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1511 lines
58 KiB
1511 lines
58 KiB
1 year ago
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using System.Collections;
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using System.Collections.Generic;
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using System.Net;
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using System.Net.Sockets;
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using System.Threading;
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using UnityEngine;
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using UnityEngine.UI;
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using LZ4Sharp;
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namespace com.rfilkov.kinect
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{
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/// <summary>
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/// Kinect net-server listens for client connections and sends the data from the given sensor's streams to its clients over the network.
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/// </summary>
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public class KinectNetServer : MonoBehaviour
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{
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[Tooltip("Depth sensor index - 0 is the 1st one, 1 - the 2nd one, etc.")]
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public int sensorIndex = 0;
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[Tooltip("The base port for all sensor frame streams (each frame stream listens on separate port).")]
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public int baseListenPort = 11000;
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[Tooltip("Whether to listen for auto-server-discovery broadcasts (local network only).")]
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public bool listenForServerDiscovery = false;
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[Tooltip("Whether to serve the body index frames along with the body frames.")]
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private bool serveBodyIndexFrames = true;
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[Tooltip("Whether to compress the raw data frames (like depth, body index, etc.) or not.")]
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public bool compressRawFrames = true;
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[Tooltip("UI-Text to display the connection status messages.")]
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public Text connStatusText;
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[Tooltip("UI-Text to display the server status messages.")]
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public Text serverStatusText;
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[Tooltip("UI-Text to display the server console messages.")]
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public Text consoleText;
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// references
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private KinectManager kinectManager = null;
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private KinectInterop.SensorData sensorData = null;
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// keep-alive
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private ulong lastKeepAliveFrameTime = 0;
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private const int keepAliveInterval = 20000000; // 2 seconds
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// sensor frame servers
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private TcpNetServer controlFrameServer = null;
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private TcpNetServer colorFrameServer = null;
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private TcpNetServer depthFrameServer = null;
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private TcpNetServer infraredFrameServer = null;
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private TcpNetServer bodyDataFrameServer = null;
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private TcpNetServer bodyIndexFrameServer = null;
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private TcpNetServer poseFrameServer = null;
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private TcpNetServer depth2colorFrameServer = null;
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private TcpNetServer color2depthFrameServer = null;
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private TcpNetServer color2infraredFrameServer = null;
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private TcpNetServer color2bodyIndexFrameServer = null;
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// auto-server-discovery broadcast server
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private UdpBroadcastServer autoDiscoveryServer = null;
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// sensor frame timestamps
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//private ulong lastControlFrameTime = 0;
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private ulong lastColorFrameTime = 0;
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private ulong lastDepthFrameTime = 0;
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private ulong lastInfraredFrameTime = 0;
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private ulong lastBodyDataFrameTime = 0;
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private ulong lastBodyIndexFrameTime = 0;
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private ulong lastPoseFrameTime = 0;
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private ulong lastDepth2ColorFrameTime = 0;
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private ulong lastColor2DepthFrameTime = 0;
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private ulong lastColor2InfraredFrameTime = 0;
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private ulong lastColor2BodyIndexFrameTime = 0;
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// stream 2d textures
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//private Texture2D colorTex2d = null;
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//private Texture2D depthTex2d = null;
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private Texture2D infraredTex2d = null;
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private Texture2D depth2colorTex2d = null;
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private Texture2D color2infraredTex2d = null;
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// depth & bi frame bytes
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byte[] colorCamDepthFrameData = null;
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byte[] colorCamBodyIndexFrameData = null;
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// last sensor pose
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private string lastSensorPoseStr = string.Empty;
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//// whether color2depth is enabled or not
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//private bool color2depthEnabled = false;
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//private bool color2bodyIndexEnabled = false;
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// compressors
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private ILZ4Compressor controlFrameCompressor = null;
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private ILZ4Compressor depthFrameCompressor = null;
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private ILZ4Compressor bodyIndexFrameCompressor = null;
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private ILZ4Compressor color2depthFrameCompressor = null;
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private ILZ4Compressor color2bodyIndexFrameCompressor = null;
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// console buffer
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private System.Text.StringBuilder sbConsole = new System.Text.StringBuilder();
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void Start()
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{
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kinectManager = KinectManager.Instance;
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sensorData = kinectManager ? kinectManager.GetSensorData(sensorIndex) : null;
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if(sensorData != null && sensorData.sensorInterface != null)
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{
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// cache space tables
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Debug.Log("Caching space tables of sensor " + sensorIndex + "...");
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sensorData.sensorInterface.GetDepthCameraSpaceTable(sensorData);
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sensorData.sensorInterface.GetColorCameraSpaceTable(sensorData);
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// init servers
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Debug.Log("Initing network servers of sensor " + sensorIndex + "...");
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KinectInterop.FrameSource dwFlags = ((DepthSensorBase)sensorData.sensorInterface).frameSourceFlags;
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InitNetServers(dwFlags);
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}
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else
