public void TestLeakyBucketOrder()
{
QueueBuffer controller = new QueueBuffer();
controller.Enqueue(NewPacket(1, 0));
controller.Enqueue(NewPacket(2, 0));
controller.Enqueue(NewPacket(3, 0));
AssertPacket(controller.Dequeue(), 1, 0);
AssertPacket(controller.Dequeue(), 2, 0);
AssertPacket(controller.Dequeue(), 3, 0);
Assert.AreEqual(controller.Dequeue(), null);
}
public void TestLeakyBucketEmpty()
{
QueueBuffer controller = new QueueBuffer();
Assert.AreEqual(controller.Peek(), null);
Assert.AreEqual(controller.Dequeue(), null);
controller.Enqueue(NewPacket(10, 0));
AssertPacket(controller.Peek(), 10, 0);
AssertPacket(controller.Dequeue(), 10, 0);
Assert.AreEqual(controller.Peek(), null);
Assert.AreEqual(controller.Dequeue(), null);
}
protected TreeViewItem CreateItem()
{
TreeViewItem it = queue.Dequeue();
if (it != null)
{
it.target.activeSelf = true;
return(it);
}
ModelElement mod = new ModelElement();
mod.Load(ItemMod.ModData);
mod.SetParent(View);
mod.data.localPosition = new Vector3(10000, 10000);
mod.data.localScale = Vector3.one;
mod.IsChanged = true;
TreeViewItem a = new TreeViewItem();
a.target = mod;
a.text = mod.GetComponent <TextElement>();
a.callBack = EventCallBack.RegEvent <EventCallBack>(mod);
a.callBack.Click = (o, e) => {
var item = o.DataContext as TreeViewItem;
if (item.node != null)
{
item.node.extand = !item.node.extand;
Refresh();
}
};
a.callBack.DataContext = a;
return(a);
}
protected TreeViewItem CreateItem()
{
TreeViewItem it = queue.Dequeue();
if (it != null)
{
it.target.SetActive(true);
return(it);
}
GameObject g = ModelManagerUI.LoadToGame(ItemMod, null);
var t = g.transform;
t.SetParent(View);
t.localPosition = new Vector3(10000, 10000);
t.localScale = Vector3.one;
t.localEulerAngles = Vector3.zero;
TreeViewItem a = new TreeViewItem();
a.target = g;
a.text = g.GetComponent <Text>();
a.callBack = EventCallBack.RegEvent <EventCallBack>(g.transform as RectTransform);
a.callBack.Click = (o, e) => {
var item = o.DataContext as TreeViewItem;
if (item.node != null)
{
item.node.extand = !item.node.extand;
Refresh();
}
};
a.callBack.DataContext = a;
return(a);
}
void Run()
{
while (running)
{
var now = DateTime.Now.Ticks;
try
{
Recive();
int c = missions.Count;
for (int i = 0; i < c; i++)
{
var mis = missions.Dequeue();
if (mis != null)
{
if (mis.action != null)
{
mis.action(mis.data);
}
}
}
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine(ex.StackTrace);
}
long t = DateTime.Now.Ticks;
t -= now;
t /= 10000;
if (t < 10)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// 创建项目实例,如果缓存中有则从缓存中提前
/// </summary>
/// <returns></returns>
protected TreeViewItem CreateItem()
{
TreeViewItem it = queue.Dequeue();
if (it != null)
{
it.target.activeSelf = true;
return(it);
}
if (creator != null)
{
var t = creator.Create();
t.target = HGUIManager.Clone(ItemMod, creator.initializer);
var trans = t.target;
trans.SetParent(Enity);
trans.localScale = Vector3.one;
trans.localRotation = Quaternion.identity;
return(t);
}
else
{
var go = HGUIManager.Clone(ItemMod);
go.SetParent(Enity);
go.localScale = Vector3.one;
go.localRotation = Quaternion.identity;
TreeViewItem a = new TreeViewItem();
a.target = go;
a.Text = go as HText;
a.Item = go.RegEvent <UserEvent>();
a.Item.Click = DefultItemClick;
a.Item.DataContext = a;
return(a);
}
}
public static void RecycleGameObject()
{
int c = RecycleQueue.Count;
for (int j = 0; j < c; j++)
{
