protected bool DoGroup(object obj)
{
if (OnDogroup(obj))
{
if (Type == BalanceActionType.Hire)
{
Balancer.ChangeLeftBuget(-_outputGroupBuget);
if (!Balancer.IsNoBuget())
{
return(true);
}
else
{
return(false);
}
}
else if (Type == BalanceActionType.Fire)
{
Balancer.ChangeLeftBuget(_outputGroupBuget);
if (!Balancer.IsEnoughBuget())
{
return(true);
}
else
{
return(false);
}
}
}
return(true);
}
private static void Handler()
{
bool devMode = false;
bool balance_notif = false;
while (true)
{
WriteLine("Command:");
string line_input = ReadLine().ToLower();
switch (line_input)
{
default:
WriteLine("This command does not exist.", ConsoleColor.Yellow);
continue;
case "help":
WriteLines(new[] {
"\nBalance - the command to balance an equation.",
"Check - the command to check if an equation is balanced correct.",
"Atom Info - the command to show information on a specific atom."
}, false, new [] { ConsoleColor.Green });
break;
case "balance":
while (true)
{
if (Balancer.BalanceEquation(balance_notif) == false)
{
continue;
}
balance_notif = true;
break;
}
break;
case "check":
Checker.CheckEquation();
break;
case "-dev":
WriteLine("Entered Dev Mode", ConsoleColor.Yellow, false);
devMode = true;
break;
case "atom info":
new AtomView().ShowDialog();
break;
case "-exit":
WriteLine("Exited Dev Mode", ConsoleColor.Yellow, false);
devMode = false;
break;
case "exit":
WriteLine("Have a nice day!", ConsoleColor.Gray, false);
return;
}
WriteLine("", ConsoleColor.Gray, false);
}
}
public BalancerMiddleware(RequestDelegate next, ILogger <BalancerMiddleware> logger, IOptions <BalancerSetting> settings = null)
{
_next = next;
_logger = logger;
_balancerSetting = settings.Value;
_balancer = new Balancer(_balancerSetting);
}
private bool _disposed = false; // To detect redundant calls
public EtcdClient(string connectionString, int port = 2379, string username = "", string password = "", string caCert = "", string clientCert = "", string clientKey = "", bool publicRootCa = false)
{
if (string.IsNullOrWhiteSpace(connectionString))
{
throw new Exception("etcd connection string is empty.");
}
string[] hosts = connectionString.Split(',');
List<Uri> nodes = new List<Uri>();
for (int i = 0; i < hosts.Length; i++)
{
string host = hosts[i];
if (host.Split(':').Length < 3)
{
host += $":{Convert.ToString(port)}";
}
nodes.Add(new Uri(host));
}
_balancer = new Balancer(nodes, username, password, caCert, clientCert, clientKey, publicRootCa);
}
public void Balancer_Multithread()
{
var configuration = new ConfigurationBuilder()
.AddInMemoryCollection(new[] {
new KeyValuePair <string, string>("Servers:0", "localhost:9000")
})
.Build();
var balancer = new Balancer(configuration);
var pool = new List <Thread>();
for (var i = 0; i < 150; i++)
{
var thread = new Thread(() =>
{
Thread.Sleep(new Random().Next(0, 50));
var url = balancer.AllocateServer();
});
thread.Start();
pool.Add(thread);
}
SpinWait.SpinUntil(() => pool.All(x => !x.IsAlive));
Assert.Equal(150, balancer.GetConnectionsCount("localhost:9000"));