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{
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Debug.LogError("KinectManager not found or not initialized.");
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if (serverStatusText)
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{
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serverStatusText.text = "KinectManager not found or not initialized.";
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}
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}
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}
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void OnDestroy()
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{
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// close all net servers
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CloseNetServers();
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}
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void Update()
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{
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if(connStatusText)
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{
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// update conn status
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int connCount = GetConnectionsCount();
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connStatusText.text = string.Format("NetServer running: {0} connections.", connCount);
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}
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if(sbConsole.Length > 0)
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{
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// update console
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lock(sbConsole)
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{
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if(consoleText)
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consoleText.text += sbConsole.ToString();
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sbConsole.Clear();
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}
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// scroll to end
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ScrollRect scrollRect = consoleText ? consoleText.gameObject.GetComponentInParent<ScrollRect>() : null;
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if (scrollRect)
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{
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Canvas.ForceUpdateCanvases();
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scrollRect.verticalScrollbar.value = 0f;
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Canvas.ForceUpdateCanvases();
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}
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}
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// check for updated data
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UpdateNetServers();
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}
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// initializes the sensor net servers
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private void InitNetServers(KinectInterop.FrameSource dwFlags)
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{
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try
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{
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lastKeepAliveFrameTime = 0;
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lastSensorPoseStr = string.Empty;
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int minPort = int.MaxValue, maxPort = int.MinValue;
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controlFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Control, "ControlServer", sbConsole);
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controlFrameServer.ReceivedMessage += new ReceivedMessageEventHandler(ControlFrameReceived);
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minPort = Mathf.Min(minPort, controlFrameServer.serverPort); maxPort = Mathf.Max(maxPort, controlFrameServer.serverPort);
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if (compressRawFrames)
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controlFrameCompressor = LZ4CompressorFactory.CreateNew();
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if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0 && sensorData.colorImageTexture != null)
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{
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colorFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Color, "ColorServer", sbConsole);
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minPort = Mathf.Min(minPort, colorFrameServer.serverPort); maxPort = Mathf.Max(maxPort, colorFrameServer.serverPort);
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}
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if((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
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{
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depthFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Depth, "DepthServer", sbConsole);
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minPort = Mathf.Min(minPort, depthFrameServer.serverPort); maxPort = Mathf.Max(maxPort, depthFrameServer.serverPort);
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if(compressRawFrames)
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depthFrameCompressor = LZ4CompressorFactory.CreateNew();
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}
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if ((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
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{
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infraredTex2d = new Texture2D(sensorData.depthImageWidth, sensorData.depthImageHeight, TextureFormat.ARGB32, false);
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infraredFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Infrared, "InfraredServer", sbConsole);
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minPort = Mathf.Min(minPort, infraredFrameServer.serverPort); maxPort = Mathf.Max(maxPort, infraredFrameServer.serverPort);
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}
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if ((dwFlags & KinectInterop.FrameSource.TypeBody) != 0)
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{
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bodyDataFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.BodyData, "BodyDataServer", sbConsole);
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minPort = Mathf.Min(minPort, bodyDataFrameServer.serverPort); maxPort = Mathf.Max(maxPort, bodyDataFrameServer.serverPort);
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}
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if ((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0 && serveBodyIndexFrames)
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{
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bodyIndexFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.BodyIndex, "BodyIndexServer", sbConsole);
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minPort = Mathf.Min(minPort, bodyIndexFrameServer.serverPort); maxPort = Mathf.Max(maxPort, bodyIndexFrameServer.serverPort);
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if (compressRawFrames)
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bodyIndexFrameCompressor = LZ4CompressorFactory.CreateNew();
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}
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if ((dwFlags & KinectInterop.FrameSource.TypePose) != 0)
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{
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poseFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Pose, "PoseServer", sbConsole);
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minPort = Mathf.Min(minPort, poseFrameServer.serverPort); maxPort = Mathf.Max(maxPort, poseFrameServer.serverPort);
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}
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if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0 && (dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
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{
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depth2colorFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Depth2Color, "TColorServer", sbConsole);
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minPort = Mathf.Min(minPort, depth2colorFrameServer.serverPort); maxPort = Mathf.Max(maxPort, depth2colorFrameServer.serverPort);
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}
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if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0 && (dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
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{
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color2depthFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Color2Depth, "TDepthServer", sbConsole);
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minPort = Mathf.Min(minPort, color2depthFrameServer.serverPort); maxPort = Mathf.Max(maxPort, color2depthFrameServer.serverPort);
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if (compressRawFrames)
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color2depthFrameCompressor = LZ4CompressorFactory.CreateNew();
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}
