Lightweight Communications and Marshalling C#.NET implementation
        /// <summary>
        /// Internal method, called by LCM when a message is received.
        /// </summary>
        public void MessageReceived(LCM lcm, string channel, LCMDataInputStream dins)
        {
            lock (this)
            {
                try
                {
                    byte[] data = new byte[dins.Available];
                    dins.ReadFully(data);

                    messages.Enqueue(new Message(channel, data));
                    queueDataSize += data.Length;

                    while (queueDataSize > maxQueueDataSize || messages.Count > maxQueueLength)
                    {
                        Message toRemove = messages.Dequeue();
                        queueDataSize -= toRemove.Data.Length;
                    }

                    System.Threading.Monitor.Pulse(this);
                }
                catch (System.IO.IOException)
                {
                }
            }
        }
		/// <summary>
		/// Internal method, called by LCM when a message is received.
		/// </summary>
		public void MessageReceived(LCM lcm, string channel, LCMDataInputStream dins)
		{
			lock (this)
			{
				try
				{
					byte[] data = new byte[dins.Available];
					dins.ReadFully(data);
					
					messages.Enqueue(new Message(channel, data));
					queueDataSize += data.Length;
					
					while (queueDataSize > maxQueueDataSize || messages.Count > maxQueueLength)
					{
						Message toRemove = messages.Dequeue();
						queueDataSize -= toRemove.Data.Length;
					}
					
					System.Threading.Monitor.Pulse(this);
				}
				catch (System.IO.IOException)
				{
				}
			}
		}
        /* Methods */
        /// <summary>
        /// UDP multicast provider constructor
        /// </summary>
        /// <param name="lcm">LCM object</param>
        /// <param name="up">URL parser object</param>
        public UDPMulticastProvider(LCM lcm, URLParser up)
        {
            this.lcm = lcm;

            string[] addrport = up.Get("network", DEFAULT_NETWORK).Split(':');

            inetAddr = Dns.GetHostAddresses(addrport[0])[0];
            inetPort = Int32.Parse(addrport[1]);
            inetEP   = new IPEndPoint(inetAddr, inetPort);
            Debug.Log(inetEP);

            sock = new UdpClient();
            sock.MulticastLoopback   = true;
            sock.ExclusiveAddressUse = false;
            sock.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, 1);
            sock.Client.Bind(new IPEndPoint(IPAddress.Any, inetPort));

            int ttl = up.Get("ttl", DEFAULT_TTL);

            if (ttl == 0)
            {
                Console.Error.WriteLine("LCM: TTL set to zero, traffic will not leave localhost.");
            }
            else if (ttl > 1)
            {
                Console.Error.WriteLine("LCM: TTL set to > 1... That's almost never correct!");
            }
            else
            {
                Console.Error.WriteLine("LCM: TTL set to 1.");
            }
            sock.Ttl = (short)ttl;

            sock.JoinMulticastGroup(inetAddr);
        }
Esempio n. 4
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 public GoalFlagsConnection(LCM.LCM.LCM lcm, CubeRouteField field)
 {
     this.lcm   = lcm;
     this.field = field;
     this.lcm.Subscribe("MaestroDriver/Flags", this);
     this.Running = false;
 }
        /* Methods */
        /// <summary>
        /// UDP multicast provider constructor
        /// </summary>
        /// <param name="lcm">LCM object</param>
        /// <param name="up">URL parser object</param>
		public UDPMulticastProvider(LCM lcm, URLParser up)
		{
			this.lcm = lcm;
			
			string[] addrport = up.Get("network", DEFAULT_NETWORK).Split(':');
			
			inetAddr = Dns.GetHostAddresses(addrport[0])[0];
			inetPort = Int32.Parse(addrport[1]);
            inetEP = new IPEndPoint(inetAddr, inetPort);

            sock = new UdpClient();
            sock.MulticastLoopback = true;
            sock.ExclusiveAddressUse = false;
            sock.Client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, 1);
            sock.Client.Bind(new IPEndPoint(IPAddress.Any, inetPort));
			
			int ttl = up.Get("ttl", DEFAULT_TTL);
            if (ttl == 0)
            {
                Console.Error.WriteLine("LCM: TTL set to zero, traffic will not leave localhost.");
            }
            else if (ttl > 1)
            {
                Console.Error.WriteLine("LCM: TTL set to > 1... That's almost never correct!");
            }
            else
            {
                Console.Error.WriteLine("LCM: TTL set to 1.");
            }
            sock.Ttl = (short) ttl;
			
