Merge commit 'a48ae12fc2f6d4a99119c128e78bf4b103e607c3' into V2
This commit is contained in:
Pascal Serrarens
commit
9b53eee21e
173
EchoStream.cs
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173
EchoStream.cs
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@ -0,0 +1,173 @@
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using System;
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using System.IO;
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using System.Threading.Tasks;
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using System.Threading;
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using System.Collections.Concurrent;
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public class EchoStream : Stream {
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public override bool CanTimeout { get; } = true;
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public override int ReadTimeout { get; set; } = Timeout.Infinite;
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public override int WriteTimeout { get; set; } = Timeout.Infinite;
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public override bool CanRead { get; } = true;
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public override bool CanSeek { get; } = false;
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public override bool CanWrite { get; } = true;
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public bool CopyBufferOnWrite { get; set; } = false;
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private readonly object _lock = new object();
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// Default underlying mechanism for BlockingCollection is ConcurrentQueue<T>, which is what we want
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private readonly BlockingCollection<byte[]> _Buffers;
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private int _maxQueueDepth = 10;
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private byte[] m_buffer = null;
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private int m_offset = 0;
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private int m_count = 0;
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private bool m_Closed = false;
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private bool m_FinalZero = false; //after the stream is closed, set to true after returning a 0 for read()
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public override void Close() {
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m_Closed = true;
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// release any waiting writes
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_Buffers.CompleteAdding();
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}
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public bool DataAvailable {
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get {
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return _Buffers.Count > 0;
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}
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}
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private long _Length = 0L;
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public override long Length {
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get {
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return _Length;
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}
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}
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private long _Position = 0L;
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public override long Position {
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get {
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return _Position;
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}
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set {
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throw new NotImplementedException();
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}
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}
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public EchoStream() : this(10) {
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}
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public EchoStream(int maxQueueDepth) {
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_maxQueueDepth = maxQueueDepth;
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_Buffers = new BlockingCollection<byte[]>(_maxQueueDepth);
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}
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// we override the xxxxAsync functions because the default base class shares state between ReadAsync and WriteAsync, which causes a hang if both are called at once
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public new Task WriteAsync(byte[] buffer, int offset, int count) {
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return Task.Run(() => Write(buffer, offset, count));
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}
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// we override the xxxxAsync functions because the default base class shares state between ReadAsync and WriteAsync, which causes a hang if both are called at once
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public new Task<int> ReadAsync(byte[] buffer, int offset, int count) {
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return Task.Run(() => {
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return Read(buffer, offset, count);
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});
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}
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public override void Write(byte[] buffer, int offset, int count) {
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if (m_Closed || buffer.Length - offset < count || count <= 0)
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return;
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byte[] newBuffer;
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if (!CopyBufferOnWrite && offset == 0 && count == buffer.Length)
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newBuffer = buffer;
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else {
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newBuffer = new byte[count];
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System.Buffer.BlockCopy(buffer, offset, newBuffer, 0, count);
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}
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if (!_Buffers.TryAdd(newBuffer, WriteTimeout))
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throw new TimeoutException("EchoStream Write() Timeout");
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_Length += count;
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}
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public override int Read(byte[] buffer, int offset, int count) {
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if (count == 0)
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return 0;
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lock (_lock) {
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if (m_count == 0 && _Buffers.Count == 0) {
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if (m_Closed) {
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if (!m_FinalZero) {
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m_FinalZero = true;
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return 0;
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}
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else {
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return -1;
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}
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}
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if (_Buffers.TryTake(out m_buffer, ReadTimeout)) {
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m_offset = 0;
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m_count = m_buffer.Length;
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}
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else {
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if (m_Closed) {
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if (!m_FinalZero) {
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m_FinalZero = true;
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return 0;
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}
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else {
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return -1;
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}
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}
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else {
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return 0;
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}
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}
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}
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int returnBytes = 0;
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while (count > 0) {
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if (m_count == 0) {
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if (_Buffers.TryTake(out m_buffer, 0)) {
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m_offset = 0;
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m_count = m_buffer.Length;
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}
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else
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break;
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}
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var bytesToCopy = (count < m_count) ? count : m_count;
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System.Buffer.BlockCopy(m_buffer, m_offset, buffer, offset, bytesToCopy);
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m_offset += bytesToCopy;
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m_count -= bytesToCopy;
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offset += bytesToCopy;
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count -= bytesToCopy;
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returnBytes += bytesToCopy;
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}
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_Position += returnBytes;
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return returnBytes;
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}
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}
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public override int ReadByte() {
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byte[] returnValue = new byte[1];
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return (Read(returnValue, 0, 1) <= 0 ? -1 : (int)returnValue[0]);
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}
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public override void Flush() {
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}
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public override long Seek(long offset, SeekOrigin origin) {
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throw new NotImplementedException();
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}
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public override void SetLength(long value) {
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throw new NotImplementedException();
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}
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}
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2
EchoStream.cs.meta
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2
EchoStream.cs.meta
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@ -0,0 +1,2 @@