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if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0 && (dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
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{
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color2infraredFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Color2Infrared, "TInfraredServer", sbConsole);
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minPort = Mathf.Min(minPort, color2infraredFrameServer.serverPort); maxPort = Mathf.Max(maxPort, color2infraredFrameServer.serverPort);
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}
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if ((dwFlags & KinectInterop.FrameSource.TypeColor) != 0 && (dwFlags & KinectInterop.FrameSource.TypeDepth) != 0 && (dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
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{
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color2bodyIndexFrameServer = new TcpNetServer(baseListenPort + (int)NetMessageType.Color2BodyIndex, "TBodyIndex", sbConsole);
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minPort = Mathf.Min(minPort, color2bodyIndexFrameServer.serverPort); maxPort = Mathf.Max(maxPort, color2bodyIndexFrameServer.serverPort);
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if (compressRawFrames)
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color2bodyIndexFrameCompressor = LZ4CompressorFactory.CreateNew();
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}
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// get server ip address
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string serverName = GetLocalNameOrIP();
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if (listenForServerDiscovery)
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{
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int sensorType = (int)sensorData.sensorInterface.GetSensorPlatform();
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string sensorId = sensorData.sensorInterface.GetSensorDeviceId();
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string responseData = string.Format("KNS|{0}|{1}|{2}|{3}", serverName, baseListenPort, sensorType, sensorId);
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autoDiscoveryServer = new UdpBroadcastServer(baseListenPort, "DiscoveryServer", "KNS", responseData, sbConsole);
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}
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if (serverStatusText)
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{
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serverStatusText.text = string.Format("NetServer listens on {0}:{1}-{2}", serverName, minPort, maxPort);
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}
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}
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catch (System.Exception ex)
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{
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Debug.LogError("Error initing NetServer: " + ex.Message);
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Debug.Log(ex);
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if (serverStatusText)
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{
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serverStatusText.text = string.Format("Error initing NetServer: {0}", ex.Message);
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}
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}
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}
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// closes all sensor net servers
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private void CloseNetServers()
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{
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try
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{
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if (controlFrameServer != null)
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{
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controlFrameServer.ReceivedMessage -= new ReceivedMessageEventHandler(ControlFrameReceived);
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controlFrameServer.Close();
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controlFrameServer = null;
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controlFrameCompressor = null;
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}
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if (colorFrameServer != null)
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{
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colorFrameServer.Close();
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colorFrameServer = null;
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}
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if (depthFrameServer != null)
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{
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depthFrameServer.Close();
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depthFrameServer = null;
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depthFrameCompressor = null;
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}
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if (infraredFrameServer != null)
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{
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infraredFrameServer.Close();
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infraredFrameServer = null;
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}
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if (bodyDataFrameServer != null)
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{
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bodyDataFrameServer.Close();
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bodyDataFrameServer = null;
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}
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if (bodyIndexFrameServer != null)
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{
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bodyIndexFrameServer.Close();
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bodyIndexFrameServer = null;
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bodyIndexFrameCompressor = null;
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}
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if (poseFrameServer != null)
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{
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poseFrameServer.Close();
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poseFrameServer = null;
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}
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if (depth2colorFrameServer != null)
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{
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depth2colorFrameServer.Close();
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depth2colorFrameServer = null;
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}
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if (color2depthFrameServer != null)
|
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{
|
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color2depthFrameServer.Close();
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color2depthFrameServer = null;
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color2depthFrameCompressor = null;
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}
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if (color2infraredFrameServer != null)
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{
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|
|
color2infraredFrameServer.Close();
|
||
|
|
color2infraredFrameServer = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (color2bodyIndexFrameServer != null)
|
||
|
|
{
|
||
|
|
color2bodyIndexFrameServer.Close();
|
||
|
|
color2bodyIndexFrameServer = null;
|
||
|
|
color2bodyIndexFrameCompressor = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(autoDiscoveryServer != null)
|
||
|
|
{
|
||
|
|
autoDiscoveryServer.Close();
|
||
|
|
autoDiscoveryServer = null;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (serverStatusText)
|
||
|
|
{
|
||
|
|
serverStatusText.text = "NetServer closed.";
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
Debug.LogError("Error closing NetServer: " + ex.Message);
|
||
|
|
Debug.Log(ex);
|
||
|
|
|
||
|
|
if (serverStatusText)
|
||
|
|
{
|
||
|
|
serverStatusText.text = string.Format("Error closing NetServer: {0}", ex.Message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// checks for updated sensor data and sends it to the connected clients
|
||
|
|
private void UpdateNetServers()
|
||
|
|
{
|
||
|
|
if (sensorData == null)
|
||
|
|
return;
|
||
|
|
|
||
|
|
try
|
||
|
|
{
|
||
|
|
// control - keep alive
|
||
|
|
ulong ulTimeNow = (ulong)System.DateTime.Now.Ticks;
|
||
|
|
bool isControlClientActive = controlFrameServer != null ? controlFrameServer.IsActive() : false;
|
||
|
|
|
||
|
|
if ((ulTimeNow - lastKeepAliveFrameTime) >= keepAliveInterval && isControlClientActive)
|
||
|
|
{
|
||
|
|
lastKeepAliveFrameTime = ulTimeNow;
|
||
|
|
SendControlMessage(ControlMessageType.KeepAlive);
|
||
|
|
}
|
||
|
|
|
||
|
|
// wait all current messages to be sent
|
||
|
|
if (GetMessageCount(false) > 0)
|
||
|
|
return;
|
||
|
|
|
||
|
|
// color frame
|
||
|
|
if (colorFrameServer != null && colorFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if(sensorData.lastColorFrameTime != lastColorFrameTime)
|
||
|
|
{
|
||
|
|
lastColorFrameTime = sensorData.lastColorFrameTime;
