public void SendingAndReceiving()
{
TcpClient clientSender;
TcpClient clientReader;
SpawnSockets(out clientSender, out clientReader);
unnitTest_DataReceiver receiver = new unnitTest_DataReceiver();
test = new TCPDataLink(clientReader);
test.SetReceiver(receiver);
receiver.expectedResult = Encoding.ASCII.GetBytes("Hello there");
clientSender.GetStream().Write(receiver.expectedResult, 0, receiver.expectedResult.Length);
int fail_escape = 5000;
while (!receiver.receivedData && fail_escape > 0)
{
Thread.Sleep(1); fail_escape--;
}
Assert.IsFalse(receiver.failed, "Expected result is different from actual result");
receiver.expectedResult = Encoding.ASCII.GetBytes("Goodbye pal!");
clientSender.GetStream().Write(receiver.expectedResult, 0, receiver.expectedResult.Length);
fail_escape = 5000;
while (!receiver.receivedData && fail_escape > 0)
{
Thread.Sleep(1); fail_escape--;
}
Assert.IsFalse(receiver.failed, "Expected result is different from actual result");
}
public static bool ConnectToUnity(out Communicator communicator, string unityIp, ushort unityPort, int timeout = -1)
{
communicator = null;
//Creates a connection to the robot using the specified hostname and port
TcpClient tcpClient = new TcpClient();
IAsyncResult ar = tcpClient.BeginConnect(unityIp, unityPort, null, null);
WaitHandle wh = ar.AsyncWaitHandle;
try
{
if (!wh.WaitOne(timeout, false))
{
tcpClient.Close();
wh.Close();
return(false);
}
tcpClient.EndConnect(ar);
}
catch (SocketException ex)
{
Console.WriteLine(ex.Message);
return(false);
}
finally
{
wh.Close();
}
IDataLink _dataLink = new TCPDataLink(tcpClient);
IPresentationProtocol _protocol = new ProtoBufPresentation();
_dataLink.SetReceiver(_protocol);
communicator = new Communicator(_dataLink, _protocol);
return(true);
}
public Ev3Connection(string projectName, TCPDataLink datalink)
{
if (projectName == null)
{
throw new ArgumentNullException("projectName");
}
if (projectName.Length < 1)
{
throw new ArgumentException("projectName can't be an empty string", "projectName");
}
if (datalink == null)
{
throw new ArgumentNullException("datalink");
}
_serialNumber = null;
_ev3ProjectName = projectName;
_lastMessage = null;
_tcpPort = -1;
_tcpDataLink = datalink;
_tcpDataLink.SetReceiver(new DataStreamReceiver(OnIncomingTcpData));
_receiveSem = new Semaphore(0, 1);
}
private async void _OnReceive()
{
while (_udpClient != null)
{
UdpReceiveResult results;
try
{
results = await _udpClient.ReceiveAsync();
}
catch (ObjectDisposedException)
{
continue;
}
string msgStr = Encoding.ASCII.GetString(results.Buffer);
Regex serialRegex = new Regex("Serial-Number: (.*)");
Regex portRegex = new Regex("Port: (.*)");
string serialNumber = null;
int port = -1;
Match match = serialRegex.Match(msgStr);
if (match.Success)
{
serialNumber = match.Groups[1].Value;
}
/* serialNumber != null && */
if (!_connectedSerials.Contains(serialNumber))
{
match = portRegex.Match(msgStr);
if (match.Success)
{
string tcpPortStr = match.Groups[1].Value.TrimEnd();
bool success = int.TryParse(tcpPortStr, out port);
if (!success)
{
port = -1;
}
}
_connectedSerials.Add(serialNumber);
SendUdpResponse(_udpClient, results.RemoteEndPoint);
TCPDataLink dl = EstablishTcpConnection(serialNumber,
results.RemoteEndPoint.Address, port);
Ev3Connection con = new Ev3Connection("EV3Wifi", dl);
Communicator communicator = null;
if (Tools.ConnectToUnity(out communicator, _unityIP.ToString(), _unityPort,
5000))
{
Console.WriteLine("Unity connected");
EV3Robot newRobot = new EV3Robot(communicator, "My ev3", con);
Tools.AssignRobot(communicator, newRobot);
_eventReceiver.OnRobotConnect(newRobot);
}
else
{
throw new Exception("Can't connect to unity...");
}
}
}
}