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fileFormatVersion: 2
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guid: 422516a56cbf14d46aaa0b1bc09115bf
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@ -1,6 +1,13 @@
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using Passer;
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public class LowLevelMessages {
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public static void SendSpherical(byte[] buffer, ref uint ix, Spherical v) {
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SendFloat16(buffer, ref ix, new float16(v.distance));
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SendAngle8(buffer, ref ix, v.horizontal);
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SendAngle8(buffer, ref ix, v.vertical);
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}
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public static Spherical ReceiveSpherical(byte[] data, ref uint ix) {
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float horizontal = ReceiveAngle8(data, ref ix);
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float vertical = ReceiveAngle8(data, ref ix);
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@ -9,6 +16,23 @@ public class LowLevelMessages {
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return v;
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}
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public static void SendQuat32(byte[] buffer, ref uint ix, Quat32 q) {
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int qx = (int)(q.x * 127 + 128);
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int qy = (int)(q.y * 127 + 128);
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int qz = (int)(q.z * 127 + 128);
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int qw = (int)(q.w * 255);
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if (q.w < 0) {
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qx = -qx;
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qy = -qy;
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qz = -qz;
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qw = -qw;
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}
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buffer[ix++] = (byte)qx;
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buffer[ix++] = (byte)qy;
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buffer[ix++] = (byte)qz;
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buffer[ix++] = (byte)qw;
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}
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public static Quat32 ReceiveQuat32(byte[] data, ref uint ix) {
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Quat32 q = new(
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(data[ix++] - 128.0F) / 127.0F,
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@ -18,11 +42,26 @@ public class LowLevelMessages {
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return q;
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}
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public static void SendAngle8(byte[] buffer, ref uint ix, float angle) {
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// Normalize angle
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while (angle >= 180)
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angle -= 360;
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while (angle < -180)
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angle += 360;
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buffer[ix++] = (byte)((angle / 360.0f) * 256.0f);
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}
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public static float ReceiveAngle8(byte[] data, ref uint ix) {
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float value = (data[ix++] * 180) / 128.0F;
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return value;
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}
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public static void SendFloat16(byte[] data, ref uint ix, float16 f) {
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ushort binary = f.GetBinary();
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data[ix++] = (byte)(binary >> 8);
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data[ix++] = (byte)(binary & 255);
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}
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public static float ReceiveFloat16(byte[] data, ref uint ix) {
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ushort value = (ushort)(data[ix++] << 8 | data[ix++]);
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float16 f16 = new();
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@ -30,6 +69,4 @@ public class LowLevelMessages {
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float f = f16.toFloat();
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return f;
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}
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}
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85
SiteServer.cs
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85
SiteServer.cs
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@ -0,0 +1,85 @@
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using System.IO;
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using System.Threading.Tasks;
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namespace Passer.Control {
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public static class SiteServer {
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public static async Task ReceiveData(Stream dataStream, Client client) {
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while (true) {
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byte packetSize = (byte)dataStream.ReadByte();
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if (packetSize == 0xFF)
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//Debug.Log("Receive timeout");
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// Timeout
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;
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else
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await ReceiveData(dataStream, client, packetSize);
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}
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}
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public static async Task ReceiveData(Stream dataStream, Client client, byte packetSize) {
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byte msgId = (byte)dataStream.ReadByte();
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if (msgId == 0xFF) {
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// Timeout
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return;
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}
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bool result = false;
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switch (msgId) {
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case PoseMsg.Id: // Object Pose (16)
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result = await PoseMsg.Receive(dataStream, client, packetSize);
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break;
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case DestroyMsg.Id: // Destroy object (32)
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result = await DestroyMsg.Receive(dataStream, client, packetSize);
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break;
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case ThingMsg.Id:
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result = await ThingMsg.Receive(dataStream, client, packetSize);
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break;
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case InvestigateMsg.Id:
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result = await InvestigateMsg.Receive(dataStream, client, packetSize);
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break;
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case ModelUrlMsg.Id: // Model URL (144)
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result = await BytesMsg.Receive(dataStream, client, packetSize);
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break;
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case NameMsg.Id: // Object Name (145)
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result = await NameMsg.Receive(dataStream, client, packetSize);
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break;
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case ClientMsg.Id:
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result = await ClientMsg.Receive(dataStream, client, packetSize);
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break;
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case NetworkIdMsg.Id:
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result = await NetworkIdMsg.Receive(dataStream, client, packetSize);
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break;
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//case TextMsg.Id: // Text (176)
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// result = await TextMsg.Receive(dataStream, client, packetSize);
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// break;
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case BytesMsg.Id:
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result = await BytesMsg.Receive(dataStream, client, packetSize);
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break;
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default:
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break;
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}
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if (result == false) {
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packetSize = msgId; // skip 1 byte, msgId is possibly a packet size byte
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await ReceiveData(dataStream, client, packetSize);
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}
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}
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public static void ProcessMessage(ISiteServer site, Client client, IMessage msg) {
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switch (msg) {
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case NetworkIdMsg networkId:
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site.ProcessNetworkId(client, networkId);
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break;
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case ModelUrlMsg modelUrl:
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site.ProcessModelUrl(client, modelUrl);
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break;
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}
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}
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}
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public interface ISiteServer {
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public void ProcessNetworkId(Client client, NetworkIdMsg networkId);
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public void ProcessModelUrl(Client client, ModelUrlMsg modelUrl);
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}
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}
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2
SiteServer.cs.meta
Normal file
2
SiteServer.cs.meta
Normal file
@ -0,0 +1,2 @@
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fileFormatVersion: 2
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guid: 53345abb9310d344baa67c19a8d8249f
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