|
||
|
|
|
||
|
|
byte[] btColorData = ((Texture2D)sensorData.colorImageTexture).EncodeToJPG();
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Color, FrameEncodeType.Jpeg,
|
||
|
|
sensorData.colorImageWidth, sensorData.colorImageHeight, lastColorFrameTime);
|
||
|
|
message.SetData(btColorData);
|
||
|
|
|
||
|
|
colorFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// depth frame
|
||
|
|
if (depthFrameServer != null && depthFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if (sensorData.lastDepthFrameTime != lastDepthFrameTime)
|
||
|
|
{
|
||
|
|
lastDepthFrameTime = sensorData.lastDepthFrameTime;
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Depth, FrameEncodeType.Raw,
|
||
|
|
sensorData.depthImageWidth, sensorData.depthImageHeight, lastDepthFrameTime);
|
||
|
|
message.SetData(sensorData.depthImage);
|
||
|
|
|
||
|
|
if (compressRawFrames)
|
||
|
|
{
|
||
|
|
message.SetCompressor(depthFrameCompressor);
|
||
|
|
message.CompressData();
|
||
|
|
}
|
||
|
|
|
||
|
|
depthFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// infrared frame
|
||
|
|
if (infraredFrameServer != null && infraredFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if (sensorData.lastInfraredImageTime != lastInfraredFrameTime)
|
||
|
|
{
|
||
|
|
lastInfraredFrameTime = sensorData.lastInfraredImageTime;
|
||
|
|
|
||
|
|
byte[] btInfraredData = GetTextureAsJpeg(sensorData.infraredImageTexture, infraredTex2d);
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Color, FrameEncodeType.Jpeg,
|
||
|
|
sensorData.depthImageWidth, sensorData.depthImageHeight, lastInfraredFrameTime);
|
||
|
|
message.SetData(btInfraredData);
|
||
|
|
|
||
|
|
infraredFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// body data frame
|
||
|
|
if (bodyDataFrameServer != null && bodyDataFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if (sensorData.lastBodyFrameTime != lastBodyDataFrameTime)
|
||
|
|
{
|
||
|
|
lastBodyDataFrameTime = sensorData.lastBodyFrameTime;
|
||
|
|
|
||
|
|
float fUnityTime = 0f;
|
||
|
|
string sBodyFrame = KinectInterop.GetBodyFrameAsCsv(ref sensorData.alTrackedBodies,
|
||
|
|
sensorData.trackedBodiesCount, sensorData.lastBodyFrameTime, sensorData.sensorSpaceScale, ref fUnityTime, '\t');
|
||
|
|
byte[] btBodyData = System.Text.Encoding.UTF8.GetBytes(sBodyFrame);
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.BodyData, FrameEncodeType.K4b,
|
||
|
|
sensorData.depthImageWidth, sensorData.depthImageHeight, lastBodyDataFrameTime);
|
||
|
|
message.SetData(btBodyData);
|
||
|
|
|
||
|
|
bodyDataFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// body index frame
|
||
|
|
if (bodyIndexFrameServer != null && bodyIndexFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if (sensorData.lastBodyIndexFrameTime != lastBodyIndexFrameTime)
|
||
|
|
{
|
||
|
|
lastBodyIndexFrameTime = sensorData.lastBodyIndexFrameTime;
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.BodyIndex, FrameEncodeType.Raw,
|
||
|
|
sensorData.depthImageWidth, sensorData.depthImageHeight, lastBodyIndexFrameTime);
|
||
|
|
message.SetData(sensorData.bodyIndexImage);
|
||
|
|
|
||
|
|
if (compressRawFrames)
|
||
|
|
{
|
||
|
|
message.SetCompressor(bodyIndexFrameCompressor);
|
||
|
|
message.CompressData();
|
||
|
|
}
|
||
|
|
|
||
|
|
bodyIndexFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// pose frame
|
||
|
|
if (poseFrameServer != null && poseFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if (sensorData.lastSensorPoseFrameTime != lastPoseFrameTime)
|
||
|
|
{
|
||
|
|
lastPoseFrameTime = sensorData.lastSensorPoseFrameTime;
|
||
|
|
|
||
|
|
string curSensorPoseStr = sensorData.sensorPosePosition.ToString() + " " + sensorData.sensorPoseRotation.eulerAngles.ToString();
|
||
|
|
if(lastSensorPoseStr != curSensorPoseStr)
|
||
|
|
{
|
||
|
|
lastSensorPoseStr = curSensorPoseStr;
|
||
|
|
|
||
|
|
KinectInterop.NetPoseData netPoseData = sensorData.sensorInterface.GetSensorNetPoseData(sensorData);
|
||
|
|
string sPoseData = JsonUtility.ToJson(netPoseData);
|
||
|
|
byte[] btPoseData = System.Text.Encoding.UTF8.GetBytes(sPoseData);
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Pose, FrameEncodeType.Json, 0, 0, lastPoseFrameTime);
|
||
|
|
message.SetData(btPoseData);
|
||
|
|
|
||
|
|
poseFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// depth2color frame
|
||
|
|
if (depth2colorFrameServer != null && depth2colorFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if(depth2colorTex2d == null)
|
||
|
|
{
|
||
|
|
depth2colorTex2d = new Texture2D(sensorData.depthImageWidth, sensorData.depthImageHeight, sensorData.colorImageFormat, false);
|
||
|
|
sensorData.sensorInterface.EnableDepthCameraColorFrame(sensorData, true);
|
||
|
|
}
|
||
|
|
|
||
|
|
ulong frameTime = 0;
|
||
|
|
Texture depth2colorTex = sensorData.sensorInterface.GetDepthCameraColorFrameTexture(sensorData, ref depth2colorTex2d, ref frameTime);
|
||
|
|
|
||
|
|
if (depth2colorTex != null && frameTime != lastDepth2ColorFrameTime)
|
||
|
|
{
|
||
|
|
lastDepth2ColorFrameTime = frameTime;
|
||
|
|
|
||
|
|
byte[] btFrameData = depth2colorTex2d.EncodeToPNG();
|
||
|
|
//Debug.Log("Depth2ColorFrame length: " + btFrameData.Length);
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Depth2Color, FrameEncodeType.Jpeg,
|
||
|
|
sensorData.depthImageWidth, sensorData.depthImageHeight, frameTime);
|
||
|
|
message.SetData(btFrameData);
|
||
|
|
|
||
|
|
depth2colorFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (depth2colorTex2d != null && depth2colorFrameServer != null && depth2colorFrameServer.GetConnCount() == 0)
|
||
|
|
{
|
||
|
|
// disable depth2color frame
|
||
|
|
depth2colorTex2d = null;
|
||
|
|
sensorData.sensorInterface.EnableDepthCameraColorFrame(sensorData, false);
|
||
|
|
}
|
||
|
|
|
||
|
|
// color2depth frame
|
||
|
|
if (color2depthFrameServer != null && color2depthFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if(colorCamDepthFrameData == null)
|
||
|
|
{
|
||
|
|
colorCamDepthFrameData = new byte[sensorData.colorImageWidth * sensorData.colorImageHeight * sizeof(ushort)];
|
||
|
|
sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, true);
|
||
|
|
//color2depthEnabled = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
ulong frameTime = 0;
|
||
|
|
byte[] btFrameData = sensorData.sensorInterface.GetColorCameraDepthFrameBytes(sensorData, ref colorCamDepthFrameData, ref frameTime);
|
||
|
|
|
||
|
|
if (btFrameData != null && frameTime != lastColor2DepthFrameTime)
|
||
|
|
{
|
||
|
|
lastColor2DepthFrameTime = frameTime;
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Color2Depth, FrameEncodeType.Raw,
|
||
|
|
sensorData.colorImageWidth, sensorData.colorImageHeight, frameTime);
|
||
|
|
message.SetData(btFrameData);
|
||
|
|
|
||
|
|
if (compressRawFrames)
|
||
|
|
{
|
||
|
|
message.SetCompressor(color2depthFrameCompressor);
|
||
|
|
message.CompressData();
|
||
|
|
}
|
||
|
|
|
||
|
|
color2depthFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (colorCamDepthFrameData != null && color2depthFrameServer != null && color2depthFrameServer.GetConnCount() == 0)
|
||
|
|
{
|
||
|
|
// disable color2depth frame
|
||
|
|
//color2depthEnabled = false;
|
||
|
|
colorCamDepthFrameData = null;
|
||
|
|
sensorData.sensorInterface.EnableColorCameraDepthFrame(sensorData, false);
|
||
|
|
}
|
||
|
|
|
||
|
|
// color2infrared frame
|
||
|
|
if (color2infraredFrameServer != null && color2infraredFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if (color2infraredTex2d == null)
|
||
|
|
{
|
||
|
|
color2infraredTex2d = new Texture2D(sensorData.colorImageWidth, sensorData.colorImageHeight, TextureFormat.ARGB32, false);
|
||
|
|
sensorData.sensorInterface.EnableColorCameraInfraredFrame(sensorData, false, true);
|
||
|
|
}
|
||
|
|
|
||
|
|
ulong frameTime = 0;
|
||
|
|
Texture color2infraredTex = sensorData.sensorInterface.GetColorCameraInfraredFrameTexture(sensorData, ref color2infraredTex2d, ref frameTime);
|
||
|
|
|
||
|
|
if (color2infraredTex != null && frameTime != lastColor2InfraredFrameTime)
|
||
|
|
{
|
||
|
|
lastColor2InfraredFrameTime = frameTime;
|
||
|
|
|
||
|
|
byte[] btFrameData = color2infraredTex2d.EncodeToPNG();
|
||
|
|
//Debug.Log("Color2InfraredFrame length: " + btFrameData.Length);
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Color2Infrared, FrameEncodeType.Jpeg,
|
||
|
|
sensorData.colorImageWidth, sensorData.colorImageHeight, frameTime);
|
||
|
|
message.SetData(btFrameData);
|
||
|
|
|
||
|
|
color2infraredFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (color2infraredTex2d != null && color2infraredFrameServer != null && color2infraredFrameServer.GetConnCount() == 0)
|
||
|
|
{
|
||
|
|
// disable color2infrared frame
|
||
|
|
color2infraredTex2d = null;
|
||
|
|
sensorData.sensorInterface.EnableColorCameraInfraredFrame(sensorData, false, false);
|
||
|
|
}
|
||
|
|
|
||
|
|
// color2bodyIndex frame
|
||
|
|
if (color2bodyIndexFrameServer != null && color2bodyIndexFrameServer.GetConnCount() > 0)
|
||
|
|
{
|
||
|
|
if(colorCamBodyIndexFrameData == null)
|
||
|
|
{
|
||
|
|
colorCamBodyIndexFrameData = new byte[sensorData.colorImageWidth * sensorData.colorImageHeight];
|
||
|
|
sensorData.sensorInterface.EnableColorCameraBodyIndexFrame(sensorData, true);
|
||
|
|
//color2bodyIndexEnabled = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
ulong frameTime = 0;
|
||
|
|
byte[] btFrameData = sensorData.sensorInterface.GetColorCameraBodyIndexFrame(sensorData, ref colorCamBodyIndexFrameData, ref frameTime);
|
||
|
|
|
||
|
|
if (btFrameData != null && frameTime != lastColor2BodyIndexFrameTime)
|
||
|
|
{
|
||
|
|
lastColor2BodyIndexFrameTime = frameTime;
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Color2BodyIndex, FrameEncodeType.Raw,