			sock.JoinMulticastGroup(inetAddr);
		}
Esempio n. 6
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 public GoalFlagsConnection(LCM.LCM.LCM lcm, CubeRouteField field)
 {
     this.lcm = lcm;
     this.field = field;
     this.lcm.Subscribe("MaestroDriver/Flags", this);
     this.Running = false;
 }
Esempio n. 7
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        /* Methods */
        /// <summary>
        /// TCP provider constructor
        /// </summary>
        /// <param name="lcm">LCM object</param>
        /// <param name="up">URL parser object</param>
        public TCPProvider(LCM lcm, URLParser up)
        {
            this.lcm = lcm;

            string[] addrport = up.Get("network", DEFAULT_NETWORK).Split(':');
            if (addrport.Length == 1)
            {
                inetAddr = System.Net.Dns.GetHostAddresses(addrport[0])[0];
                inetPort = 7700;
            }
            else if (addrport.Length == 2)
            {
                inetAddr = System.Net.Dns.GetHostAddresses(addrport[0])[0];
                inetPort = Int32.Parse(addrport[1]);
            }
            else
            {
                Console.Error.WriteLine("TCPProvider: Don't know how to parse " + up.Get("network", DEFAULT_NETWORK));
                Environment.Exit(-1);
            }

            reader = new ReaderThread(this);

            reader.Connected    += OnConnect;
            reader.Disconnected += OnDisconnect;

            reader.Start();
        }
Esempio n. 8
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 public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCMDataInputStream data_stream)
 {
     if (channel == Channels.discovery_res_channel)
     {
         discovery_response_t response = new discovery_response_t(data_stream);
         Notification.Instance.GetEvent <DiscoveryResponseReceivedEvent>().Publish(response);
     }
 }
Esempio n. 9
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        public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCM.LCM.LCMDataInputStream dins)
        {
            UnityEngine.Debug.LogError(channel);

            if (channel == "MINIROV_ATTITUDE")
            {
                mwt.mini_rov_attitude_t msg = new mwt.mini_rov_attitude_t(dins);
                instance.roll_deg  = msg.roll_deg;
                instance.pitch_deg = msg.pitch_deg;
                instance.yaw_deg   = msg.yaw_deg;
            }
            else if (channel == "MINIROV_TURNS")
            {
                mwt.turns_t msg = new mwt.turns_t(dins);
                instance.turns = msg.turns;
            }
            else if (channel == "MINIROV_DEPTH")
            {
                mwt.mini_rov_depth_t msg = new mwt.mini_rov_depth_t(dins);
                instance.depth    = msg.depth;
                instance.pressure = msg.pressure;
            }
            else if (channel == "MWT_STEREO_IMAGE")
            {
                mwt.stereo_image_t msg = new mwt.stereo_image_t(dins);
            }
            else if (channel == "MINIROV_ROWE_DVL")
            {
                mwt.mini_rov_rowe_dvl_t msg = new mwt.mini_rov_rowe_dvl_t(dins);
            }
            else if (channel == "SHIP_POSITION")
            {
                mwt.position_t msg = new mwt.position_t(dins);
                instance.ship_lat = msg.latitude_deg;
                instance.ship_lon = msg.longitude_deg;
            }
            else if (channel == "MINIROV_POSITION")
            {
                mwt.position_t msg = new mwt.position_t(dins);
                instance.rov_lat = msg.latitude_deg;
                instance.rov_lon = msg.longitude_deg;
            }
            else if (channel == "CLUMP_POSITION")
            {
                mwt.position_t msg = new mwt.position_t(dins);
                instance.clump_lat = msg.latitude_deg;
                instance.clump_lon = msg.longitude_deg;
            }
            else if (channel == "CLUMP_STATUS")
            {
                mwt.clump_status_t msg = new mwt.clump_status_t(dins);
                instance.clump_delta = msg.delta_m;
            }
            else
            {
                // Debug.Log("Unknown Channel: " + channel);
            }
        }
 public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCMDataInputStream data_stream)
 {
     if (channel == Channels.stream_res_channel)
     {
         stream_uri_response_t response = new stream_uri_response_t(data_stream);
         var _ea = Notification.Instance;
         _ea.GetEvent <StreamUriResponseReceivedEvent>().Publish(response);
     }
 }
 public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCMDataInputStream data_stream)
 {
     if (channel == Channels.end_program_mes_channel)
     {
         end_program_message_t response = new end_program_message_t(data_stream);
         var _ea = Notification.Instance;
         _ea.GetEvent <ProgramEndMessageReceivedEvent>().Publish(response);
     }
 }
 public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCMDataInputStream data_stream)
 {
     if (channel == Channels.output_req_channel)
     {
         output_request_t response = new output_request_t(data_stream);
         var _ea = Notification.Instance;
         _ea.GetEvent <UpdateOutputCameraReceivedEvent>().Publish(response);
     }
 }
 public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCMDataInputStream data_stream)
 {
     if (channel == Channels.init_session_res_channel)
     {
         init_session_response_t response = new init_session_response_t(data_stream);
         var _ea = Notification.Instance;
         _ea.GetEvent <InitSessionResponseReceivedEvent>().Publish(response);
     }
 }
Esempio n. 14
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        public static void Main(string[] args)
        {
            LCM.LCM.LCM myLCM = null;

