static TaskGraph()
{
instance = new TaskGraph();
dispatcher = new Channel <Task>(new RoundRobinDispatcher());
pendingTasks = new QueueBuffer <Task>(64);
comparer = new TaskPinComparer();
}
/// <summary>
/// 构造函数
/// </summary>
/// <param name="port">端口</param>
/// <param name="remote">远程ip地址</param>
/// <param name="subThread">是否运行子线程派发消息</param>
/// <param name="type">封包类型</param>
/// <param name="es">封包缓存大小</param>
public UdpSocket(int port, IPEndPoint remote, bool subThread = true, PackType type = PackType.Total, int es = 262144)
{
endPoint = remote;
//Links = new Linker[thread * 1024];
IPEndPoint ip = new IPEndPoint(IPAddress.Any, port);
soc = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp); //new UdpClient(_port);//new IPEndPoint(IPAddress.Parse(ip),
soc.Bind(ip);
soc.ReceiveTimeout = 1000;
if (type != PackType.None)
{
Packaging = true;
envelope = new TcpEnvelope(es);
envelope.type = type;
}
running = true;
auto = subThread;
if (thread == null)
{
thread = new Thread(Run);
thread.Start();
}
queue = new QueueBuffer <SocData>();
}
public static void SetupClient()
{
Client.Start(SERVER_IP, 1025, 1026, "MainRover");
DrivePackets = new QueueBuffer();
StopPackets = new QueueBuffer();
ModePackets = new QueueBuffer();
PathPackets = new QueueBuffer();
Parse.SetParseHandler(0x80, (Packet) => StopPackets.Enqueue(Packet, 0));
Parse.SetParseHandler(0x99, (Packet) => ModePackets.Enqueue(Packet, 0));
for (byte i = 0x8E; i <= 0x94; i++)
{
Parse.SetParseHandler(i, (Packet) => DrivePackets.Enqueue(Packet, 0));
}
Parse.SetParseHandler(0x98, (Packet) => DrivePackets.Enqueue(Packet, 0));
for (byte i = 0x9A; i <= 0xA1; i++)
{
Parse.SetParseHandler(i, (Packet) => DrivePackets.Enqueue(Packet, 0));
}
for (byte i = 0x95; i <= 0x97; i++)
{
Parse.SetParseHandler(i, (Packet) => PathPackets.Enqueue(Packet, 0));
}
PathSpeed = 0;
PathAngle = 0;
}
public BandwidthControlBuffer ConstructBandwidthController(int[] badwidhtAllocation = null)
{
QueueBuffer[] sub = new QueueBuffer[3];
sub[0] = new QueueBuffer();
sub[1] = new QueueBuffer();
sub[2] = new QueueBuffer();
return(new BandwidthControlBuffer(sub, badwidhtAllocation, 512));
}
public PriorityBuffer ConstructPriorityController()
{
QueueBuffer[] sub = new QueueBuffer[3];
sub[0] = new QueueBuffer();
sub[1] = new QueueBuffer();
sub[2] = new QueueBuffer();
return(new PriorityBuffer(sub));
}
public static void ProcessInstructions()
{
if (!StopPackets.IsEmpty())
{
StopPackets = new QueueBuffer();
// Stop the Rover
}
else if (!ModePackets.IsEmpty())
{
ProcessModePackets();
}
else
{
switch (CurDriveMode)
{ // TODO For each case statement, clear undeeded queue buffers
case DriveMode.BaseDrive:
ProcessBasePackets();
PathPackets = new QueueBuffer();
break;
case DriveMode.toGPS:
ProcessPathPackets();
DrivePackets = new QueueBuffer();
break;
case DriveMode.findTennisBall:
DrivePackets = new QueueBuffer();
PathPackets = new QueueBuffer();
break;
case DriveMode.toTennisBall:
DrivePackets = new QueueBuffer();
PathPackets = new QueueBuffer();
break;
case DriveMode.destination:
DrivePackets = new QueueBuffer();
PathPackets = new QueueBuffer();
//Spinning Motor
float t = 0.1f;
while (t < .9f)
{
OutA.SetOutput(t);
t += 0.0001f;
}
while (t > .1f)
{
OutA.SetOutput(t);
t -= 0.0001f;
}
OutA.Dispose();
break;
}
}
}
public virtual void Dispose()
{
envelope.Dispose();
envelope = null;
if (metaData != null)
{
metaData.Clear();
}
metaData = null;
kcp = null;
}
public void TestLeakyBucketOrder()
{
QueueBuffer controller = new QueueBuffer();
controller.Enqueue(NewPacket(1, 0));
controller.Enqueue(NewPacket(2, 0));
controller.Enqueue(NewPacket(3, 0));
AssertPacket(controller.Dequeue(), 1, 0);
AssertPacket(controller.Dequeue(), 2, 0);
AssertPacket(controller.Dequeue(), 3, 0);
Assert.AreEqual(controller.Dequeue(), null);
}
public UserQueue(QueueBufferFor who)
: base()
{
//this is a queue for of user ids, so the value COMMENT, which will make the queue store status ids, is not allowed, default value USER_INFO will be used.
