@Override
public void run() {
assert (socket == null);
try {
// Setup Socket
Logger.logf(Logger.INFO, "%s starting.", name());
this.socket = CommonIO.setupNetSocket(host, port);
// Initialize
BufferedOutputStream _out = new BufferedOutputStream(socket.getOutputStream());
BufferedInputStream _in = new BufferedInputStream(socket.getInputStream());
DataOutputStream out = new DataOutputStream(_out);
DataInputStream in = new DataInputStream(_in);
out.writeInt(0);
out.flush();
int recv = in.readInt();
if (recv != 0) throw new SequenceErrorException(0, recv);
out.writeInt(NBConstants.VERSION);
out.flush();
recv = in.readInt();
if (recv != NBConstants.VERSION) {
Logger.log(
Logger.WARN,
"WARNING: NetIO connected to robot with version "
+ recv
+ " but client is running version "
+ NBConstants.VERSION
+ " !!\n");
}
synchronized (this) {
if (this.state != IOState.STARTING) return;
this.state = IOState.RUNNING;
}
Events.GStreamIOStatus.generate(this, true);
// Stream
int seq_num = 1;
while (state() == IOState.RUNNING) {
recv = in.readInt();
if (recv == 0) {
// Pinged, no logs to receive.
out.writeInt(0);
out.flush();
} else if (recv == seq_num) {
Log nl = CommonIO.readLog(in);
nl.tree().append(SExpr.newKeyValue("from_address", this.host));
Logger.log(
Logger.INFO,
this.name()
+ ": thread got packet of data size: "
+ nl.bytes.length
+ " desc: "
+ nl.description(50));
nl.source = SOURCE.NETWORK;
GIOFirstResponder.generateReceived(this, ifr, 0, nl);
++seq_num;
} else {
throw new SequenceErrorException(seq_num, recv);
}
}
} catch (Throwable t) {
if (t instanceof SequenceErrorException) {
Logger.logf(Logger.ERROR, "%s", ((SequenceErrorException) t).toString());
}
t.printStackTrace();
} finally {
Logger.logf(Logger.INFO, "%s cleaning up...", name());
this.finish();
StreamIO.remove(this);
GIOFirstResponder.generateFinished(this, this.ifr);
Events.GStreamIOStatus.generate(this, false);
}
}