void SocketThreadLoop()
{
while (true)
{
threadRunning = true;
senderCancelled = false;
AsyncIO.ForceDotNet.Force();
using (var sock = new PairSocket())
{
sock.Connect("tcp://" + ip + ":" + port);
while (!senderCancelled)
{
if (!framePending)
{
continue;
}
sock.SendFrame(msgBuffer);
framesSent++;
framePending = false;
}
sock.Close();
}
NetMQConfig.Cleanup();
threadRunning = false;
}
}
public override bool HandleMessage(PairSocket me, PairSocket remote, Envelope envelop)
{
var msg = envelop.GetMessage();
if (me.IdentityConnectionSocketsMap.ContainsKey(remote))
{
//Evita de várias conexões fake no servidor
remote.Close();
}
byte[] identifier;
if (msg.Length >= 16)
{
identifier = msg.ReadNext(16);
remote.ConnectionId = new Guid(identifier);
}
else
{
remote.ConnectionId = Guid.NewGuid();
identifier = remote.ConnectionId.ToByteArray();
}
me.IdentitySocketsMap[identifier] = remote;
SendResultCode(remote, identifier);
return(true);
}
private void ConnectionWork()
{
AsyncIO.ForceDotNet.Force();
using (var pairSocket = new PairSocket()) {
pairSocket.Options.ReceiveHighWatermark = 1000;
if (_createConnection)
{
pairSocket.Bind("tcp://*:12345");
}
else
{
pairSocket.Connect("tcp://localhost:12345");
}
//Do one more loop in-case we send out a closing msg and then cancel the connection
bool flushedBuffer = true;
while (!_connectionCancelled || !flushedBuffer)
{
string frameString;
while (pairSocket.TryReceiveFrameString(out frameString))
{
_incomingMessageQueue.Enqueue(frameString);
}
while (_outgoingMessageQueue.TryDequeue(out frameString))
{
pairSocket.SendFrame(frameString);
}
flushedBuffer = _connectionCancelled;
}
pairSocket.Close();
}
NetMQConfig.Cleanup();
}
private void ListenerWork()
{
while (true)
{
_threadRunning = true;
_listenerCancelled = false;
AsyncIO.ForceDotNet.Force();
using (var server = new PairSocket())
{
server.Bind("tcp://*:" + port);
while (!_listenerCancelled)
{
Connected = _contactWatch.ElapsedMilliseconds < ContactThreshold;
byte[] frameBytes;
if (!server.TryReceiveFrameBytes(out frameBytes))
{
continue;
}
_contactWatch.Restart();
if (OnBytes != null && frameBytes != null)
{
OnBytes.Invoke(frameBytes);
}
}
server.Close();
}
NetMQConfig.Cleanup();
_threadRunning = false;
}
}
/// <summary>
/// My basic protocol send first frame with a uint, this contains the command
/// </summary>
private void DoCommunication()
{
Console.WriteLine("> Iniciando comunicação básica");
Console.WriteLine("> Comandos (uint): ");
Console.WriteLine("> 0: Escreve no console remoto");
Console.WriteLine("> 1: Envia um dado para ser salvos");
Console.WriteLine("> 2: Solicita todos os dados salvos");
Console.WriteLine("> 3: Envia um Echo");
Console.WriteLine("> ");
var keepCommunication = true;
while (keepCommunication)
{
Console.Write("> Operação (uint): ");
var operation = Console.ReadLine();
uint opCode;
if (uint.TryParse(operation, out opCode))
{
Console.Write("> Mensagem (string): ");
var txtMessage = Console.ReadLine();
var package = new Message();
package.Append(opCode);
package.Append(txtMessage);
var response = pairSocket.Request(package);
if (response.Success)
{
Console.WriteLine(">>> Response:");
var serverOperationCode = response.ReadNext <uint>();
Console.WriteLine("");
Console.WriteLine("Operation from Remote: " + serverOperationCode);
string frame = "";
while ((frame = response.ReadNext <string>()) != "")
{
Console.WriteLine(frame);
}
Console.WriteLine("");
}
else
{
Console.WriteLine(">>> Request fail!");
}
}
else
{
pairSocket.Close();
Console.WriteLine("> Operação não é um valor válido, informe um uint válido");
}
}
}
void OnApplicationQuit()//cleanup
{
VisionClient.Close();
VisionClient.Dispose();
SimulationClient.Close();
SimulationClient.Dispose();
ScreenshotServer.Close();
ScreenshotServer.Dispose();
try
{
VisionPoller.StopAsync();
SimulationPoller.StopAsync();
ScreenshotPoller.StopAsync();
}
catch (System.Exception e)
{
UnityEngine.Debug.Log("Tried to stopasync while the poller wasn't running! Oops.");
}
VisionPoller.Dispose();
SimulationPoller.Dispose();
ScreenshotPoller.Dispose();
}