}
public void Test1(int[] bankCount, int expected, int part)
{
var sut = new Balancer();
var actual = sut.Balance(bankCount, part);
Assert.That(actual, Is.EqualTo(expected));
}
const int REMOTE_COMMAND_STOP = 's'; // 's'
public static void Main()
{
// 構造体の宣言と初期化
var body = new EV3body();
EV3body.init(ref body);
// Bluetooth関係のETロボコン拡張機能を有効にする
Brick.InstallETRoboExt();
// リモート接続
NetworkStream connection = connect();
// センサーおよびモータに対して初回アクセスをしておく
body.color.Read();
body.sonar.Read();
body.gyro.Read();
body.motorL.SetPower(0);
body.motorR.SetPower(0);
body.motorT.SetPower(0);
body.motorL.ResetTacho();
body.motorR.ResetTacho();
body.motorT.ResetTacho();
Balancer.init();
// スタート待ち
wait_start(body, connection);
var dialogRun = new InfoDialog("Running", false);
dialogRun.Show(); //Wait for enter to be pressed
try{
run(body, connection);
}catch (Exception) {
var dialogE = new InfoDialog("Exception.", false);
dialogE.Show(); //Wait for enter to be pressed
}
body.motorL.Off();
body.motorR.Off();
body.motorT.Off();
// ソケットを閉じる
if (connection != null)
{
connection.Close();
}
Lcd.Instance.Clear();
Lcd.Instance.Update();
if (Debugger.IsAttached)
{
Brick.ExitToMenu(); // MonoBrickメインメニューへ戻る
}
}
internal async void DoConnect()
{
_isConnecting = true;
_callDisconnectedCallback = false;
_gotOnOpenCount = 0;
if (_webSocketConnection != null)
{
_webSocketConnection.Dispose();
}
_webSocketConnection = new Connection(_reconnectTimer);
_webSocketConnection.OnOpened += new Connection.onOpenedDelegate(_webSocketConnection_OnOpened);
_webSocketConnection.OnClosed += new Connection.onClosedDelegate(_webSocketConnection_OnClosed);
_webSocketConnection.OnError += new Connection.onErrorDelegate(_webSocketConnection_OnError);
_webSocketConnection.OnMessageReceived += new Connection.onMessageReceivedDelegate(_webSocketConnection_OnMessageReceived);
if (context.IsCluster)
{
try {
context.Url = await Balancer.ResolveClusterUrlAsync(context.ClusterUrl); //"nope";// GetUrlFromCluster();
context.IsCluster = true;
if (String.IsNullOrEmpty(context.Url))
{
context.DelegateExceptionCallback(new OrtcEmptyFieldException("Unable to get URL from cluster"));
DoReconnect();
}
} catch (Exception ex) {
if (!_stopReconnecting)
{
context.DelegateExceptionCallback(new OrtcNotConnectedException(ex.Message));
DoReconnect();
}
}
}
if (!String.IsNullOrEmpty(context.Url))
{
try {
_webSocketConnection.Connect(context.Url);
// Just in case the server does not respond
//
_waitingServerResponse = true;
//StartReconnectTimer();
//
} catch (OrtcEmptyFieldException ex) {
context.DelegateExceptionCallback(new OrtcNotConnectedException(ex.Message));
DoStopReconnecting();
} catch (Exception ex) {
context.DelegateExceptionCallback(new OrtcNotConnectedException(ex.Message));
_isConnecting = false;
}
}
}
public async Task <bool> StartGame()
{
var context = GetContext();
if (Mode != AutohostMode.None)
{
var balance = Balancer.BalanceTeams(context, true, null, null);
if (!IsNullOrEmpty(balance.Message))
{
