public Task <ServiceProxy <TService> > CreateAsync <TService>(string serviceName, Uri uri)
where TService : IService, new()
{
var tcpClient = new TcpRosClient();
var tcs = new TaskCompletionSource <ServiceProxy <TService> >();
tcpClient.ConnectAsync(uri.Host, uri.Port)
.ContinueWith(connectTask =>
{
if (connectTask.Status == TaskStatus.RanToCompletion)
{
ConnectToServiceServer <TService>(serviceName, tcpClient)
.ContinueWith(serviceTask =>
{
if (serviceTask.Status == TaskStatus.RanToCompletion)
{
tcs.SetResult(serviceTask.Result);
}
else if (serviceTask.Status == TaskStatus.Faulted)
{
tcs.SetException(serviceTask.Exception.InnerException);
}
});
}
else if (connectTask.Status == TaskStatus.Faulted)
{
tcs.SetException(connectTask.Exception.InnerException);
}
});
return(tcs.Task);
}
public void DisposeError()
{
var listener = new TcpRosListener(0);
listener.AcceptAsync().Subscribe(
x => Console.WriteLine("new socket = {0}", x.RemoteEndPoint),
ex => Console.WriteLine("accept error = {0}", ex.Message));
int port = listener.EndPoint.Port;
listener.Dispose();
Console.WriteLine("Press Any Key 3");
Console.ReadKey();
var client3 = new TcpRosClient();
try
{
client3.ConnectAsync("localhost", port).Wait();
}
catch (AggregateException ex)
{
Console.WriteLine("agg={0}", ex.Message);
}
}
public void ConnectAsObservable_Success()
{
var arg = new SocketAsyncEventArgs();
var task = new Task(() => { });
MAsyncSocketExtensions.ConnectTaskAsyncSocketEndPoint = (t1, t2) => task;
var client = new TcpRosClient();
client.ConnectAsync("127.0.0.1", 50000).ContinueWith(t => { });
task.Start();
}
public Task <IObservable <TMessage> > StartAsync(TopicParam param, bool nodelay = true)
{
_client = new TcpRosClient();
var tcs = new TaskCompletionSource <IObservable <TMessage> >();
_client.ConnectAsync(param.HostName, param.PortNumber)
.ContinueWith(connectTask =>
{
_logger.Debug("StartAsync Connected");
if (connectTask.Status == TaskStatus.RanToCompletion)
{
try
{
ConnectToPublisherAsync(nodelay).ContinueWith(connectedTask =>
{
_logger.Debug("StartAsync ConnectToPublisherAsync");
if (connectedTask.Status == TaskStatus.RanToCompletion)
{
tcs.SetResult(connectedTask.Result);
}
else if (connectedTask.Status == TaskStatus.Faulted)
{
tcs.SetException(connectedTask.Exception.InnerException);
}
});
}
catch (Exception ex)
{
_logger.Error("Connect Error", ex);
tcs.SetException(ex);
}
}
else if (connectTask.Status == TaskStatus.Faulted)
{
tcs.SetException(connectTask.Exception.InnerException);
}
});
return(tcs.Task);
}
public void MultipleConnection()
{
var listener = new TcpRosListener(0);
listener.AcceptAsync().Subscribe(
x => Console.WriteLine("new socket = {0}", x.RemoteEndPoint),
ex => Console.WriteLine("accept error = {0}", ex.Message));
int port = listener.EndPoint.Port;
var client1 = new TcpRosClient();
client1.ConnectAsync("localhost", port)
.ContinueWith(t => Console.WriteLine("task.ex={0}", t.Exception));
var client2 = new TcpRosClient();
client2.ConnectAsync("localhost", port)
.ContinueWith(t => Console.WriteLine("task.ex={0}", t.Exception));
var client3 = new TcpRosClient();
client3.ConnectAsync("localhost", port)
.ContinueWith(t => Console.WriteLine("task.ex={0}", t.Exception));
}
public void SendAndReceive()
{
var listener = new TcpRosListener(0);
listener.AcceptAsync()
.Do(_ => Console.WriteLine("Connected"))
.Subscribe(s => new TcpRosClient(s).ReceiveAsync()
.Subscribe(data => Console.WriteLine("Received:{0}", data)));
int port = listener.EndPoint.Port;
Console.WriteLine("Press Any Key 3");
Console.ReadKey();
var client3 = new TcpRosClient();
client3.ConnectAsync("localhost", port).Wait();
var sendData = new byte[] { 1, 0, 0, 0, 1 };
client3.SendAsync(sendData).Wait();
}
public void Receive_Error()
{
var listener = new TcpRosListener(0);
listener.AcceptAsync()
.Do(_ => Console.WriteLine("Connected"))
.Subscribe(s =>
{
new TcpRosClient(s).ReceiveAsync()
.Subscribe(data => Console.WriteLine("Received:{0}", data),
ex => Console.WriteLine("Received Error: {0}", ex.Message));
Thread.Sleep(TimeSpan.FromSeconds(3));
s.Close(); //3秒待って閉じる。
},
ex => Console.WriteLine("Receive Error = {0}", ex.Message));
int port = listener.EndPoint.Port;
var client3 = new TcpRosClient();
client3.ConnectAsync("localhost", port).Wait();
var sendData = new byte[] { 1, 0, 0, 0, 1 };
client3.SendAsync(sendData).Wait();
Thread.Sleep(TimeSpan.FromSeconds(5));
try
{
client3.SendAsync(sendData).Wait();
}
catch (Exception ex)
{
Console.WriteLine("Send Error:{0}", ex.Message);
}
}