var mod = RecycleQueue.Dequeue();
if (mod != null)
{
if (mod.Context != null)
{
long type = mod.data.type;
for (int i = 0; i < models.Count; i++)
{
if (models[i].type == type)
{
var g = mod.Main;
if (models[i].ReCycle(g))
{
g.SetActive(false);
mod.Context.SetParent(CycleBuffer);
mod.Context = null;
mod.Main = null;
}
break;
}
}
}
}
}
}
/// <summary>
/// 创建项目实例,如果缓存中有则从缓存中提前
/// </summary>
/// <returns></returns>
protected TreeViewItem CreateItem()
{
TreeViewItem it = queue.Dequeue();
if (it != null)
{
it.target.SetActive(true);
return(it);
}
if (creator != null)
{
var t = creator.Create();
t.target = HGUIManager.GameBuffer.Clone(ItemMod, creator.initializer);
var trans = t.target.transform;
trans.SetParent(Enity.transform);
trans.localScale = Vector3.one;
trans.localRotation = Quaternion.identity;
return(t);
}
else
{
var go = HGUIManager.GameBuffer.Clone(ItemMod);
var trans = go.transform;
trans.SetParent(Enity.transform);
trans.localScale = Vector3.one;
trans.localRotation = Quaternion.identity;
TreeViewItem a = new TreeViewItem();
a.target = go;
a.Text = go.GetComponent <HText>();
a.Item = a.Text.RegEvent <UserEvent>();
a.Item.Click = DefultItemClick;
a.Item.DataContext = a;
return(a);
}
}
public static bool AwaitCompletion(IEnumerable <Task> initialTasks)
{
Dispatch(initialTasks);
while (Interlocked.CompareExchange(ref activeTasks, 0, 0) > 0)
{
if (!Application.ProcessLogMessages())
{
Thread.Sleep(TimerTickInterval);
}
Task task; while (pendingTasks.Dequeue(out task))
{
if (!task.IsPending)
{
if (!dispatcher.Dispatch(instance, task))
{
throw new EntryPointNotFoundException();
}
}
else if (!pendingTasks.Enqueue(task))
{
throw new IndexOutOfRangeException();
}
}
}
return(Interlocked.CompareExchange(ref errors, 0, 0) == 0);
}
public static void ProcessModePackets()
{
for (int i = 0; !ModePackets.IsEmpty() && i < NUM_PACKETS_TO_PROCESS; i++)
{
Packet p = ModePackets.Dequeue();
CurDriveMode = (DriveMode)p.Data.Payload[1];
}
}
void Run()
{
while (run)
{
try
{
var m = SubMission.Dequeue();
if (m == null)
{
subFree = true;
are.WaitOne(1);
}
else
{
subFree = false;
try
{
m.action(m.data);
}
catch (Exception ex)
{
#if DEBUG
Debug.LogError(ex.StackTrace);
#endif
}
if (m.waitAction != null) //如果有等待的任务
{
if (m.Id == MainID) //交给主线程
{
m.action = m.waitAction;
m.waitAction = null;
MainMission.Enqueue(m);
goto label;
}
for (int i = 0; i < threads.Count; i++)
{
if (m.Id == threads[i].Id)
{
threads[i].AddMainMission(m.waitAction, m.data);//任务交给源线程
goto label;
}
}
m.action = m.waitAction;
m.waitAction = null;
MainMission.Enqueue(m);//否则交给主线程
}
label :;
}
}
catch (Exception ex)
{
#if DEBUG
Debug.LogError(ex.StackTrace);
#endif
}
}
are.Dispose();
}
public static void ProcessBasePackets()
{
for (int i = 0; !DrivePackets.IsEmpty() && i < NUM_PACKETS_TO_PROCESS; i++)
{
Packet p = DrivePackets.Dequeue();
switch ((PacketID)p.Data.ID)
{
case PacketID.RPMAllDriveMotors:
MotorControl.SetAllRPM((sbyte)p.Data.Payload[0]);
break;
case PacketID.RPMFrontRight:
case PacketID.RPMFrontLeft:
case PacketID.RPMBackRight:
case PacketID.RPMBackLeft:
int MotorID = p.Data.ID - (byte)PacketID.RPMFrontRight;
MotorControl.SetRPM(MotorID, (sbyte)p.Data.Payload[1]);
break;
case PacketID.RPMSteeringMotor:
float SteerSpeed = UtilData.ToFloat(p.Data.Payload);
//MotorControl.SetSteerSpeed(SteerSpeed);
break;
case PacketID.SteerPosition:
float Position = UtilData.ToFloat(p.Data.Payload);