await SayBattle(balance.Message);
}
if (!balance.CanStart)
{
return(false);
}
context.ApplyBalance(balance);
}
var startSetup = StartSetup.GetDedicatedServerStartSetup(context);
if (!await EnsureEngineIsPresent())
{
return(false);
}
if (IsInGame || spring.IsRunning)
{
await SayBattle("Game already running");
return(false);
}
spring.HostGame(startSetup, hostingIp, hostingPort);
IsInGame = true;
RunningSince = DateTime.UtcNow;
foreach (var us in Users.Values)
{
if (us != null)
{
ConnectedUser user;
if (server.ConnectedUsers.TryGetValue(us.Name, out user))
{
await user.SendCommand(GetConnectSpringStructure(us.ScriptPassword));
}
}
}
await server.Broadcast(server.ConnectedUsers.Values, new BattleUpdate()
{
Header = GetHeader()
});
// remove all from MM
await Task.WhenAll(startSetup.Players.Where(x => !x.IsSpectator).Select(x => server.MatchMaker.RemoveUser(x.Name, false)));
await server.MatchMaker.UpdateAllPlayerStatuses();
return(true);
}
static void run(EV3body body)
{
// 電圧を取得
int battery = Brick.GetVoltageMilliVolt();
sbyte forward;
sbyte turn;
sbyte oldPwmL = 0, oldPwmR = 0;
while (true)
{
tail_control(body, TAIL_ANGLE_DRIVE); // バランス走行用角度に制御
forward = 50;
turn = (body.color.Read() >= (LIGHT_BLACK + LIGHT_WHITE) / 2) ? (sbyte)50 : (sbyte)-50;
int gyroNow = body.gyro.Read();
int theTaL = body.motorL.GetTachoCount();
int theTaR = body.motorR.GetTachoCount();
// バックラッシュをキャンセル
Balancer.backlash_cancel(oldPwmL, oldPwmR, ref theTaL, ref theTaR);
sbyte pwmL, pwmR;
Balancer.control(
(float)forward, (float)turn, (float)gyroNow, (float)GYRO_OFFSET, (float)theTaL, (float)theTaR, (float)battery,
out pwmL, out pwmR
);
oldPwmL = pwmL;
oldPwmR = pwmR;
if (pwmL == 0)
{
body.motorL.Brake();
}
else
{
body.motorL.SetPower(pwmL);
}
if (pwmR == 0)
{
body.motorR.Brake();
}
else
{
body.motorR.SetPower(pwmR);
}
// バランス制御のみだと3msecで安定
// 尻尾制御と障害物検知を使用する場合2msecで安定
Thread.Sleep(1);
}
}
public async Task <Instance> SelectOneHealthyInstance(string serviceName, string groupName, IList <string> clusters, bool subscribe)
{
if (subscribe)
{
return(Balancer.SelectHost(await _hostReactor.GetServiceInfo(GetGroupedName(serviceName, groupName), string.Join(",", clusters))));
}
else
{
return(Balancer.SelectHost(await _hostReactor.GetServiceInfoDirectlyFromServer(GetGroupedName(serviceName, groupName), string.Join(",", clusters))));
}
}
public void TestClosedParenthesisBeforeOpenParenthesisReturnsFalse()
{
string testString = "(";
Balancer.isBalanced(testString).Should().BeFalse();
testString = "{{)(}}";
Balancer.isBalanced(testString).Should().BeFalse();
testString = "({)}";
Balancer.isBalanced(testString).Should().BeFalse();
}
public void SplitAutohost(BattleContext context, string password)
{
if (AuthServiceClient.VerifyAccountPlain(context.AutohostName, password) == null)
{
throw new Exception("Invalid password");
}
if (context.GetConfig() == null)
{
throw new Exception("Not an autohost");
}
Balancer.SplitAutohost(context);
}
public ApiGatewayConfig()
{
Balancer.Add(new BalancerOption
{
Enable = false,