if (who == QueueBufferFor.COMMENT)
{
lstWaitingIDInDB = new QueueBuffer(QueueBufferFor.USER_INFO);
}
else
{
lstWaitingIDInDB = new QueueBuffer(who);
}
}
public void TestLeakyBucketEmpty()
{
QueueBuffer controller = new QueueBuffer();
Assert.AreEqual(controller.Peek(), null);
Assert.AreEqual(controller.Dequeue(), null);
controller.Enqueue(NewPacket(10, 0));
AssertPacket(controller.Peek(), 10, 0);
AssertPacket(controller.Dequeue(), 10, 0);
Assert.AreEqual(controller.Peek(), null);
Assert.AreEqual(controller.Dequeue(), null);
}
public void TestLeakyBucketCapacity()
{
QueueBuffer controller = new QueueBuffer();
int capacity = 200000;
for (int i = 0; i < capacity; i++)
{
controller.Enqueue(NewPacket(10, 0));
}
controller.Peek();
for (int i = 0; i < capacity; i++)
{
controller.Dequeue();
}
}
private static void Main(string[] args)
{
// TAKE ONE
var buffer = new CircularBuffer <double>();
//ProcessInput(buffer);
// TAKE TWO
// Some scenarios where extension of buffer is needed
// Avoid coding agains a concrete class, instead code against an interface
var bufferInterface = new CircularBufferByInterface <double>();
ProcessBufferByInterface(bufferInterface);
// And I can use different Buffer without changing client code
var queueBuffer = new QueueBuffer <double>();
ProcessBufferByInterface(queueBuffer);
// TAKE THREE
// Enumerating a buffer - IEnumerable has been implemented
// Now i'm able to use foreach
foreach (var item in queueBuffer)
{
Console.WriteLine(item);
}
// TAKE FOUR - ADDING <TOutput> METHOD
// TOutput will return different TOutput type than Buffer<T> type
var asInts = queueBuffer.AsEnumerableOf <int>();
ProcessInputByInterface(queueBuffer);
foreach (var item in queueBuffer)
{
Console.WriteLine(item);
}
// TAKE FIVE - ADDING EXTENSION METHOD that returns <TOutput)
var asInts2 = queueBuffer.AsEnumerableOfExtension <double, int>();
ProcessInputByInterface(queueBuffer);
// TAKE SIX - ADDING ANOTHER EXTENSION (VOID) method
queueBuffer.Dump();
}
public static void ProcessInstructions()
{
if (!StopPackets.IsEmpty())
{
StopPackets = new QueueBuffer();
// Stop the Rover
}
else if (!ModePackets.IsEmpty())
{
ProcessModePackets();
}
else
{
switch (CurDriveMode)
{ // TODO For each case statement, clear undeeded queue buffers
case DriveMode.BaseDrive:
ProcessBasePackets();
PathPackets = new QueueBuffer();
break;
case DriveMode.toGPS:
ProcessPathPackets();
DrivePackets = new QueueBuffer();
break;
case DriveMode.findTennisBall:
DrivePackets = new QueueBuffer();
PathPackets = new QueueBuffer();
break;
case DriveMode.toTennisBall:
DrivePackets = new QueueBuffer();
PathPackets = new QueueBuffer();
break;
case DriveMode.destination:
DrivePackets = new QueueBuffer();
PathPackets = new QueueBuffer();
break;
}
}
}
public ThreadMission(string tag)
{
Tag = tag;
