/* 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);
}
/* 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();
}
/* 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);
}
/// <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);
}
}
}
/* 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();
}
/// <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"))
{
providers.Add(new TCPProvider(this, up));
}/*
else if (protocol.Equals("file"))
{
providers.Add(new LogFileProvider(this, up));
}*/
else
{
Console.Error.WriteLine("LCM: Unknown URL protocol: " + protocol);
}
}
}