//MotorControl.SetRackAndPinionPosition(Position);
break;
case PacketID.SpeedAllDriveMotors:
float Speed = UtilData.ToFloat(p.Data.Payload);
MotorControl.SetAllSpeed(Speed);
break;
case PacketID.BaseSpeed:
case PacketID.ShoulderSpeed:
case PacketID.ElbowSpeed:
case PacketID.WristSpeed:
case PacketID.DifferentialVert:
case PacketID.DifferentialRotate:
case PacketID.HandGrip:
byte address = (byte)(p.Data.ID - 0x8A);
byte direction = 0x00;
if (p.Data.Payload[0] > 0)
{
direction = 0x01;
}
UtilCan.SpeedDir(CANBBB.CANBus0, false, 0x02, address, p.Data.Payload[1], direction);
break;
}
}
}
public override void Recive(long now)
{
int c = metaData.Count;
if (c == 0)
{
if (now - lastTime > TimeOut)
{
lastTime = now;
envelope.Clear();
if (_connect)
{
Disconnect();
_connect = false;
}
}
}
else
{
lastTime = now;
if (!_connect)
{
ConnectionOK();
}
_connect = true;
}
for (int i = 0; i < c; i++)
{
var dat = metaData.Dequeue();
if (dat != null)
{
envelope.Unpack(dat, dat.Length, now);
}
}
var queue = envelope.QueueBuf;
c = queue.Count;
try
{
for (int i = 0; i < c; i++)
{
var dat = queue.Dequeue();
if (dat != null)
{
Dispatch(dat.data, dat.type);
}
}
}
catch
{
}
}
public static void ProcessModePackets()
{
for (int i = 0; !ModePackets.IsEmpty() && i < NUM_PACKETS_TO_PROCESS; i++)
{
Packet p = ModePackets.Dequeue();
CurDriveMode = (DriveMode)p.Data.Payload[0];
//temporary fix to test, actually fix it later to get corect values form payload
if (p.Data.Payload[0] > 0)
{
CurDriveMode = DriveMode.toGPS;
}
}
}
/// <summary>
/// 创建一个实例,如果回收缓存中有就从缓存中提取
/// </summary>
/// <returns></returns>
public DataGridItem CreateEnity()
{
DataGridItem it = buf.Dequeue();
if (it != null)
{
it.target.SetActive(true);
return(it);
}
var t = itemCreator.Create() as DataGridItem;
t.target = HGUIManager.GameBuffer.Clone(mod, itemCreator.initializer);
return(t);
}
public void TestLeakyBucketCapacity()
{
QueueBuffer controller = new QueueBuffer();
int capacity = 200000;
for (int i = 0; i < capacity; i++)
{
controller.Enqueue(NewPacket(10, 0));
}
controller.Peek();
for (int i = 0; i < capacity; i++)
{
controller.Dequeue();
}
}
public static bool ProcessLogMessages()
{
KeyValuePair <byte, string> message; while (logBuffer.Dequeue(out message))
{
switch (message.Key)
{
case 0: logSystem.Error(message.Value); break;
case 1: logSystem.Warning(message.Value); break;
default: logSystem.Log(message.Value); break;
}
}
return(!string.IsNullOrWhiteSpace(message.Value));
}
void Run()
{
while (running)
{
var now = DateTime.Now.Ticks;
try
{
Recive();
int c = queue.Count;
for (int i = 0; i < c; i++)
{
var mis = queue.Dequeue();
if (mis != null)
{
if (mis.action != null)
{
mis.action(mis.data);
}
}
}
}
catch (Exception ex)
{
ServerLog.Error(ex.StackTrace);
}
try
{
if (soc != null)
{
SendAll(soc, now);
}
}
catch
{
}
long t = DateTime.Now.Ticks;
t -= now;
t /= 10000;
if (t < 10)
{
Thread.Sleep(1);
}
}
}
/// <summary>
/// 派发接收到的消息
/// </summary>
public void Dispatch()
{
if (queue != null)
{
int c = queue.Count;
SocData soc;
for (int i = 0; i < c; i++)
{
soc = queue.Dequeue();
if (soc != null)
{
if (MainDispatch != null)
{
MainDispatch(soc.data, soc.tag, soc.obj as IPEndPoint);
}
}
}
}
}
public static void ProcessPathPackets()
{
for (int i = 0; !PathPackets.IsEmpty() && i < NUM_PACKETS_TO_PROCESS; i++)
{
Packet p = PathPackets.Dequeue();
switch ((PacketID)p.Data.ID)
{
// TODO Maybe: Combine pathing speed and turn in same packet???