SubMission = new QueueBuffer <Mission>();
MainMission = new QueueBuffer <Mission>();
#if UNITY_WSA
thread = System.Threading.Tasks.Task.Run(Run);
are = new AutoResetEvent(false);
run = true;
thread.Start();
Id = thread.Id;
#else
thread = new Thread(Run);
are = new AutoResetEvent(false);
run = true;
thread.Start();
Id = thread.ManagedThreadId;
#endif
threads.Add(this);
}
public TreeView()
{
swap = new SwapBuffer <TreeViewItem, TreeViewNode>(512);
queue = new QueueBuffer <TreeViewItem>(256);
}
public KcpSocket()
{
datas = new QueueBuffer <KcpData>();
}
protected virtual void Start()
{
Font.textureRebuilt += FontTextureRebuilt;
Main = new QueueBuffer <TempBuffer>();
Sub = new QueueBuffer <TempBuffer>();
}
public void TestLeakyBucketPriority()
{
QueueBuffer controller = new QueueBuffer();
controller.Enqueue(NewPacket(1, 0), 1);
}
static void Main(string[] args)
{
// DELEGATE => pointer to an action/method()
// ACTION<T>
// Action => returns nothing, takes 0-16 parameters (in this case a double object)
// TAKE ONE
// Pointer to a method ConsoleWrite
Action <double> print = ConsoleWrite;
print(2.2);
// Extension Method taking in Action<T> => sending a pointer to ConsoleWrite Method
var queueBuffer = new QueueBuffer <double>();
queueBuffer.DumpActionDelegate <double>(print);
// TAKE TWO - ANONYMOUS DELEGATE METHOD
// Where implementation is anonymous and not an actual Method()
Action <double> printAnon = delegate(double data)
{ Console.Write(data); };
var queueBuffer2 = new QueueBuffer <double>();
queueBuffer2.DumpActionDelegate <double>(printAnon);
// TAKE THREE - LAMBDA EXPRESSIONS
var queueBuffer3 = new QueueBuffer <double>();
queueBuffer3.DumpActionDelegate(d => ConsoleWrite(d));
// Empty Lambda
Action doNothing = () => { };
// FUNC<T, K>
// Func => returns one param, takes 0-16 parameters (in this case a double object)
// Last param is the return type
// ie. Func<double, string> takes in double, returns a string
// TAKE ONE
// Squere a number
Func <double, double> square = d => d * d;
// Add two doubles, return a double
Func <double, double, double> add = (x, y) => x + y;
// TAKE FOUR
// CONVERTER
// Takes in one type and returns another
Converter <double, string> converter = d => d.ToString();
// Using Converter
var queueBufferConverter = new QueueBuffer <double>();
Converter <double, DateTime> converterDate = d => new DateTime(2010, 1, 1).AddDays(d);
queueBufferConverter.AsEnumerableOfExtensionUsingConverter <double, DateTime>(converterDate);
// TAKE FIVE
// Adding event handler
var queueWithEvent = new QueueBuffer <double>();
// Subscribe to event and specify the method that will fire when event occurs
queueWithEvent.ItemDiscarded += QueueWithEventOnItemDiscarded;
}
public StatusQueue()
: base()
{
lstWaitingIDInDB = new QueueBuffer(QueueBufferFor.COMMENT);
}