|
||
|
|
sensorData.colorImageWidth, sensorData.colorImageHeight, frameTime);
|
||
|
|
message.SetData(btFrameData);
|
||
|
|
|
||
|
|
if (compressRawFrames)
|
||
|
|
{
|
||
|
|
message.SetCompressor(color2bodyIndexFrameCompressor);
|
||
|
|
message.CompressData();
|
||
|
|
}
|
||
|
|
|
||
|
|
color2bodyIndexFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (colorCamBodyIndexFrameData != null && color2bodyIndexFrameServer != null && color2bodyIndexFrameServer.GetConnCount() == 0)
|
||
|
|
{
|
||
|
|
// disable color2bodyIndex frame
|
||
|
|
//color2bodyIndexEnabled = false;
|
||
|
|
colorCamBodyIndexFrameData = null;
|
||
|
|
sensorData.sensorInterface.EnableColorCameraBodyIndexFrame(sensorData, false);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
Debug.LogError("Error updating NetServer: " + ex.Message);
|
||
|
|
Debug.LogError(ex);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// control frame received
|
||
|
|
private void ControlFrameReceived(object state, ReceivedMessageEventArgs args)
|
||
|
|
{
|
||
|
|
if (sensorData == null)
|
||
|
|
return;
|
||
|
|
|
||
|
|
try
|
||
|
|
{
|
||
|
|
if(args.message.frameData != null && args.message.frameData.Length > 0)
|
||
|
|
{
|
||
|
|
ControlMessageType ctrlMsgType = (ControlMessageType)args.message.frameData[0];
|
||
|
|
|
||
|
|
switch(ctrlMsgType)
|
||
|
|
{
|
||
|
|
case ControlMessageType.GetSensorData:
|
||
|
|
CtrlSendGetSensorData();
|
||
|
|
break;
|
||
|
|
|
||
|
|
case ControlMessageType.KeepAlive:
|
||
|
|
// do nothing
|
||
|
|
break;
|
||
|
|
|
||
|
|
case ControlMessageType.Disconnect:
|
||
|
|
// do nothing for now
|
||
|
|
break;
|
||
|
|
|
||
|
|
case ControlMessageType.GetDST:
|
||
|
|
CtrlSendGetDST();
|
||
|
|
break;
|
||
|
|
|
||
|
|
case ControlMessageType.GetCST:
|
||
|
|
CtrlSendGetCST();
|
||
|
|
break;
|
||
|
|
|
||
|
|
default:
|
||
|
|
throw new System.Exception("Invalid control message: " + args.message.frameData[0]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
Debug.LogException(ex);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// sends the net-sensor-data to clients
|
||
|
|
private void CtrlSendGetSensorData()
|
||
|
|
{
|
||
|
|
KinectInterop.NetSensorData netSensorData = sensorData.sensorInterface.GetNetSensorData(sensorData);
|
||
|
|
string sNetSensorData = netSensorData != null ? JsonUtility.ToJson(netSensorData) : null;
|
||
|
|
byte[] btNetSensorData = System.Text.Encoding.UTF8.GetBytes(sNetSensorData);
|
||
|
|
|
||
|
|
ulong ulTimeNow = (ulong)System.DateTime.Now.Ticks;
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Control, FrameEncodeType.SensorDataJson, 0, 0, ulTimeNow);
|
||
|
|
message.SetData(btNetSensorData);
|
||
|
|
|
||
|
|
if (compressRawFrames)
|
||
|
|
{
|
||
|
|
message.SetCompressor(controlFrameCompressor);
|
||
|
|
message.CompressData();
|
||
|
|
}
|
||
|
|
|
||
|
|
controlFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// sends the net-dst data to clients
|
||
|
|
private void CtrlSendGetDST()
|
||
|
|
{
|
||
|
|
Vector3[] avSpaceTable = sensorData.sensorInterface.GetDepthCameraSpaceTable(sensorData);
|
||
|
|
|
||
|
|
if(avSpaceTable != null)
|
||
|
|
{
|
||
|
|
byte[] btSpaceTable = new byte[avSpaceTable.Length * 3 * sizeof(float)];
|
||
|
|
KinectInterop.CopyBytes(avSpaceTable, 3 * sizeof(float), btSpaceTable, sizeof(byte));
|
||
|
|
|
||
|
|
ulong ulTimeNow = (ulong)System.DateTime.Now.Ticks;
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Control, FrameEncodeType.DSTraw, sensorData.depthImageWidth, sensorData.depthImageHeight, ulTimeNow);
|
||
|
|
message.SetData(btSpaceTable);
|
||
|
|
|
||
|
|
if (compressRawFrames)
|
||
|
|
{
|
||
|
|
message.SetCompressor(controlFrameCompressor);
|
||
|
|
message.CompressData();
|
||
|
|
}
|
||
|
|
|
||
|
|
controlFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// sends the net-cst data to clients
|
||
|
|
private void CtrlSendGetCST()
|
||
|
|
{
|
||
|
|
Vector3[] avSpaceTable = sensorData.sensorInterface.GetColorCameraSpaceTable(sensorData);
|
||
|
|
|
||
|
|
if (avSpaceTable != null)
|
||
|
|
{
|
||
|
|
byte[] btSpaceTable = new byte[avSpaceTable.Length * 3 * sizeof(float)];
|
||
|
|
KinectInterop.CopyBytes(avSpaceTable, 3 * sizeof(float), btSpaceTable, sizeof(byte));
|
||
|
|
|
||
|
|
ulong ulTimeNow = (ulong)System.DateTime.Now.Ticks;
|
||
|
|
NetMessageData message = new NetMessageData(NetMessageType.Control, FrameEncodeType.CSTraw, sensorData.colorImageWidth, sensorData.colorImageHeight, ulTimeNow);
|
||
|
|
message.SetData(btSpaceTable);
|
||
|
|
|
||
|
|
if (compressRawFrames)
|
||
|
|
{
|
||
|
|
message.SetCompressor(controlFrameCompressor);
|
||
|
|
message.CompressData();
|
||
|
|
}
|
||
|
|
|
||
|
|
controlFrameServer.SendMessageToAllConnections(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// convert render texture to jpg format
|
||
|
|
private byte[] GetTextureAsJpeg(RenderTexture tex, Texture2D tex2d)
|
||
|
|
{
|
||
|
|
KinectInterop.RenderTex2Tex2D(tex, ref tex2d);
|
||
|
|
byte[] btJpeg = tex2d.EncodeToJPG();
|
||
|
|
|
||
|
|
return btJpeg;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// returns local host name or ip address
|
||
|
|
private string GetLocalNameOrIP()
|
||
|
|
{
|
||
|
|
string localIP = "localhost";
|
||
|
|
|
||
|
|
try
|
||
|
|
{
|
||
|
|
IPHostEntry host = Dns.GetHostEntry(Dns.GetHostName());
|
||
|
|
|
||
|
|
foreach (IPAddress ip in host.AddressList)
|
||
|
|
{
|
||
|
|
if (ip.AddressFamily == AddressFamily.InterNetwork)
|
||
|
|
{
|
||
|
|
localIP = ip.ToString();
|
||
|
|
if (localIP == "0.0.0.0" || localIP.StartsWith("169.254."))
|
||
|
|
continue;
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
Debug.LogException(ex);
|
||
|
|
}
|
||
|
|
|
||
|
|
return localIP;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// returns the number of active connections
|
||
|
|
private int GetConnectionsCount()
|
||
|
|
{
|
||
|
|
int numConn = 0;
|
||
|
|
|
||
|
|
if (controlFrameServer != null)
|
||
|
|
numConn += controlFrameServer.GetConnCount();
|
||
|
|
if (colorFrameServer != null)
|
||
|
|
numConn += colorFrameServer.GetConnCount();
|
||
|
|
if (depthFrameServer != null)
|
||
|
|
numConn += depthFrameServer.GetConnCount();
|
||
|
|
if (infraredFrameServer != null)
|
||
|
|
numConn += infraredFrameServer.GetConnCount();
|
||
|
|
if (bodyDataFrameServer != null)
|
||
|
|
numConn += bodyDataFrameServer.GetConnCount();
|
||
|
|
if (bodyIndexFrameServer != null)
|
||
|
|
numConn += bodyIndexFrameServer.GetConnCount();
|
||
|
|
if (poseFrameServer != null)
|
||
|
|
numConn += poseFrameServer.GetConnCount();
|
||
|
|
if (depth2colorFrameServer != null)
|
||
|
|
numConn += depth2colorFrameServer.GetConnCount();
|
||
|
|
if (color2depthFrameServer != null)
|
||
|
|
numConn += color2depthFrameServer.GetConnCount();
|
||
|
|
if (color2infraredFrameServer != null)
|
||
|
|
numConn += color2infraredFrameServer.GetConnCount();
|
||
|
|
if (color2bodyIndexFrameServer != null)
|
||
|
|
numConn += color2bodyIndexFrameServer.GetConnCount();
|
||
|
|
|
||
|
|
return numConn;
|
||
|
|
}
|
||
|
|
|
||
|
|
// returns the number of unsent messages in all servers
|
||
|
|
private int GetMessageCount(bool inclCtrlMessages)
|
||
|
|
{
|
||
|
|
int numMessages = 0;
|
||
|
|
|
||
|
|
if (inclCtrlMessages && controlFrameServer != null && controlFrameServer.IsConnected())
|
||
|
|
numMessages += controlFrameServer.GetMessageCount();
|
||
|
|
if (colorFrameServer != null && colorFrameServer.IsConnected())
|
||
|
|
numMessages += colorFrameServer.GetMessageCount();
|
||
|
|
if (depthFrameServer != null && depthFrameServer.IsConnected())
|
||
|
|
numMessages += depthFrameServer.GetMessageCount();
|
||
|
|
if (infraredFrameServer != null && infraredFrameServer.IsConnected())
|
||
|
|
numMessages += infraredFrameServer.GetMessageCount();
|
||
|
|
if (bodyDataFrameServer != null && bodyDataFrameServer.IsConnected())
|
||
|
|
numMessages += bodyDataFrameServer.GetMessageCount();
|
||
|
|
if (bodyIndexFrameServer != null && bodyIndexFrameServer.IsConnected())
|
||
|
|
numMessages += bodyIndexFrameServer.GetMessageCount();
|
||
|
|
if (poseFrameServer != null && poseFrameServer.IsConnected())
|
||
|
|
numMessages += poseFrameServer.GetMessageCount();
|
||
|
|
if (depth2colorFrameServer != null && depth2colorFrameServer.IsConnected())
|
||
|
|
numMessages += depth2colorFrameServer.GetMessageCount();
|
||
|
|
if (color2depthFrameServer != null && color2depthFrameServer.IsConnected())
|
||
|
|
numMessages += color2depthFrameServer.GetMessageCount();
|
||
|
|
if (color2infraredFrameServer != null && color2infraredFrameServer.IsConnected())
|
||
|
|
numMessages += color2infraredFrameServer.GetMessageCount();
|
||
|
|
if (color2bodyIndexFrameServer != null && color2bodyIndexFrameServer.IsConnected())
|
||
|
|
numMessages += color2bodyIndexFrameServer.GetMessageCount();
|
||
|
|
|
||
|
|
return numMessages;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// sends control message to the server
|
||
|
|
private void SendControlMessage(ControlMessageType messageType)
|
||
|
|
{
|
||
|
|
if (controlFrameServer != null && controlFrameServer.IsActive())
|
||
|
|
{
|
||
|
|
ulong ulTimeNow = (ulong)System.DateTime.Now.Ticks;
|
||
|
|
NetMessageData msg = new NetMessageData(NetMessageType.Control, FrameEncodeType.Raw, 0, 0, ulTimeNow);
|
||
|
|
|
||
|
|
byte[] btMsgData = new byte[1];
|
||
|
|
btMsgData[0] = (byte)messageType;
|
||
|
|
msg.SetData(btMsgData);
|
||
|
|
|
||
|
|
controlFrameServer.SendMessageToAllConnections(msg);
|
||
|
|
//Debug.Log("Sending ctrl message " + messageType);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// TcpNetServer provides network server functionality over tcp streams.
