private void EndRead(IAsyncResult ar)
{
UdpReader reader = null;
Exception err = null;
Action <Exception, UdpReader> copy = _readCompleted;
_readCompleted = null;
lock (_sync)
{
try
{
if (_disposed)
{
throw new ObjectDisposedException(typeof(UdpClient).FullName);
}
IPEndPoint ep = new IPEndPoint(IPAddress.Any, 0);
byte[] datagram = _client.EndReceive(ar, ref ep);
Log.Trace(Toolkit.DumpToLog, "received datagram: {0}", datagram);
reader = new UdpReader(datagram);
}
catch (Exception ex)
{
err = ex;
}
}
copy(err, reader);
}
public TResp Request <TReq, TResp>(call_body callBody, TReq reqArgs)
{
UdpReader mr = new UdpReader(_receivedArray);
Reader r = Toolkit.CreateReader(mr);
rpc_msg respMsg = r.Read <rpc_msg>();
rpc_msg reqHeader = new rpc_msg()
{
xid = respMsg.xid, // use xid in _receivedArray
body = new body()
{
mtype = msg_type.CALL,
cbody = callBody
}
};
UdpWriter dtg = new UdpWriter();
Writer w = Toolkit.CreateWriter(dtg);
w.Write(reqHeader);
w.Write(reqArgs);
byte[] outBuff = dtg.Build();
Assert.AreEqual(_expectedSendArray, outBuff, "send dump is difference");
Toolkit.ReplyMessageValidate(respMsg);
TResp respArgs = r.Read <TResp>();
mr.CheckEmpty();
return(respArgs);
}
public MessageReciever(int port)
{
this.port = port;
reader = new UdpReader(port);
oscDispatcher.AddNetReader(reader);
oscDispatcher.Bundle += OnRecieve;
StartRecieving();
}
//Constructors
public MessageReciever()
{
port = 4445;
reader = new UdpReader(port);
oscDispatcher.AddNetReader(reader);
oscDispatcher.Bundle += OnRecieve;
StartRecieving();
}
private void listen()
{
while (connected)
{
try
{
if (oscDataType == OscDataType.OscMessage)
{
OscMessage packet = receiver.Receive();
if (packet != null)
{
lock (processQueue)
{
//Debug.Log( "adding packets " + processQueue.Count );
processQueue.Add((OscElement)packet);
}
}
else
{
Console.WriteLine("null packet");
}
}
else
{
OscBundle packet = receiver.ReceiveBundle();
if (packet != null)
{
lock (processQueue)
{
foreach (OscElement element in packet.Elements)
{
//Debug.Log( "adding packets " + processQueue.Count );
processQueue.Add(element);
}
}
}
else
{
Console.WriteLine("null packet");
}
}
}
catch (Exception e)
{
Debug.Log(e.Message);
Console.WriteLine(e.Message);
}
}
if (receiver != null)
{
receiver.Dispose();
receiver = null;
}
}
// Use this for initialization
void Start()
{
this.oscReceiver = null;
this.receivedMessages = null;
this.receivedMessages = new List<OscElement> ();
if (oscReceiver == null)
{
oscReceiver = new UdpReader(listeningPort);
}
}
static void Main(string[] args)
{
// 1. Instantiate BT connection to NXT
// You can peek in the class file for more documentation
NXTBluetooth bt = new NXTBluetooth(@"Tox NXT");
// 2. Instantiate the OSC receiver
NetReader stream = new UdpReader(8000);
// this is the main handler when an OSC message is recieved, per 100ms to not clog the BT
Timer events = new Timer(new TimerCallback(
delegate(object state) {
object o;
o = stream.Receive(); // 3. receive the info
if (o != null) {
// 4. convert the information
OscElement element = (OscElement)o;
//Console.WriteLine(string.Format("Message Received [{0}]: {1}",
// element.Address,
// element.Args[0]));
object arg;
// get the value passed
if (element.Args != null &&
element.Args.Length > 0 &&
(arg = element.Args[0]) != null) {
// 5. check on which value it is then send the message to BT
int value = 0;
switch (element.Address) {
case "/1/leftTrack":
value = 10000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/rightTrack":
value = 20000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/turret":
value = 30000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/stop":
value = 40000;
bt.SendString(value.ToString());
break;
default:
// ignore
break;
}
Console.WriteLine(value.ToString());
}
}
}), null, 0, 1);
// timer starts immediately, ticks every 1ms
Console.ReadKey(); // press any key to quit
}
public void SetUp()
{
this.server = new UdpClient(0);