Host = "localhost:64516",
Nodes = new Node[] {
new Node {
Host = "google.com",
Port = 443,
Scheme = "https",
Enable = true
},
new Node {
Host = "amazon.com",
Port = 443,
Scheme = "https",
Enable = true
}
},
Path = "^(.*)$",
Policy = "RoundRobin",
Port = 64516,
Scheme = "http"
});
Proxy.Add(new ProxyOption
{
Enable = false,
Host = "localhost:64516",
Node = new Node
{
Host = "google.com",
Port = 443,
Scheme = "https"
},
Path = "^(.*)$",
Port = 64516,
Scheme = "http"
});
Cache = new CacheOption
{
Enable = false,
Duration = 600,
MaximumBodySize = 100 * 1024 * 1024,
SizeLimit = 64 * 1024 * 1024,
UseCaseSensitivePaths = false
};
Logging = new LoggingOption
{
Enable = false
};
}
public void Balancer_AllocateServer()
{
var configuration = new ConfigurationBuilder()
.AddInMemoryCollection(new[] {
new KeyValuePair <string, string>("Servers:0", "localhost:9000")
})
.Build();
var balancer = new Balancer(configuration);
var url = balancer.AllocateServer();
Assert.Equal(1, balancer.GetConnectionsCount(url));
}
public void TestBalancedStringReturnsTrue()
{
string testString = "()";
Balancer.isBalanced(testString).Should().BeTrue();
testString = "[({})]";
Balancer.isBalanced(testString).Should().BeTrue();
testString = "{}([])";
Balancer.isBalanced(testString).Should().BeTrue();
testString = "{()}[[{}]]";
Balancer.isBalanced(testString).Should().BeTrue();
}
public async Task <bool> RunServerBalance(bool isGameStart, int?allyTeams, bool?clanWise)
{
try
{
var context = GetContext();
context.Mode = Mode;
var balance = Balancer.BalanceTeams(context, isGameStart, allyTeams, clanWise);
await ApplyBalanceResults(balance);
return(balance.CanStart);
}
catch (Exception ex)
{
Trace.TraceError(ex.ToString());
return(false);
}
}
const int PWM_ABS_MAX = 60; //完全停止用モータ制御PWM絶対最大値
public static void Main()
{
// 構造体の宣言と初期化
var body = new EV3body();
EV3body.init(ref body);
// Bluetooth関係のETロボコン拡張機能を有効にする
Brick.InstallETRoboExt();
// センサーおよびモータに対して初回アクセスをしておく
body.color.Read();
body.gyro.Read();
body.motorL.SetPower(0);
body.motorR.SetPower(0);
body.motorT.SetPower(0);
body.motorL.ResetTacho();
body.motorR.ResetTacho();
body.motorT.ResetTacho();
Balancer.init();
// スタート待ち
wait_start(body);
try{
run(body);
}catch (Exception) {
var dialogE = new InfoDialog("Exception.");
dialogE.Show(); //Wait for enter to be pressed
}
body.motorL.Off();
body.motorR.Off();
body.motorT.Off();
Lcd.Clear();
Lcd.Update();
if (Debugger.IsAttached)
{
Brick.ExitToMenu(); // MonoBrickメインメニューへ戻る
}
}
public void Nanny()
{
Thread.Sleep(5000);
if (ConfigObject.Bots.Any(bot => !bot.TMDisabled))
{
Balancer.Init();
}
Dictionary <string, DateTime> lastRestart = new Dictionary <string, DateTime>();
TimeSpan restartInterval = new TimeSpan(0, 2, 0);
while (!disposed)
{
try {
foreach (RunningBot bot in botProcs)
{
if (bot.IsRunning && bot.TheBot.WantToRestart())
{
DateTime now = DateTime.Now;
if (lastRestart.TryGetValue(bot.BotConfig.Username, out DateTime dt))
{
TimeSpan timeGone = now.Subtract(dt);
if (restartInterval.CompareTo(timeGone) > 0)