case PacketID.PathingSpeed:
PathSpeed = UtilData.ToFloat(p.Data.Payload);
MotorControl.SkidSteerDriveSpeed(PathSpeed, PathAngle);
break;
case PacketID.PathingTurnAngle:
PathAngle = UtilData.ToFloat(p.Data.Payload);
MotorControl.SkidSteerDriveSpeed(PathSpeed, PathAngle);
break;
}
}
}
public override void Recive(long now)
{
int c = metaData.Count;
byte[][] tmp = new byte[c][];
lock (metaData)
for (int i = 0; i < c; i++)
{
tmp[i] = metaData.Dequeue();
}
if (c == 0)
{
if (now - lastTime > TimeOut)
{
envelope.Clear();
Disconnect();
}
}
else
{
lastTime = now;
if (!_connect)
{
ConnectionOK();
}
_connect = true;
}
for (int i = 0; i < c; i++)
{
var list = envelope.Unpack(tmp[i], tmp[i].Length, now);
try
{
if (list != null)
{
for (int j = 0; j < list.Count; j++)
{
var dat = list[j];
Dispatch(dat.data, dat.type);
}
}
}
catch
{
}
}
var ss = envelope.GetFailedData(now);//获取超时未反馈的数据
if (ss != null)
{
for (int i = 0; i < ss.Length; i++)
{
kcp.soc.SendTo(ss[i], endpPoint);//重新发送超时的数据
}
}
ss = envelope.ValidateData.ToArray();
envelope.ValidateData.Clear();//获取接收成功的数据
for (int i = 0; i < ss.Length; i++)
{
kcp.soc.SendTo(ss[i], endpPoint); //通知对方接收数据成功
}
}
public static void ProcessBasePackets()
{
for (int i = 0; !DrivePackets.IsEmpty() && i < NUM_PACKETS_TO_PROCESS; i++)
{
Console.WriteLine("Processing Base Packets");
Packet p = DrivePackets.Dequeue();
switch ((PacketID)p.Data.ID)
{
//case PacketID.RPMAllDriveMotors:
// MotorControl.SetAllRPM((sbyte)p.Data.Payload[0]);
// break;
case PacketID.RPMFrontRight:
case PacketID.RPMFrontLeft:
case PacketID.RPMBackRight:
case PacketID.RPMBackLeft:
int MotorID = p.Data.ID - (byte)PacketID.RPMFrontRight;
MotorControl.SetRPM(MotorID, (sbyte)p.Data.Payload[1]);
break;
case PacketID.SpeedAllDriveMotors:
float Speed = UtilData.ToFloat(p.Data.Payload);
MotorControl.SetAllSpeed(Speed);
break;
case PacketID.BaseSpeed:
case PacketID.ShoulderSpeed:
case PacketID.ElbowSpeed:
case PacketID.WristSpeed:
case PacketID.DifferentialVert:
case PacketID.DifferentialRotate:
case PacketID.HandGrip:
byte address = (byte)(p.Data.ID - 0x8A);
byte direction = 0x00;
if (p.Data.Payload[0] > 0)
{
direction = 0x01;
//UtilCan.SpeedDir(CANBBB.CANBus0, false, 2, address, (byte)(-p.Data.Payload[1]), direction);
Console.WriteLine("ADDRESS :" + address + "DIR :" + direction + "PAY :" + (byte)(-p.Data.Payload[1]));
}
else
{
direction = 0x00;
//UtilCan.SpeedDir(CANBBB.CANBus0, false, 2, address, p.Data.Payload[1], direction);
Console.WriteLine("ADDRESS :" + address + "DIR :" + direction + "PAY :" + p.Data.Payload[1]);
}
break;
case PacketID.CameraRotation:
if ((sbyte)p.Data.Payload[1] > 0)
{
ServoSpinner -= 0.005f;
OutB.SetOutput(ServoSpinner);
}
else if ((sbyte)p.Data.Payload[1] < 0)
{
ServoSpinner += 0.005f;
OutB.SetOutput(ServoSpinner);
}
OutB.Dispose();
break;
}
}
}