int port = ((IPEndPoint)this.server.Client.LocalEndPoint).Port;
this.remoteIpEndPoint = new IPEndPoint(IPAddress.Loopback, port);
this.client = new UdpClient();
this.reader = new UdpReader(this.server.Client, 100);
this.writer = new UdpWriter(this.client.Client, 100);
}
public void connect()
{
try
{
//print("connecting.");
connected = true;
receiver = new UdpReader(port);
thread = new Thread(new ThreadStart(listen));
thread.Start();
}
catch (Exception e)
{
Debug.Log("failed to connect to port " + port);
Debug.Log(e.Message);
}
}
private void OnMessageReaded(Exception err, UdpReader udpReader)
{
if (err != null)
{
Log.Debug("No receiving UDP datagrams. Reason: {0}", err);
OnException(err);
return;
}
lock (_sync)
_receivingInProgress = false;
rpc_msg respMsg = null;
Reader r = null;
try
{
r = Toolkit.CreateReader(udpReader);
respMsg = r.Read <rpc_msg>();
}
catch (Exception ex)
{
Log.Info("Parse exception: {0}", ex);
BeginReceive();
return;
}
Log.Trace("Received response xid:{0}", respMsg.xid);
ITicket ticket = EnqueueTicket(respMsg.xid);
BeginReceive();
if (ticket == null)
{
Log.Debug("No handler for xid:{0}", respMsg.xid);
}
else
{
ticket.ReadResult(udpReader, r, respMsg);
}
}
void Start()
{
if (reader == null)
{
reader = new UdpReader(4000);
}
sphere = new GameObject[21];
skeleton = new float[336];
AvatarRoot = GameObject.FindGameObjectWithTag("AvatarRoot").transform;
for (int i = 0; i < 21; i++)
{
if (i == 5 || i == 8 || i == 10 || i == 15 || i == 20)
{
sphere[i] = (GameObject)GameObject.Instantiate(AvatarSphereCollider, new Vector3(0f, 0f, 0f), Quaternion.identity); //Sphären Instanzieren und Erstellen
}
else
{
sphere[i] = (GameObject)GameObject.Instantiate(AvatarSphereBody, new Vector3(0f, 0f, 0f), Quaternion.identity); //Sphären Instanzieren und Erstellen
}
sphere[i].transform.parent = AvatarRoot;
}
}
// Use this for initialization
void Start()
{
playerRobot = GameObject.Find ("PlayerRobot");
pcAccessor = playerRobot.GetComponent<PlayerController> ();
//peAccessor = playerRobot.GetComponent<PlayerEnergy>();
readGestures = new UdpReader (12346);
}
// Use this for initialization
void Start()
{
this.lockObject = new System.Object ();
this.oscReceiver = null;
this.receivedMessages = null;
this.receivedMessages = new List<OscElement> ();
Debug.Log("Initializing Receiver " );
if (oscReceiver == null)
{
oscReceiver = new UdpReader(listeningPort);
}
Debug.Log("Initializing thread " );
//initializing thread
receiveThread = new Thread(
new ThreadStart(ReceiveData));
receiveThread.IsBackground = true;
receiveThread.Start();
}
static void Main(string[] args)
{
// 1. Instantiate BT connection to NXT
// You can peek in the class file for more documentation
NXTBluetooth bt = new NXTBluetooth(@"Tox NXT");
// 2. Instantiate the OSC receiver
NetReader stream = new UdpReader(8000);
// this is the main handler when an OSC message is recieved, per 100ms to not clog the BT
Timer events = new Timer(new TimerCallback(
delegate(object state) {
object o;
o = stream.Receive(); // 3. receive the info
if (o != null)
{
// 4. convert the information
OscElement element = (OscElement)o;
//Console.WriteLine(string.Format("Message Received [{0}]: {1}",
// element.Address,
// element.Args[0]));
object arg;
// get the value passed
if (element.Args != null &&
element.Args.Length > 0 &&
(arg = element.Args[0]) != null)
{
// 5. check on which value it is then send the message to BT
int value = 0;
switch (element.Address)
{
case "/1/leftTrack":
value = 10000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/rightTrack":
value = 20000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/turret":
value = 30000 + (int)((float)element.Args[0] * 100);
bt.SendString(value.ToString());
break;
case "/1/stop":
value = 40000;
bt.SendString(value.ToString());
break;
default:
// ignore
break;
}
Console.WriteLine(value.ToString());
}
}
}), null, 0, 1);
// timer starts immediately, ticks every 1ms
Console.ReadKey(); // press any key to quit
}