|
||
|
|
/// This class is based on the excellent work of Andy Wilson and Hrvoje Benko in "Room Alive Toolkit" - https://github.com/microsoft/RoomAliveToolkit
|
||
|
|
/// </summary>
|
||
|
|
internal class TcpNetServer
|
||
|
|
{
|
||
|
|
public int serverPort = 11000;
|
||
|
|
//private const int bufferSize = 10240000;
|
||
|
|
public int tmpBufferSize = 640000;
|
||
|
|
|
||
|
|
private System.Text.StringBuilder sbConsole = null;
|
||
|
|
|
||
|
|
private TcpListener server;
|
||
|
|
private List<NetConnData> connections = new List<NetConnData>();
|
||
|
|
|
||
|
|
public bool isServerRunning = false;
|
||
|
|
|
||
|
|
// thread signal
|
||
|
|
public ManualResetEvent allDoneServer = new ManualResetEvent(false);
|
||
|
|
|
||
|
|
public string serverName = string.Empty;
|
||
|
|
|
||
|
|
public ReceivedMessageEventHandler ReceivedMessage = null;
|
||
|
|
|
||
|
|
|
||
|
|
public bool IsConnected()
|
||
|
|
{
|
||
|
|
return (connections.Count > 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
public int GetConnCount()
|
||
|
|
{
|
||
|
|
return connections.Count;
|
||
|
|
}
|
||
|
|
|
||
|
|
public bool IsActive()
|
||
|
|
{
|
||
|
|
bool bActive = (connections.Count > 0) ? true : false;
|
||
|
|
|
||
|
|
foreach (NetConnData conn in connections)
|
||
|
|
{
|
||
|
|
if (!conn.isActive)
|
||
|
|
{
|
||
|
|
bActive = false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return bActive;
|
||
|
|
}
|
||
|
|
|
||
|
|
public bool IsReadyToSend()
|
||
|
|
{
|
||
|
|
bool bReady = (connections.Count > 0) ? true : false;
|
||
|
|
|
||
|
|
foreach (NetConnData conn in connections)
|
||
|
|
{
|
||
|
|
if (!conn.readyToSend)
|
||
|
|
{
|
||
|
|
bReady = false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return bReady;
|
||
|
|
}
|
||
|
|
|
||
|
|
public int GetMessageCount()
|
||
|
|
{
|
||
|
|
int count = 0;
|
||
|
|
|
||
|
|
foreach (NetConnData conn in connections)
|
||
|
|
{
|
||
|
|
count += conn.messageQueue.Count;
|
||
|
|
}
|
||
|
|
|
||
|
|
return count;
|
||
|
|
}
|
||
|
|
|
||
|
|
//public void CloseConnection(int connId)
|
||
|
|
//{
|
||
|
|
// foreach (NetConnData conn in connections)
|
||
|
|
// {
|
||
|
|
// if (conn.ID == connId)
|
||
|
|
// {
|
||
|
|
// //Debug.Log(serverName + " closing connection " + conn.ID + " to " + conn.remoteEP);
|
||
|
|
// LogToConsole(serverName + " closing connection to client " + conn.remoteIP);
|
||
|
|
// conn.isActive = false;
|
||
|
|
|
||
|
|
// connections.Remove(conn);
|
||
|
|
// break;
|
||
|
|
// }
|
||
|
|
// }
|
||
|
|
//}
|
||
|
|
|
||
|
|
public void CloseConnectionsTo(string remoteIP)
|
||
|
|
{
|
||
|
|
for (int i = connections.Count - 1; i >= 0; i--)
|
||
|
|
{
|
||
|
|
NetConnData conn = connections[i];
|
||
|
|
|
||
|
|
if (conn.remoteIP == remoteIP)
|
||
|
|
{
|
||
|
|
//Debug.Log(serverName + " closing connection " + conn.ID + " to " + conn.remoteEP);
|
||
|
|
LogToConsole(serverName + " closing connection to client " + conn.remoteIP);
|
||
|
|
conn.isActive = false;
|
||
|
|
|
||
|
|
connections.Remove(conn);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public void CloseAllConnections()
|
||
|
|
{
|
||
|
|
foreach (NetConnData conn in connections)
|
||
|
|
{
|
||
|
|
//Debug.Log(serverName + " closing connection " + conn.ID + " to " + conn.remoteEP);
|
||
|
|
LogToConsole(serverName + " closing connection to client " + conn.remoteIP);
|
||
|
|
conn.isActive = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
connections.Clear();
|
||
|
|
}
|
||
|
|
|
||
|
|
public void SendMessageToAllConnections(NetMessageData message)
|
||
|
|
{
|
||
|
|
foreach (NetConnData conn in connections)
|
||
|
|
{
|
||
|
|
lock (conn.messageQueue)
|
||
|
|
{
|
||
|
|
if (conn.messageQueue.Count < NetConnData.MaxMessageQueueLength)
|
||
|
|
{
|
||
|
|
conn.messageQueue.Enqueue(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public void SendMessageToConnection(NetMessageData message, int connId)
|
||
|
|
{
|
||
|
|
foreach (NetConnData conn in connections)
|
||
|
|
{
|
||
|
|
if (conn.ID == connId)
|
||
|
|
{
|
||
|
|
lock (conn.messageQueue)
|
||
|
|
{
|
||
|
|
if (conn.messageQueue.Count < NetConnData.MaxMessageQueueLength)
|
||
|
|
{
|
||
|
|
conn.messageQueue.Enqueue(message);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
public TcpNetServer(int port, string name, System.Text.StringBuilder sbConsole)
|
||
|
|
{
|
||
|
|
serverPort = port;
|
||
|
|
serverName = name;
|
||
|
|
this.sbConsole = sbConsole;
|
||
|
|
|
||
|
|
isServerRunning = true;
|
||
|
|
Thread serverThread = new Thread(StartServer);
|
||
|
|
serverThread.Start();
|
||
|
|
}
|
||
|
|
|
||
|
|
public void Close()
|
||
|
|
{
|
||
|
|
isServerRunning = false;
|
||
|
|
allDoneServer.Set();
|
||
|
|
|
||
|
|
foreach (NetConnData cs in connections)
|
||
|
|
{
|
||
|
|
cs.isActive = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private void StartServer()
|
||
|
|
{
|
||
|
|
try
|
||
|
|
{
|
||
|
|
IPHostEntry host = Dns.GetHostEntry(Dns.GetHostName());
|
||
|
|
string localIP = "localhost";
|
||
|
|
|
||
|
|
foreach (IPAddress ip in host.AddressList)
|
||
|
|
{
|
||
|
|
if (ip.AddressFamily == AddressFamily.InterNetwork)
|
||
|
|
{
|
||
|
|
localIP = ip.ToString();
|
||
|
|
if (localIP == "0.0.0.0" || localIP.StartsWith("169.254."))