            try
            {
                Console.WriteLine("Starting Maestro driver...");
                myLCM = new LCM.LCM.LCM("udpm://239.255.76.67:7667?ttl=1");
                Console.WriteLine("LCM Connected!");
            }
            catch (Exception ex)
            {
                Console.Error.WriteLine("Ex: " + ex);
                Environment.Exit(1);
            }
            List <DeviceListItem> connectedDevices = Usc.getConnectedDevices();

            Console.WriteLine("Number of MicroMaestros detected=" + connectedDevices.Count);


            GoalFlags[] goals = new GoalFlags[4];
            Dictionary <string, int> goalIDs = new Dictionary <string, int>();

            goalIDs.Add("00032615", 3); //D
            goalIDs.Add("00031531", 2); //C
            goalIDs.Add("00032614", 1); //B
            goalIDs.Add("00032598", 0); //A

            foreach (DeviceListItem dli in connectedDevices)
            {
                Console.WriteLine(
                    "Detected Maestro: {serialNumber=" + dli.serialNumber +
                    ", text=" + dli.text + "}");
                goals[goalIDs[dli.serialNumber]] = new GoalFlags(new Usc(dli));
            }

            CubeRouteField field = new CubeRouteField(goals);

            foreach (GoalFlags flags in goals)
            {
                for (int i = 0; i < 5; i++)
                {
                    flags.setFlagPosition(i, 0);
                }
            }



//            GoalLightsConnection conn = new GoalLightsConnection(null, "127.0.0.1", 9001, 9000);
            GoalFlagsConnection conn = new GoalFlagsConnection(myLCM, field);

            Console.WriteLine("Running...");
            conn.Run();
        }
Esempio n. 15
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	public IEnumerator Listener()
	{
		Debug.Log ("Listener started.");
		myLCM = new LCM.LCM.LCM();
		
		myLCM.SubscribeAll(new SimpleSubscriber());
		running = true;
		while (running){
			yield return null;
		}
		Debug.Log ("listener coroutine returning!");
	}
Esempio n. 16
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 public CameraExplorer(List <CameraInfo> camList, Dictionary <string, CameraInfo> ip2CameraInfo, Dictionary <string, string> IP2CameraName, ObservableCollection <CameraNameWrapper> cameraNameList)
 {
     this.camList        = camList;
     ip2CameraName       = IP2CameraName;
     this.cameraNameList = cameraNameList;
     IP2CameraInfo       = ip2CameraInfo;
     _lcm = LCM.LCM.LCM.Singleton;
     subscribeForResponses();
     _ea = Notification.Instance;
     _ea.GetEvent <CameraDiscoverEvent>().Subscribe(discover);
     _ea.GetEvent <DiscoveryResponseReceivedEvent>().Subscribe(OnGetDiscoveryResponse);
 }
Esempio n. 17
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    public IEnumerator Listener()
    {
        Debug.Log("Listener started.");
        myLCM = new LCM.LCM.LCM();