{
mongoLog.ApiError($"Nanny is waiting {restartInterval.Subtract(timeGone).TotalSeconds} seconds");
VK.Alert($"Nanny is waiting {restartInterval.Subtract(timeGone).TotalSeconds} seconds");
Thread.Sleep(restartInterval.Subtract(timeGone));
}
}
mongoLog.ApiError($"Nanny is restarting bot {bot.BotConfig.Username}");
VK.Alert($"Nanny is restarting bot {bot.BotConfig.Username}");
RestartBot(bot.BotConfig.Username);
lastRestart[bot.BotConfig.Username] = DateTime.Now;
Thread.Sleep(100);
}
}
} catch (Exception ex) {
mongoLog.Error($"Няне больно =(\n{ex.Message}{ex.StackTrace}");
VK.Alert($"Няне больно =(\n{ex.Message}{ex.StackTrace}");
} finally {
Thread.Sleep(5000);
}
}
}
public void TestBlueSky_Surplus_LessThanDeficit()
{
//set-up
Builders = CreateBuilders();
decimal surplus = Builders[0].Surplus = 5m;
decimal deficit = Builders[1].Deficit = 10m;
Balancer = new Balancer(Builders);
//pre-conditions
Assert.IsTrue(surplus < deficit);
//exercise
Balancer.BalanceBudget();
//post-conditions
Assert.AreEqual(0, Builders[0].Surplus);
Assert.AreEqual(5, Builders[1].Deficit);
}
public void OnButtonUp()
{
float Price = Balancer.GetParameterPrice(Count, player.Lvl);
if (xp.XPGet(Price))
{
if (param == Characteristics.Speed)
{
Count += 0.05f;
}
else if (param == Characteristics.SumBaseDamage)
{
Count++;
}
else
{
Count += 10;
}
}
UpdateUI();
}
public void OnButtonDown()
{
float Price = Balancer.GetParameterPrice(Count - 1, player.Lvl);
if (xp.XPReturn(Price))
{
if (param == Characteristics.Speed)
{
Count -= 0.05f;
}
else if (param == Characteristics.SumBaseDamage)
{
Count--;
}
else
{
Count -= 10;
}
}
UpdateUI();
}
static void Main(string[] args)
{
var inputs = new[]
{
"H2 + O2 = H2O",
"O2 + FeS2 = SO2 + Fe2O3",
"H2O2 + Cr2O7^2- = Cr^3+ + O2 + OH^-",
"K4Fe(CN)6 + KMnO4 + H2SO4 = KHSO4 + Fe2(SO4)3 + MnSO4 + HNO3 + CO2 + H2O"
};
var balancer = new Balancer();
foreach (var input in inputs)
{
balancer.Solve(input);
//Console.WriteLine(balancer.EquationHtml);
Console.WriteLine($" Input: {input}");
Console.WriteLine($"Output: {balancer.EquationText}");
Console.WriteLine();
}
Console.ReadLine();
}
public async Task <Instance> SelectOneHealthyInstance(string serviceName, string groupName, List <string> clusters, bool subscribe)
{
string clusterString = string.Join(",", clusters);
if (subscribe)
{
ServiceInfo serviceInfo = _serviceInfoHolder.GetServiceInfo(serviceName, groupName, clusterString);
if (serviceInfo == null)
{
serviceInfo = await _clientProxy.Subscribe(serviceName, groupName, clusterString).ConfigureAwait(false);
}
return(Balancer.GetHostByRandom(serviceInfo?.Hosts));
}
else
{
ServiceInfo serviceInfo = await _clientProxy
.QueryInstancesOfService(serviceName, groupName, clusterString, 0, false).ConfigureAwait(false);
return(Balancer.GetHostByRandom(serviceInfo?.Hosts));
}
}
public BalancerPolicy(Balancer balancer, string policy)
{
_balancer = balancer;
_policy = policy;
}
/// <summary>
/// Saves the authentication token channels permissions in the ORTC server.