|
||
|
|
continue;
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
IPEndPoint listenEP = new IPEndPoint(IPAddress.Any, serverPort);
|
||
|
|
server = new TcpListener(listenEP);
|
||
|
|
|
||
|
|
server.Start();
|
||
|
|
//Debug.Log(serverName + " started on " + localIP + ":" + serverPort);
|
||
|
|
LogToConsole(serverName + " started on " + localIP + ":" + serverPort);
|
||
|
|
|
||
|
|
while (isServerRunning)
|
||
|
|
{
|
||
|
|
allDoneServer.Reset();
|
||
|
|
server.BeginAcceptTcpClient(new System.AsyncCallback(HandleNetClientConnected), server);
|
||
|
|
|
||
|
|
allDoneServer.WaitOne();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch (SocketException e)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(serverName + " SocketException: " + e.ToString());
|
||
|
|
}
|
||
|
|
finally
|
||
|
|
{
|
||
|
|
// Stop listening for new clients.
|
||
|
|
isServerRunning = false;
|
||
|
|
server.Stop();
|
||
|
|
|
||
|
|
LogToConsole(serverName + " stopped.");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private void HandleNetClientConnected(System.IAsyncResult ar)
|
||
|
|
{
|
||
|
|
TcpListener server = (TcpListener)ar.AsyncState;
|
||
|
|
|
||
|
|
try
|
||
|
|
{
|
||
|
|
NetConnData conn = new NetConnData();
|
||
|
|
|
||
|
|
conn.client = server.EndAcceptTcpClient(ar);
|
||
|
|
conn.stream = conn.client.GetStream();
|
||
|
|
|
||
|
|
conn.remoteIP = conn.client.Client.RemoteEndPoint.ToString();
|
||
|
|
int iP = conn.remoteIP.IndexOf(':');
|
||
|
|
if (iP >= 0)
|
||
|
|
conn.remoteIP = conn.remoteIP.Substring(0, iP);
|
||
|
|
|
||
|
|
CloseConnectionsTo(conn.remoteIP);
|
||
|
|
connections.Add(conn);
|
||
|
|
allDoneServer.Set();
|
||
|
|
|
||
|
|
LogToConsole(serverName + " connected to client " + conn.remoteIP);
|
||
|
|
|
||
|
|
NetClientProc(conn);
|
||
|
|
}
|
||
|
|
catch(System.ObjectDisposedException)
|
||
|
|
{
|
||
|
|
// do nothing
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(serverName + " error while connecting: " + ex.Message);
|
||
|
|
//Debug.LogException(ex);
|
||
|
|
allDoneServer.Set();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private void NetClientProc(NetConnData conn)
|
||
|
|
{
|
||
|
|
conn.isActive = true;
|
||
|
|
int bytesReceived = 0;
|
||
|
|
byte[] bufferTmp = new byte[tmpBufferSize];
|
||
|
|
|
||
|
|
try
|
||
|
|
{
|
||
|
|
while (conn.client.Connected && conn.isActive)
|
||
|
|
{
|
||
|
|
if (conn.readyToSend && conn.stream.CanWrite && conn.messageQueue.Count > 0)
|
||
|
|
{
|
||
|
|
byte[] sendBuffer;
|
||
|
|
lock (conn.messageQueue)
|
||
|
|
{
|
||
|
|
NetMessageData message = conn.messageQueue.Dequeue();
|
||
|
|
//int messageLen = message.frameData.Length;
|
||
|
|
sendBuffer = message.WrapMessage();
|
||
|
|
//if (message.msgType == NetMessageType.Depth)
|
||
|
|
// Debug.Log(" msg type: " + message.msgType + " - " + message.encType + ", ts: " + message.timestamp + ", frameLen: " + messageLen + " - " + message.frameData.Length + ", bufLen: " + sendBuffer.Length);
|
||
|
|
conn.readyToSend = false;
|
||
|
|
//Debug.Log("Sending message " + message.timestamp + " - " + message.msgType + " @ " + System.DateTime.Now.ToString("HH:mm:ss.fff"));
|
||
|
|
}
|
||
|
|
|
||
|
|
conn.stream.BeginWrite(sendBuffer, 0, sendBuffer.Length, new System.AsyncCallback(MessageSentToClient), conn);
|
||
|
|
}
|
||
|
|
|
||
|
|
bytesReceived = 0;
|
||
|
|
while (conn.stream.DataAvailable)
|
||
|
|
{
|
||
|
|
conn.messageReceiveTime = (ulong)System.DateTime.Now.Ticks;
|
||
|
|
bytesReceived = conn.stream.Read(bufferTmp, 0, bufferTmp.Length);
|
||
|
|
ProcessReceivedData(bufferTmp, bytesReceived, conn);
|
||
|
|
}
|
||
|
|
|
||
|
|
Thread.Sleep(KinectInterop.THREAD_SLEEP_TIME_MS);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(ex);
|
||
|
|
}
|
||
|
|
|
||
|
|
conn.isActive = false;
|
||
|
|
conn.messageQueue.Clear();
|
||
|
|
|
||
|
|
LogToConsole(serverName + " connection to client " + conn.remoteIP + " closed.");
|
||
|
|
|
||
|
|
conn.stream.Close();
|
||
|
|
conn.client.Close();
|
||
|
|
|
||
|
|
if(connections.Contains(conn))
|
||
|
|
{
|
||
|
|
connections.Remove(conn);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private void MessageSentToClient(System.IAsyncResult ar)
|
||
|
|
{
|
||
|
|
NetConnData conn = (NetConnData)ar.AsyncState;
|
||
|
|
|
||
|
|
try
|
||
|
|
{
|
||
|
|
conn.stream.EndWrite(ar);
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
if(conn.isActive)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(serverName + " error sending to client: " + ex.Message);
|
||
|
|
//Debug.LogException(ex);
|
||
|
|
|
||
|
|
conn.isActive = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
conn.readyToSend = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
private void ProcessReceivedData(byte[] buffer, int bytesReceived, NetConnData conn)
|
||
|
|
{
|
||
|
|
if (conn.bytesReceived == 0 && bytesReceived > 3) //new message
|
||
|
|
{
|
||
|
|
int newMessageSize = System.BitConverter.ToInt32(buffer, 0) + sizeof(int); //prefix is one int
|
||
|
|
|
||
|
|
if (newMessageSize != conn.messageSize)
|
||
|
|
{
|
||
|
|
conn.messageSize = newMessageSize;
|
||
|
|
conn.messageBuffer = new byte[newMessageSize];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
int availableLength = conn.messageSize - conn.bytesReceived;
|
||
|
|
int copyLen = Mathf.Min(availableLength, bytesReceived);
|
||
|
|
conn.packetCounter++;
|
||
|
|
|
||
|
|
System.Array.Copy(buffer, 0, conn.messageBuffer, conn.bytesReceived, copyLen);
|
||
|
|
conn.bytesReceived += copyLen;
|
||
|
|
|
||
|
|
if (conn.bytesReceived == conn.messageSize)
|
||
|
|
{
|
||
|
|
conn.ResetCounters();
|
||
|
|
|
||
|
|
NetMessageData message = new NetMessageData();
|
||
|
|
//message.SetDecompressor(decompressor);
|
||
|
|
message.UnwrapMessage(conn.messageBuffer);
|
||
|
|
|
||
|
|
ReceivedMessage?.Invoke(conn, new ReceivedMessageEventArgs(message));
|
||
|
|
}
|
||
|
|
|
||
|
|
if (copyLen != bytesReceived)
|
||
|
|
{
|
||
|
|
byte[] newBuffer = new byte[bytesReceived - copyLen];
|
||
|
|
System.Array.Copy(buffer, copyLen, newBuffer, 0, bytesReceived - copyLen);
|
||
|
|
ProcessReceivedData(newBuffer, bytesReceived - copyLen, conn);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// logs message to the console
|
||
|
|
private void LogToConsole(string sMessage)
|
||
|
|
{
|
||
|
|
Debug.Log(sMessage);
|
||
|
|
|
||
|
|
lock(sbConsole)
|
||
|
|
{
|
||
|
|
sbConsole.Append(sMessage).AppendLine();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// logs error message to the console
|
||
|
|
private void LogErrorToConsole(string sMessage)
|
||
|
|
{
|
||
|
|
Debug.LogError(sMessage);
|
||
|
|
|
||
|
|
lock (sbConsole)
|
||
|
|
{
|
||
|
|
sbConsole.Append(sMessage).AppendLine();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// logs error message to the console
|
||
|
|
private void LogErrorToConsole(System.Exception ex)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(ex.Message + "\n" + ex.StackTrace);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// UdpBroadcastServer provides broadcast functionality over the network.