        myLCM.SubscribeAll(new SimpleSubscriber());
        running = true;
        while (running)
        {
            yield return(null);
        }
        Debug.Log("listener coroutine returning!");
    }
Esempio n. 18
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 public void MessageReceived(LCM.LCM lcm, string channel, LCMDataInputStream ins)
 {
     if (channel == "HALLWAY_TEMPERATURE")
     {
         try
         {
             temperature_t temp = new temperature_t(ins);
             Console.WriteLine("The temperature is: " + temp.deg_celsius);
         }
         catch (System.IO.IOException ex)
         {
             Console.Error.WriteLine("Error decoding temperature message: " + ex);
         }
     }
 }
Esempio n. 19
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        public static void Main(string[] args)
        {
            LCM.LCM.LCM myLCM = null;

            try
            {
                Console.WriteLine ("Starting Maestro driver...");
                myLCM = new LCM.LCM.LCM("udpm://239.255.76.67:7667?ttl=1");
                Console.WriteLine ("LCM Connected!");
            }
            catch (Exception ex)
            {
                Console.Error.WriteLine("Ex: " + ex);
                Environment.Exit(1);
            }
            List<DeviceListItem> connectedDevices = Usc.getConnectedDevices();
            Console.WriteLine ("Number of MicroMaestros detected=" + connectedDevices.Count);

            GoalFlags[] goals = new GoalFlags[4];
            Dictionary<string, int> goalIDs = new Dictionary<string, int>();
            goalIDs.Add("00032615", 3);//D
            goalIDs.Add("00031531", 2);//C
            goalIDs.Add("00032614", 1);//B
            goalIDs.Add("00032598", 0);//A

            foreach (DeviceListItem dli in connectedDevices)
            {
                Console.WriteLine (
                    "Detected Maestro: {serialNumber=" + dli.serialNumber +
                    ", text=" + dli.text + "}");
                goals[goalIDs[dli.serialNumber]] = new GoalFlags(new Usc(dli));
            }

            CubeRouteField field = new CubeRouteField(goals);

            foreach (GoalFlags flags in goals)
            {
                for(int i = 0; i< 5; i++)
                {
                    flags.setFlagPosition(i, 0);
                }
            }

            //            GoalLightsConnection conn = new GoalLightsConnection(null, "127.0.0.1", 9001, 9000);
            GoalFlagsConnection conn = new GoalFlagsConnection(myLCM, field);
            Console.WriteLine ("Running...");
            conn.Run ();
        }
Esempio n. 20
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    void setURL(string newURL)
    {
        print("Attempting to use LCM URL: " + newURL);
        try
        {
            // Create new LCM object
            myLCM = new LCM.LCM.LCM(newURL);
        }
        catch (Exception)
        {
            UnityEngine.Debug.LogWarning("Invalid or Unset LCM URL - reverting to default");
            myLCM = new LCM.LCM.LCM("udpm://239.255.76.67:7667");
        }

        mySubscriber = new SimpleSubscriber();
        myLCM.SubscribeAll(mySubscriber);
    }
Esempio n. 21
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        public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCM.LCM.LCMDataInputStream dins)
        {
            Debug.Log("RECV: " + channel);
            if (channel == "EXAMPLE")
            {
                //				forseti2.health msg = new forseti2.health(dins);
                //				String output = "CLCM received message of the type forseti2_health:\n";
                //				output+="msg.header.seq=\t" + msg.header.seq + "\n";
                //				output+="msg.header.time=\t" + msg.header.time + "\n";
                //				output+="msg.uptime=\t"+msg.uptime+"\n";
                //				Debug.Log (output);
                //
                //				forseti2.health response = new forseti2.health();
                //				response.header = new forseti2.header();
                //				response.header.seq = seq++;
                //				TimeSpan span = DateTime.Now - new DateTime(1970, 1, 1);
                //				response.header.time = span.Ticks*100;
                //				response.uptime = Time.realtimeSinceStartup;
                //				lcm.Publish("unity/health", response);


                exlcm.example_t msg     = new exlcm.example_t(dins);
                String          message = "CLCM Received message of the type example_t:\n ";
                message += String.Format("  timestamp   = {0:D}", msg.timestamp);
                message += String.Format("  position    = ({0:N}, {1:N}, {2:N})\n ",
                                         msg.position[0], msg.position[1], msg.position[2]);
                message += String.Format("  orientation = ({0:N}, {1:N}, {2:N}, {3:N})\n",
                                         msg.orientation[0], msg.orientation[1], msg.orientation[2],
                                         msg.orientation[3]);
                message += ("  ranges      = [ ");
                for (int i = 0; i < msg.num_ranges; i++)
                {
                    Console.Write(" {0:D}", msg.ranges[i]);
                    if (i < msg.num_ranges - 1)
                    {
                        Console.Write(", ");
                    }
                }
                message += (" ]\n");
                message += ("  name         = '" + msg.name + "'\n");
                message += ("  enabled      = '" + msg.enabled + "'\n");
                Debug.Log(message);
            }
        }
Esempio n. 22
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        public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCM.LCM.LCMDataInputStream dins)
        {
            Console.WriteLine("RECV: " + channel);