/// </summary>
/// <param name="url">ORTC server URL.</param>
/// <param name="isCluster">Indicates whether the ORTC server is in a cluster.</param>
/// <param name="authenticationToken">Authentication Token which is generated by the application server, for instance a unique session ID.</param>
/// <param name="authenticationTokenIsPrivate">Indicates whether the authentication token is private (1) or not (0).</param>
/// <param name="applicationKey">Application Key that was provided to you together with the ORTC service purchasing.</param>
/// <param name="timeToLive">The authentication token time to live, in other words, the allowed activity time (in seconds).</param>
/// <param name="privateKey">The private key provided to you together with the ORTC service purchasing.</param>
/// <param name="permissions">The channels and their permissions (w: write/read or r: read, case sensitive).</param>
/// <returns>True if the authentication was successful or false if it was not.</returns>
/// <exception cref="OrtcEmptyFieldException">Server URL can not be null or empty.</exception>
/// <exception cref="OrtcAuthenticationNotAuthorizedException">Unauthorized by the server.</exception>
/// <exception cref="OrtcNotConnectedException">Unable to connect to the authentication server.</exception>
/// <example>
/// <code>
/// // Permissions
/// Dictionary;string, ChannelPermissions; permissions = new Dictionary;string, List;ChannelPermissions;;();
///
/// Dictionary;string, List;ChannelPermissions;; channelPermissions = new Dictionary;string, List;ChannelPermissions;;();
/// var permissionsList = new List;ChannelPermissions;();
///
/// permissionsList.Add(ChannelPermissions.Write);
/// permissionsList.Add(ChannelPermissions.Presence);
///
/// channelPermissions.Add("channel1", permissionsList);
///
/// string url = "http://ortc-developers.realtime.co/server/2.1";
/// bool isCluster = true;
/// string authenticationToken = "myAuthenticationToken";
/// bool authenticationTokenIsPrivate = true;
/// string applicationKey = "myApplicationKey";
/// int timeToLive = 1800; // 30 minutes
/// string privateKey = "myPrivateKey";
///
/// bool authSaved = Ibt.Ortc.Api.Ortc.SaveAuthentication(url, isCluster, authenticationToken, authenticationTokenIsPrivate, applicationKey, timeToLive, privateKey, channelPermissions))
/// </code>
/// </example>
public static bool SaveAuthentication(string url, bool isCluster, string authenticationToken, bool authenticationTokenIsPrivate,
string applicationKey, int timeToLive, string privateKey, Dictionary <string, List <ChannelPermissions> > permissions)
{
if (String.IsNullOrEmpty(url))
{
throw new OrtcEmptyFieldException("URL is null or empty.");
}
else if (String.IsNullOrEmpty(applicationKey))
{
throw new OrtcEmptyFieldException("Application Key is null or empty.");
}
else if (String.IsNullOrEmpty(authenticationToken))
{
throw new OrtcEmptyFieldException("Authentication Token is null or empty.");
}
else if (String.IsNullOrEmpty(privateKey))
{
throw new OrtcEmptyFieldException("Private Key is null or empty.");
}
string connectionUrl = url;
if (isCluster)
{
connectionUrl = Balancer.ResolveClusterUrl(url);
}
if (String.IsNullOrEmpty(connectionUrl))
{
throw new OrtcNotConnectedException("Unable to get URL from cluster");
}
connectionUrl = connectionUrl.EndsWith("/") ? connectionUrl + "authenticate" : connectionUrl + "/authenticate";
string postParameters = String.Format("AT={0}&PVT={1}&AK={2}&TTL={3}&PK={4}", authenticationToken, authenticationTokenIsPrivate ? 1 : 0, applicationKey, timeToLive, privateKey);
if (permissions != null && permissions.Count > 0)
{
postParameters += String.Format("&TP={0}", permissions.Count);
foreach (var permission in permissions)
{
var permissionItemText = String.Format("{0}=", permission.Key);
foreach (var permissionItemValue in permission.Value.ToList())
{
permissionItemText += ((char)permissionItemValue).ToString();
}
postParameters += String.Format("&{0}", permissionItemText);
}
}
HttpContent content = new StringContent(postParameters);
using (var client = new HttpClient(new NativeMessageHandler())) {
var response = client.PostAsync(new Uri(connectionUrl), content).Result;
if (response.IsSuccessStatusCode)
{
return(true);
}
else
{
throw new OrtcAuthenticationNotAuthorizedException(response.Content.ReadAsStringAsync().Result);
}
}
}
public BalanceTeamsResult BalanceTeams(BattleContext context, bool isGameStart, int?allyCount, bool?clanWise)
{
return(Balancer.BalanceTeams(context, isGameStart, allyCount, clanWise));
}
/// <summary>
/// 构造函数
/// </summary>
/// <param name="connectionString">连接字符串：逗号隔开</param>
/// <param name="port">端口</param>
/// <param name="username">基本身份验证的etcd服务器的用户名</param>
/// <param name="password">基本身份验证的etcd服务器的密码</param>
/// <param name="caCert">连接到etcd的CA证书内容。</param>
/// <param name="clientCert">连接到etcd的客户端证书内容。</param>
/// <param name="clientKey">连接到etcd的客户端密钥内容。</param>
/// <param name="publicRootCa">是否使用公共信任的根进行连接。</param>
/// <exception cref="Exception"></exception>
public EtcdClient(string connectionString, int port = 2379, string username = "", string password = "",
string caCert = "", string clientCert = "", string clientKey = "", bool publicRootCa = false)
{
if (string.IsNullOrWhiteSpace(connectionString))
{
throw new Exception("连接到Etcd服务端的连接不能为空.");
}
string[] hosts;
if (connectionString.ToLowerInvariant().StartsWith("discovery-srv://"))
{
// Expecting it to be discovery-srv://{domain}/{name}
// Examples:
// discovery-srv://my-domain.local/ would expect entries for either _etcd-client-ssl._tcp.my-domain.local or _etcd-client._tcp.my-domain.local
// discovery-srv://my-domain.local/project1 would expect entries for either _etcd-client-ssl-project1._tcp.my-domain.local or _etcd-client-project1._tcp.my-domain.local
// Uri discoverySrv = new Uri(connectionString);
// var client = new LookupClient {UseCache = true};
// // SSL first ...