|
||
|
|
/// </summary>
|
||
|
|
internal class UdpBroadcastServer
|
||
|
|
{
|
||
|
|
public int serverPort = 11000;
|
||
|
|
|
||
|
|
private UdpClient server;
|
||
|
|
|
||
|
|
public bool isServerRunning = false;
|
||
|
|
|
||
|
|
// thread signal
|
||
|
|
public ManualResetEvent allDoneServer = new ManualResetEvent(false);
|
||
|
|
|
||
|
|
public string serverName = string.Empty;
|
||
|
|
|
||
|
|
public string sRequestKey = string.Empty;
|
||
|
|
public string sResponseData = string.Empty;
|
||
|
|
public byte[] btResponseData = new byte[0];
|
||
|
|
|
||
|
|
private System.Text.StringBuilder sbConsole = null;
|
||
|
|
|
||
|
|
|
||
|
|
public UdpBroadcastServer(int port, string name, string requestKey, string responseData, System.Text.StringBuilder sbConsole)
|
||
|
|
{
|
||
|
|
serverPort = port;
|
||
|
|
serverName = name;
|
||
|
|
|
||
|
|
sRequestKey = requestKey;
|
||
|
|
sResponseData = responseData;
|
||
|
|
btResponseData = System.Text.Encoding.UTF8.GetBytes(sResponseData);
|
||
|
|
|
||
|
|
this.sbConsole = sbConsole;
|
||
|
|
|
||
|
|
isServerRunning = true;
|
||
|
|
Thread serverThread = new Thread(StartServer);
|
||
|
|
serverThread.Start();
|
||
|
|
}
|
||
|
|
|
||
|
|
public void Close()
|
||
|
|
{
|
||
|
|
isServerRunning = false;
|
||
|
|
allDoneServer.Set();
|
||
|
|
}
|
||
|
|
|
||
|
|
private void StartServer()
|
||
|
|
{
|
||
|
|
try
|
||
|
|
{
|
||
|
|
IPEndPoint ep = new IPEndPoint(IPAddress.Any, serverPort);
|
||
|
|
server = new UdpClient(ep);
|
||
|
|
|
||
|
|
//Debug.Log(serverName + " started on " + localIP + ":" + serverPort);
|
||
|
|
LogToConsole(serverName + " started on udp port " + serverPort);
|
||
|
|
|
||
|
|
while (isServerRunning)
|
||
|
|
{
|
||
|
|
allDoneServer.Reset();
|
||
|
|
|
||
|
|
UdpState state = new UdpState();
|
||
|
|
state.ep = ep;
|
||
|
|
state.uc = server;
|
||
|
|
|
||
|
|
//Debug.Log("Listening for udp requests.");
|
||
|
|
server.BeginReceive(new System.AsyncCallback(HandleNetClientConnected), state);
|
||
|
|
|
||
|
|
allDoneServer.WaitOne();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch (SocketException e)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(serverName + " SocketException: " + e.ToString());
|
||
|
|
}
|
||
|
|
finally
|
||
|
|
{
|
||
|
|
isServerRunning = false;
|
||
|
|
server.Close();
|
||
|
|
|
||
|
|
LogToConsole(serverName + " stopped.");
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private void HandleNetClientConnected(System.IAsyncResult ar)
|
||
|
|
{
|
||
|
|
UdpState state = (UdpState)ar.AsyncState;
|
||
|
|
|
||
|
|
try
|
||
|
|
{
|
||
|
|
UdpClient uc = state.uc;
|
||
|
|
IPEndPoint ep = state.ep;
|
||
|
|
|
||
|
|
byte[] receiveBytes = uc.EndReceive(ar, ref ep);
|
||
|
|
|
||
|
|
string receiveString = System.Text.Encoding.UTF8.GetString(receiveBytes);
|
||
|
|
if (receiveString == sRequestKey)
|
||
|
|
{
|
||
|
|
LogToConsole(serverName + " received broadcast request from " + ep.Address.ToString());
|
||
|
|
uc.BeginSend(btResponseData, btResponseData.Length, ep, new System.AsyncCallback(MessageSentToClient), uc);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
LogErrorToConsole(serverName + " received false request '" + receiveString + "' from " + ep.ToString());
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch (System.ObjectDisposedException)
|
||
|
|
{
|
||
|
|
// do nothing
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(serverName + " error while connecting: " + ex.Message);
|
||
|
|
//Debug.LogException(ex);
|
||
|
|
}
|
||
|
|
|
||
|
|
allDoneServer.Set();
|
||
|
|
}
|
||
|
|
|
||
|
|
private void MessageSentToClient(System.IAsyncResult ar)
|
||
|
|
{
|
||
|
|
UdpClient uc = (UdpClient)ar.AsyncState;
|
||
|
|
|
||
|
|
try
|
||
|
|
{
|
||
|
|
uc.EndSend(ar);
|
||
|
|
}
|
||
|
|
catch (System.Exception ex)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(serverName + " error sending to client: " + ex.Message);
|
||
|
|
//Debug.LogException(ex);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// logs message to the console
|
||
|
|
private void LogToConsole(string sMessage)
|
||
|
|
{
|
||
|
|
Debug.Log(sMessage);
|
||
|
|
|
||
|
|
lock (sbConsole)
|
||
|
|
{
|
||
|
|
sbConsole.Append(sMessage).AppendLine();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// logs error message to the console
|
||
|
|
private void LogErrorToConsole(string sMessage)
|
||
|
|
{
|
||
|
|
Debug.LogError(sMessage);
|
||
|
|
|
||
|
|
lock (sbConsole)
|
||
|
|
{
|
||
|
|
sbConsole.Append(sMessage).AppendLine();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// logs error message to the console
|
||
|
|
private void LogErrorToConsole(System.Exception ex)
|
||
|
|
{
|
||
|
|
LogErrorToConsole(ex.Message + "\n" + ex.StackTrace);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|