public void ConnectToClient(string inputIPString)
{
Debug.Log("Trying to connect to: " + inputIPString);
string pose_host_address = "tcp://" + inputIPString + ":" + pose_client_port.ToString();
string video_host_address = "tcp://" + inputIPString + ":" + video_client_port.ToString();
// Close ZMQ sockets
pull_socket.Close();
push_socket.Close();
Debug.Log("Terminated ZMQ sockets.");
NetMQConfig.Cleanup();
// Reinstantiate sockets
InstantiateSockets();
// Try to connect sockets
try
{
pull_socket.Connect(pose_host_address);
push_socket.Connect(video_host_address);
Debug.Log("Sockets bound.");
// Save ip address for use on next boot.
PlayerPrefs.SetString(client_ip_pref_key, inputIPString);
PlayerPrefs.Save();
}
catch (Exception)
{
Debug.LogError("Input address from textbox is invalid. Note that hostnames are not supported!");
throw;
}
}
/* =====================
* UNITY PLAYER EVENT HOOKS
* =====================
*/
// Function called when Unity Player is loaded.
public IEnumerator Start()
{
// Check if the program should use CLI arguments (with defaults)
if (!Application.isEditor)
{
pose_host = GetArg("-pose-host", pose_host_default);
video_host = GetArg("-video-host", video_host_default);
}
// Init simple splash screen
Text text_obj = splashScreen.GetComponentInChildren <Text>(true);
text_obj.text = "FlightGoggles Simulation Environment" + Environment.NewLine +
flight_goggles_version + Environment.NewLine + Environment.NewLine +
"Waiting for client connection..." + Environment.NewLine + Environment.NewLine +
"Pose input socket:" + Environment.NewLine + pose_host + Environment.NewLine + Environment.NewLine +
"Video output socket:" + Environment.NewLine + video_host;
splashScreen.SetActive(true);
// Fixes for Unity/NetMQ conflict stupidity.
AsyncIO.ForceDotNet.Force();
socket_lock = new object();
// Connect sockets
Debug.Log("Creating sockets.");
pull_socket = new NetMQ.Sockets.SubscriberSocket();
pull_socket.Options.ReceiveHighWatermark = 90;
pull_socket.Connect(pose_host);
// Setup subscriptions.
pull_socket.Subscribe("Pose");
push_socket = new NetMQ.Sockets.PublisherSocket();
push_socket.Connect(video_host);
Debug.Log("Sockets bound.");
// Initialize Internal State
internal_state = new UnityState_t();
// Do not try to do any processing this frame so that we can render our splash screen.
internal_state.screenSkipFrames = 1;
// Wait until end of frame to transmit images
while (true)
{
// Wait until all rendering + UI is done.
// Blocks until the frame is rendered.
yield return(new WaitForEndOfFrame());
// Check if this frame should be rendered.
if (internal_state.readyToRender)
{
// Read the frame from the GPU backbuffer and send it via ZMQ.
sendFrameOnWire();
}
}
}
public void ConnectBothSockets()
{
using (var pub = new PublisherSocket())
using (var sub = new SubscriberSocket())
{
pub.Connect("pgm://224.0.0.1:5555");
sub.Connect("pgm://224.0.0.1:5555");
sub.Subscribe("");
pub.SendFrame("Hi");
bool more;
Assert.AreEqual("Hi", sub.ReceiveFrameString(out more));
Assert.IsFalse(more);
}
}
public void Sending1000Messages()
{
// creating two different context and sending 1000 messages
int count = 0;
var subReady = new ManualResetEvent(false);
Task subTask = Task.Factory.StartNew(() =>
{
using (var sub = new SubscriberSocket())
{
sub.Bind("pgm://224.0.0.1:5555");
sub.Subscribe("");
subReady.Set();
while (count < 1000)
{
bool more;
Assert.AreEqual(count, BitConverter.ToInt32(sub.ReceiveFrameBytes(out more), 0));
Assert.IsFalse(more);
count++;
}
}
});
subReady.WaitOne();
Task pubTask = Task.Factory.StartNew(() =>
{
using (var pub = new PublisherSocket())
{
pub.Connect("pgm://224.0.0.1:5555");
for (int i = 0; i < 1000; i++)
pub.SendFrame(BitConverter.GetBytes(i));
// if we close the socket before the subscriber receives all messages subscriber
// might miss messages, lets wait another second
Thread.Sleep(1000);
}
});
pubTask.Wait();
subTask.Wait();
Assert.AreEqual(1000, count);
}
public void UseInterface()
{
#if NETCOREAPP1_0
var hostEntry = Dns.GetHostEntryAsync(Dns.GetHostName()).Result;
#else
var hostEntry = Dns.GetHostEntry(Dns.GetHostName());
#endif