// var serviceName = "/".Equals(discoverySrv.AbsolutePath)
// ? ""
// : $"-{discoverySrv.AbsolutePath.Substring(1, discoverySrv.AbsolutePath.Length - 1)}";
// var result = client.Query($"_etcd-client-ssl{serviceName}._tcp.{discoverySrv.Host}", QueryType.SRV);
// var scheme = "https";
// if (result.HasError)
// {
// scheme = "http";
// // No SSL ...
// result = client.Query($"_etcd-client{serviceName}._tcp.{discoverySrv.Host}", QueryType.SRV);
// if (result.HasError)
// {
// throw new InvalidOperationException(result.ErrorMessage);
// }
// }
//
// var results = result.Answers.OfType<SrvRecord>().OrderBy(a => a.Priority)
// .ThenByDescending(a => a.Weight).ToList();
// hosts = new string[results.Count];
// for (int index = 0; index < results.Count; index++)
// {
// var srvRecord = results[index];
// var additionalRecord =
// result.Additionals.FirstOrDefault(p => p.DomainName.Equals(srvRecord.Target));
// var host = srvRecord.Target.Value;
//
// if (additionalRecord is ARecord aRecord)
// {
// host = aRecord.Address.ToString();
// }
// else if (additionalRecord is CNameRecord cname)
// {
// host = cname.CanonicalName;
// }
//
// if (host.EndsWith("."))
// host = host.Substring(0, host.Length - 1);
// hosts[index] = $"{scheme}://{host}:{srvRecord.Port}";
// }
hosts = new string[] { };
}
else
{
hosts = connectionString.Split(',');
}
List <Uri> nodes = new List <Uri>();
// 处理连接字符串没有加端口号
for (int i = 0; i < hosts.Length; i++)
{
string host = hosts[i];
if (host.Split(':').Length < 3)
{
host += $":{Convert.ToString(port)}";
}
nodes.Add(new Uri(host));
}
_balancer = new Balancer(nodes, username, password, caCert, clientCert, clientKey, publicRootCa);
}
static void run(EV3body body, NetworkStream connection)
{
// 電圧を取得
int battery = Brick.GetVoltageMilliVolt();
sbyte forward;
sbyte turn;
int counter = 0;
bool alert = false;
while (!body.touch.IsPressed())
{
tail_control(body, TAIL_ANGLE_DRIVE); // バランス走行用角度に制御
if (checkRemoteCommand(connection, REMOTE_COMMAND_STOP))
{
break; // PC で 's' キー押されたら走行終了
}
if (++counter >= 40 / 4)
{
alert = sonar_alert(body);
counter = 0;
}
if (alert)
{
forward = 0;
turn = 0;
}
else
{
forward = 50;
turn = (body.color.Read() >= (LIGHT_BLACK + LIGHT_WHITE) / 2) ? (sbyte)50 : (sbyte)-50;
}
int gyroNow = body.gyro.Read();
int thetaL = body.motorL.GetTachoCount();
int theTaR = body.motorR.GetTachoCount();
sbyte pwmL, pwmR;
Balancer.control(
(float)forward, (float)turn, (float)gyroNow, (float)GYRO_OFFSET, (float)thetaL, (float)theTaR, (float)battery,
out pwmL, out pwmR
);
if (pwmL == 0)
{
body.motorL.Brake();
}
else
{
body.motorL.SetPower(pwmL);
}
if (pwmR == 0)
{
body.motorR.Brake();
}
else
{
body.motorR.SetPower(pwmR);
}
// バランス制御のみだと3msecで安定
