public void Run()
{
while (!exit)
{
// reconnect
try
{
sock = new System.Net.Sockets.TcpClient(provider.inetAddr.ToString(), provider.inetPort);
Stream _outs = sock.GetStream();
BinaryWriter _douts = new BinaryWriter(_outs);
_douts.Write(TCPProvider.MAGIC_CLIENT);
_douts.Write(TCPProvider.VERSION);
_douts.Flush();
outs = _outs;
ins = new BinaryReader(new BufferedStream(sock.GetStream()));
int magic = ins.ReadInt32();
if (magic != TCPProvider.MAGIC_SERVER)
{
sock.Close();
continue;
}
serverVersion = ins.ReadInt32();
}
catch (IOException)
{
Console.Error.WriteLine("LCM.TCPProvider: Unable to connect to " + provider.inetAddr + ":" + provider.inetPort);
TCPProvider.SafeSleep(500);
// try connecting again.
continue;
}
// read loop
try
{
while (!exit)
{
int type = ins.ReadInt32();
int channelLen = ins.ReadInt32();
byte[] channel = new byte[channelLen];
ReadInput(ins.BaseStream, channel, 0, channel.Length);
int dataLen = ins.ReadInt32();
byte[] data = new byte[dataLen];
ReadInput(ins.BaseStream, data, 0, data.Length);
provider.lcm.ReceiveMessage(System.Text.Encoding.GetEncoding("US-ASCII").GetString(channel), data, 0, data.Length);
}
}
catch (IOException)
{
// exit read loop so we'll create a new connection.
}
}
}
/// <summary>
/// Create a new LCM object, connecting to one or more URLs. If
/// no URL is specified, the environment variable LCM_DEFAULT_URL is
/// used. If that environment variable is not defined, then the
/// default URL is used.
/// </summary>
/// <param name="urls">URL array</param>
public LCM(params string[] urls)
{
if (urls.Length == 0)
{
string env = Environment.GetEnvironmentVariable("LCM_DEFAULT_URL");
if (env == null)
{
urls = new string[] { "udpm://239.255.76.67:7667" };
}
else
{
urls = new string[] { env };
}
}
foreach (string url in urls)
{
URLParser up = new URLParser(url);
string protocol = up.Get("protocol");
if (protocol.Equals("udpm"))
{
providers.Add(new UDPMulticastProvider(this, up));
}
else if (protocol.Equals("tcpq"))
{
TCPProvider prov = new TCPProvider(this, up);
prov.Connected += OnTCPConnected;
prov.Disconnected += OnTCPDisconnected;
providers.Add(prov);
}/*
* else if (protocol.Equals("file"))
* {
* providers.Add(new LogFileProvider(this, up));
* }*/
else
{
Console.Error.WriteLine("LCM: Unknown URL protocol: " + protocol);
}
}
}
public ReaderThread(TCPProvider provider)
{
this.provider = provider;
}
public void Run()
{
while (!exit)
{
// reconnect
try
{
sock = new System.Net.Sockets.TcpClient(provider.inetAddr.ToString(), provider.inetPort);
Stream _outs = sock.GetStream();
BinaryWriter _douts = new BinaryWriter(_outs);
_douts.Write(TCPProvider.MAGIC_CLIENT);
_douts.Write(TCPProvider.VERSION);
_douts.Flush();
outs = _outs;
ins = new BinaryReader(new BufferedStream(sock.GetStream()));
int magic = ins.ReadInt32();
if (magic != TCPProvider.MAGIC_SERVER)
{
sock.Close();
continue;
}
serverVersion = ins.ReadInt32();
Connected?.Invoke(this, EventArgs.Empty);
}
catch (IOException)
{
Disconnected?.Invoke(this, EventArgs.Empty);
Console.Error.WriteLine("LCM.TCPProvider: Unable to connect to " + provider.inetAddr + ":" + provider.inetPort);
TCPProvider.SafeSleep(500);
// try connecting again.
continue;
}
catch (SocketException)
{
Disconnected?.Invoke(this, EventArgs.Empty);
Console.Error.WriteLine("LCM.TCPProvider: Unable to connect to " + provider.inetAddr + ":" + provider.inetPort);
TCPProvider.SafeSleep(500);
// try connecting again.
continue;
}
// read loop
try
{
while (!exit)
{
int type = ins.ReadInt32();
if (type == MESSAGE_TYPE_PUBLISH || type == MESSAGE_TYPE_SUBSCRIBE || type == MESSAGE_TYPE_UNSUBSCRIBE)
{
int channelLen = ins.ReadInt32();
byte[] channel = new byte[channelLen];
ReadInput(ins.BaseStream, channel, 0, channel.Length);
int dataLen = ins.ReadInt32();
byte[] data = new byte[dataLen];
ReadInput(ins.BaseStream, data, 0, data.Length);
provider.lcm.ReceiveMessage(System.Text.Encoding.GetEncoding("US-ASCII").GetString(channel), data, 0, data.Length);
}
else
{
Console.Error.WriteLine("LCM.TCPProvider: Bad message type ({0}), throwing message away and reconnecting", type);
break;
}
}
}
catch (IOException)
{
// exit read loop so we'll create a new connection.
}
catch (NotSupportedException)
{
// exit read loop so we'll create a new connection.
}
catch (ObjectDisposedException)
{
// exit read loop so we'll create a new connection.
}
catch (OverflowException)
{
// exit read loop so we'll create a new connection.
}
finally
{
Console.WriteLine("Error in TCPProvider's reader loop, reconnecting");
Disconnected?.Invoke(this, EventArgs.Empty);
}
}
Console.WriteLine("Exiting in TCPProvider's reader loop");
Disconnected?.Invoke(this, EventArgs.Empty);
}
public ReaderThread(TCPProvider provider)
{
this.provider = provider;
}