            if (channel == "MaestroDriver/Flags")
            {
                Flags msg = new Flags(dins);
                Console.WriteLine("length1=" + msg.goals.Length);
                Console.WriteLine("length2=" + msg.goals.LongLength);
                for (int goal = 0; goal < 4; goal++)
                {
                    for (int box = 0; box < 5; box++)
                    {
                        Console.WriteLine("element goal=" + goal + ",\t box=" + box + ", value=" + msg.goals[goal, box]);
                        this.field.Goals[goal].setFlagPosition(box, msg.goals[goal, box]);
                    }
                }
            }
        }
Esempio n. 23
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        public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCM.LCM.LCMDataInputStream dins)
        {
            Console.WriteLine("RECV: " + channel);

            if (channel == "MaestroDriver/Flags")
            {
                Flags msg = new Flags(dins);
                Console.WriteLine("length1=" + msg.goals.Length);
                Console.WriteLine("length2=" + msg.goals.LongLength);
                for(int goal = 0; goal< 4; goal++)
                {
                    for(int box = 0; box < 5; box++)
                    {
                        Console.WriteLine ("element goal=" + goal + ",\t box=" + box + ", value=" + msg.goals[goal,box]);
                        this.field.Goals[goal].setFlagPosition(box, msg.goals[goal, box]);
                    }
                }
            }
        }
Esempio n. 24
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        public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCM.LCM.LCMDataInputStream dins)
        {
            Debug.Log("RECV: " + channel);
            if (channel == "body_move")
            {
                LCMTypes.c_test_lcmt msg = new LCMTypes.c_test_lcmt(dins);
                String message           = "CLCM Received message of the type c_test_lcmt:\n ";
                message += String.Format("  position    = ({0:N}, {1:N}, {2:N})\n ",
                                         msg.body_pos[0], msg.body_pos[1], msg.body_pos[2]);
                message += String.Format("  orientation = ({0:N}, {1:N}, {2:N})\n",
                                         msg.body_ori[0], msg.body_ori[1], msg.body_ori[2]);
                message += (" ]\n");
                Debug.Log(message);

                for (int i = 0; i < 3; ++i)
                {
                    body_pos[i] = msg.body_pos[i];
                }
                //test_x = msg.body_pos[0];
            }
        }
Esempio n. 25
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		/* Methods */
		/// <summary>
		/// TCP provider constructor
		/// </summary>
		/// <param name="lcm">LCM object</param>
		/// <param name="up">URL parser object</param>
		public TCPProvider(LCM lcm, URLParser up)
		{
			this.lcm = lcm;
			
			string[] addrport = up.Get("network", DEFAULT_NETWORK).Split(':');
			if (addrport.Length == 1)
			{
				inetAddr = System.Net.Dns.GetHostAddresses(addrport[0])[0];
				inetPort = 7700;
			}
			else if (addrport.Length == 2)
			{
				inetAddr = System.Net.Dns.GetHostAddresses(addrport[0])[0];
				inetPort = Int32.Parse(addrport[1]);
			}
			else
			{
				Console.Error.WriteLine("TCPProvider: Don't know how to parse " + up.Get("network", DEFAULT_NETWORK));
				Environment.Exit(-1);
			}
			
			reader = new ReaderThread(this);
			reader.Start();
		}
Esempio n. 26
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 public LCMTransmitter()
 {
     this.appLCM = new LCM.LCM.LCM();
 }
Esempio n. 27
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	// Use this for initialization
	void Start () {
		Debug.Log("start");
		myLCM = LCM.LCM.LCM.Singleton;
	}
Esempio n. 28
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 // Use this for initialization
 void Start()
 {
     Debug.Log("start");
     myLCM = LCM.LCM.LCM.Singleton;
 }
Esempio n. 29
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 // Start is called before the first frame update
 void Start()
 {
     Debug.Log("publish start");
     myLCM = new LCM.LCM.LCM();
 }