/*
* Update is called once per frame
* Take the most recent ZMQ message and use it to position the cameras.
* If there has not been a recent message, the renderer should probably pause rendering until a new request is received.
*/
void Update()
{
if (pull_socket.HasIn || socket_initialized)
{
// Receive most recent message
var msg = new NetMQMessage();
var new_msg = new NetMQMessage();
// Blocking receive for a message
msg = pull_socket.ReceiveMultipartMessage();
// Make sure that splashscreen is disabled
splashScreen.SetActive(false);
// Check if this is the latest message
while (pull_socket.TryReceiveMultipartMessage(ref new_msg))
{
;
}
// Check that we got the whole message
if (new_msg.FrameCount >= msg.FrameCount)
{
msg = new_msg;
}
if (msg.FrameCount == 0)
{
return;
}
// Get scene state from LCM
state = JsonConvert.DeserializeObject <StateMessage_t>(msg[1].ConvertToString());
// Make sure that all objects are initialized properly
initializeObjects();
// Ensure that dynamic object settings such as depth-scaling and color are set correctly.
updateDynamicObjectSettings();
// Update position of game objects.
updateObjectPositions();
// Mark socket as initialized
socket_initialized = true;
}
else
{
// Throttle to 10hz when idle
Thread.Sleep(100); // [ms]
}
}
public void ReceiveMessageWithTimeout()
{
{
var pubSync = new AutoResetEvent(false);
var payload = new byte[300];
const int waitTime = 500;
var t1 = new Task(() =>
{
using (var pubSocket = new PublisherSocket())
{
pubSocket.Bind("tcp://127.0.0.1:12345");
pubSync.WaitOne();
Thread.Sleep(waitTime);
pubSocket.SendFrame(payload);
pubSync.WaitOne();
}
}, TaskCreationOptions.LongRunning);
var t2 = new Task(() =>
{
using (var subSocket = new SubscriberSocket())
{
subSocket.Connect("tcp://127.0.0.1:12345");
subSocket.Subscribe("");
Thread.Sleep(100);
pubSync.Set();
NetMQMessage msg = null;
Assert.IsFalse(subSocket.TryReceiveMultipartMessage(TimeSpan.FromMilliseconds(100), ref msg));
Assert.IsTrue(subSocket.TryReceiveMultipartMessage(TimeSpan.FromMilliseconds(waitTime), ref msg));
Assert.NotNull(msg);
Assert.AreEqual(1, msg.FrameCount);
Assert.AreEqual(300, msg.First.MessageSize);
pubSync.Set();
}
}, TaskCreationOptions.LongRunning);
t1.Start();
t2.Start();
Task.WaitAll(t1, t2);
}
}
/*
* Update is called once per frame
* Take the most recent ZMQ message and use it to position the cameras.
* If there has not been a recent message, the renderer should probably pause rendering until a new request is received.
*/
void Update()
{
if (pull_socket.HasIn || socket_initialized)
{
// Receive most recent message
var msg = new NetMQMessage();
var new_msg = new NetMQMessage();
// Wait for a message from the client.
bool received_new_packet = pull_socket.TryReceiveMultipartMessage(new TimeSpan(0, 0, connection_timeout_seconds), ref new_msg);
if (!received_new_packet && socket_initialized)
{
// Close ZMQ sockets
pull_socket.Close();
push_socket.Close();
Debug.Log("Terminated ZMQ sockets.");
NetMQConfig.Cleanup();
Thread.Sleep(100); // [ms]
// Restart FlightGoggles and wait for a new connection.
SceneManager.LoadScene(topLevelSceneName);
// Kill this gameobject/controller script.
Destroy(this.gameObject);
// Don't bother with the rest of the script.
return;
}
// Check if this is the latest message
//while (pull_socket.TryReceiveMultipartMessage(ref new_msg)) ;
// Check that we got the whole message
if (new_msg.FrameCount >= msg.FrameCount)
{
msg = new_msg;
}
if (msg.FrameCount != 2)
{
return;
}
if (msg[1].MessageSize < 10)
{
return;
}
// Get scene state from LCM
state = JsonConvert.DeserializeObject <StateMessage_t>(msg[1].ConvertToString());
// Make sure that all objects are initialized properly
initializeObjects();
// Ensure that dynamic object settings such as depth-scaling and color are set correctly.
updateDynamicObjectSettings();
// Update position of game objects.
updateObjectPositions();
// Do collision detection
updateCameraCollisions();
// Run landmark visibility checks
updateLandmarkVisibility();
// Compute sensor data
updateLidarData();
// Mark socket as initialized
socket_initialized = true;
}
else
{
// Throttle to 10hz when idle
Thread.Sleep(3); // [ms]
}
}