// 尻尾制御と障害物検知を使用する場合2msecで安定
Thread.Sleep(2);
}
}
public EtcdClient(string connectionString, int port = 2379,
HttpClientHandler handler = null, bool ssl = false,
bool useLegacyRpcExceptionForCancellation = false)
{
if (string.IsNullOrWhiteSpace(connectionString))
{
throw new Exception("etcd connection string is empty.");
}
string[] hosts;
if (connectionString.ToLowerInvariant().StartsWith("discovery-srv://"))
{
// Expecting it to be discovery-srv://{domain}/{name}
// Examples:
// discovery-srv://my-domain.local/ would expect entries for either _etcd-client-ssl._tcp.my-domain.local or _etcd-client._tcp.my-domain.local
// discovery-srv://my-domain.local/project1 would expect entries for either _etcd-client-ssl-project1._tcp.my-domain.local or _etcd-client-project1._tcp.my-domain.local
Uri discoverySrv = new Uri(connectionString);
LookupClient client = new LookupClient(new LookupClientOptions
{
UseCache = true
});
// SSL first ...
string serviceName = "/".Equals(discoverySrv.AbsolutePath)
? ""
: $"-{discoverySrv.AbsolutePath.Substring(startIndex: 1, length: discoverySrv.AbsolutePath.Length - 1)}";
IDnsQueryResponse result = client.Query($"_etcd-client-ssl{serviceName}._tcp.{discoverySrv.Host}", QueryType.SRV);
string scheme = "https";
if (result.HasError)
{
scheme = "http";
// No SSL ...
result = client.Query($"_etcd-client{serviceName}._tcp.{discoverySrv.Host}", QueryType.SRV);
if (result.HasError)
{
throw new InvalidOperationException(result.ErrorMessage);
}
}
List <SrvRecord> results = result.Answers.OfType <SrvRecord>().OrderBy(a => a.Priority)
.ThenByDescending(a => a.Weight).ToList();
hosts = new string[results.Count];
for (int index = 0; index < results.Count; index++)
{
SrvRecord srvRecord = results[index];
DnsResourceRecord additionalRecord =
result.Additionals.FirstOrDefault(p => p.DomainName.Equals(srvRecord.Target));
string host = srvRecord.Target.Value;
if (additionalRecord is ARecord aRecord)
{
host = aRecord.Address.ToString();
}
else if (additionalRecord is CNameRecord cname)
{
host = cname.CanonicalName;
}
if (host.EndsWith("."))
{
host = host.Substring(startIndex: 0, host.Length - 1);
}
hosts[index] = $"{scheme}://{host}:{srvRecord.Port}";
}
}
else
{
hosts = connectionString.Split(',');
}
List <Uri> nodes = new List <Uri>();
for (int i = 0; i < hosts.Length; i++)
{
string host = hosts[i];
if (host.Split(':').Length < 3)
{
host += $":{Convert.ToString(port)}";
}
if (!(host.StartsWith(InsecurePrefix) || host.StartsWith(SecurePrefix)))
{
if (ssl)
{
host = $"{SecurePrefix}{host}";
}
else
{
host = $"{InsecurePrefix}{host}";
}
}
nodes.Add(new Uri(host));
}
_balancer = new Balancer(nodes, handler, ssl, useLegacyRpcExceptionForCancellation);
}
