag(3, WireFormat.WireType.Fixed32);
Assert.AreEqual(126, cout.Position);
cout.WriteSFixed32(501);
Assert.AreEqual(130, cout.Position);
cout.Flush();
}
// Now test Input stream:
{
CodedInputStream cin = new CodedInputStream(new MemoryStream(bytes), new byte[50], 0, 0, false);
Assert.AreEqual(0, cin.Position);
// Field 1:
uint tag = cin.ReadTag();
Assert.AreEqual(1, tag >> 3);
Assert.AreEqual(1, cin.Position);
Assert.AreEqual(500, cin.ReadInt32());
Assert.AreEqual(3, cin.Position);
//Field 2:
tag = cin.ReadTag();
Assert.AreEqual(2, tag >> 3);
Assert.AreEqual(4, cin.Position);
int childlen = cin.ReadLength();
Assert.AreEqual(120, childlen);
Assert.AreEqual(5, cin.Position);
int oldlimit = cin.PushLimit((int)childlen);
Assert.AreEqual(5, cin.Position);
// Now we are reading child message
{
// Field 11: numeric value: 500
tag = cin.ReadTag();
Assert.AreEqual(11, tag >> 3);
Assert.AreEqual(6, cin.Position);
Assert.AreEqual(500, cin.ReadInt32());
Assert.AreEqual(8, cin.Position);
//Field 12: length delimited 120 bytes
tag = cin.ReadTag();
Assert.AreEqual(12, tag >> 3);
Assert.AreEqual(9, cin.Position);
ByteString bstr = cin.ReadBytes();
Assert.AreEqual(110, bstr.Length);
Assert.AreEqual((byte)109, bstr[109]);
Assert.AreEqual(120, cin.Position);
// Field 13: fixed numeric value: 501
tag = cin.ReadTag();
Assert.AreEqual(13, tag >> 3);
// ROK - Previously broken here, this returned 126 failing to account for bufferSizeAfterLimit
Assert.AreEqual(121, cin.Position);
Assert.AreEqual(501, cin.ReadSFixed32());
Assert.AreEqual(125, cin.Position);
Assert.IsTrue(cin.IsAtEnd);
}
cin.PopLimit(oldlimit);
Assert.AreEqual(125, cin.Position);
// Field 3: fixed numeric value: 501
tag = cin.ReadTag();
Assert.AreEqual(3, tag >> 3);
Assert.AreEqual(126, cin.Position);
Assert.AreEqual(501, cin.ReadSFixed32());
Assert.AreEqual(130, cin.Position);
Assert.IsTrue(cin.IsAtEnd);
}
}