string ip = hostEntry.AddressList
.Where(addr => addr.AddressFamily == AddressFamily.InterNetwork)
.Select(addr => addr.ToString())
.FirstOrDefault();
using (var pub = new PublisherSocket())
using (var sub = new SubscriberSocket())
{
pub.Connect($"pgm://{ip};224.0.0.1:5555");
sub.Bind($"pgm://{ip};224.0.0.1:5555");
sub.Subscribe("");
pub.SendFrame("Hi");
bool more;
Assert.AreEqual("Hi", sub.ReceiveFrameString(out more));
Assert.IsFalse(more);
}
}
public void SetPgmSettings()
{
const int MegaBit = 1024;
const int MegaByte = 1024;
using (var pub = new PublisherSocket())
using (var sub = new SubscriberSocket())
{
pub.Options.MulticastHops = 2;
pub.Options.MulticastRate = 40*MegaBit; // 40 megabit
pub.Options.MulticastRecoveryInterval = TimeSpan.FromMinutes(10);
pub.Options.SendBuffer = MegaByte*10; // 10 megabyte
pub.Connect("pgm://224.0.0.1:5555");
sub.Options.ReceiveBuffer = MegaByte*10;
sub.Bind("pgm://224.0.0.1:5555");
sub.Subscribe("");
pub.SendFrame("Hi");
bool more;
Assert.AreEqual("Hi", sub.ReceiveFrameString(out more));
Assert.IsFalse(more);
Assert.AreEqual(2, pub.Options.MulticastHops);
Assert.AreEqual(40*MegaBit, pub.Options.MulticastRate);
Assert.AreEqual(TimeSpan.FromMinutes(10), pub.Options.MulticastRecoveryInterval);
Assert.AreEqual(MegaByte*10, pub.Options.SendBuffer);
Assert.AreEqual(MegaByte*10, sub.Options.ReceiveBuffer);
}
}
public void ThroughXPubXSubWithReconnectingPublisher()
{
using (var xpub = new XPublisherSocket())
using (var xsub = new XSubscriberSocket())
using (var poller = new NetMQPoller {xsub, xpub})
{
var xPubPort = (ushort)xpub.BindRandomPort("tcp://*");
var xSubPort = (ushort)xsub.BindRandomPort("tcp://*");
var proxy = new Proxy(xsub, xpub, poller: poller);
proxy.Start();
poller.RunAsync();
// long running subscriber
using (var sub = new SubscriberSocket())
{
sub.Connect(string.Format("tcp://localhost:{0}", xPubPort));
sub.Subscribe("A");
// publisher 1
using (var pub = new PublisherSocket())
{
pub.Connect(string.Format("tcp://localhost:{0}", xSubPort));
// give the publisher a chance to learn of the subscription
Thread.Sleep(100);
pub.SendMoreFrame("A").SendFrame("1");
}
// publisher 2
using (var pub = new PublisherSocket())
{
pub.Connect(string.Format("tcp://localhost:{0}", xSubPort));
// give the publisher a chance to learn of the subscription
Thread.Sleep(100);
pub.SendMoreFrame("A").SendFrame("2");
}
var frames = new List<string>();
Assert.True(sub.TryReceiveMultipartStrings(TimeSpan.FromSeconds(1), ref frames));
CollectionAssert.AreEqual(new[] { "A", "1" }, frames);
Assert.True(sub.TryReceiveMultipartStrings(TimeSpan.FromSeconds(1), ref frames));
CollectionAssert.AreEqual(new[] { "A", "2" }, frames);
}
}
}
public void ThroughXPubXSub()
{
using (var xpub = new XPublisherSocket())
using (var xsub = new XSubscriberSocket())
using (var proxyPoller = new NetMQPoller {xsub, xpub})
{
var xPubPort = (ushort)xpub.BindRandomPort("tcp://*");
var xSubPort = (ushort)xsub.BindRandomPort("tcp://*");
var proxy = new Proxy(xsub, xpub, poller: proxyPoller);
proxy.Start();
proxyPoller.RunAsync();
using (var pub = new PublisherSocket())
using (var sub = new SubscriberSocket())
{
// Client 1
sub.Connect(string.Format("tcp://localhost:{0}", xPubPort));
pub.Connect(string.Format("tcp://localhost:{0}", xSubPort));
sub.Subscribe("A");
// Client 2
Thread.Sleep(500);
pub.SendMoreFrame("A").SendFrame("Hello");
var frames = new List<string>();
Assert.True(sub.TryReceiveMultipartStrings(TimeSpan.FromSeconds(1), ref frames));
CollectionAssert.AreEqual(
new[] { "A", "Hello" },
frames);
}
}
}
public void LargeMessage()
{
using (var pub = new PublisherSocket())
using (var sub = new SubscriberSocket())
{
pub.Connect("pgm://224.0.0.1:5555");
sub.Bind("pgm://224.0.0.1:5555");
sub.Subscribe("");
var data = new byte[3200]; // this should be at least 3 packets
for (Int16 i = 0; i < 1600; i++)
Array.Copy(BitConverter.GetBytes(i), 0, data, i*2, 2);
pub.SendFrame(data);
byte[] message = sub.ReceiveFrameBytes();
Assert.AreEqual(3200, message.Length);
for (Int16 i = 0; i < 1600; i++)
Assert.AreEqual(i, BitConverter.ToInt16(message, i*2));
}
}
