/// <summary>
/// Shuts down the communicator and unsubscribes from channels, whatnot
/// </summary>
public void Shutdown()
{
try
{
if (vehicleStateChannel != null)
{
// unsubscribe from channels
vehicleStateChannel.Unsubscribe(vehicleStateChannelToken);
observedObstacleChannel.Unsubscribe(observedObstacleChannelToken);
observedVehicleChannel.Unsubscribe(observedVehicleChannelToken);
vehicleSpeedChannel.Unsubscribe(vehicleSpeedChannelToken);
arbiterOutputChannel.Unsubscribe(arbiterOutputChannelToken);
arbiterInformationChannel.Unsubscribe(arbiterInformationChannelToken);
sideObstacleChannel.Unsubscribe(sideObstacleChannelToken);
this.arbiterRemote = null;
this.operationalFacade = null;
// notify
RemoraOutput.WriteLine("Unsubscribed from channels", OutputType.Remora);
}
}
catch (Exception e)
{
// notify
RemoraOutput.WriteLine("Error in shutting down registered channels", OutputType.Remora);
Console.WriteLine(e.ToString());
}
}
public void ResgisterWithClient()
{
try
{
// get vehicle state channel
vehicleStateChannel = channelFactory.GetChannel("ArbiterSceneEstimatorPositionChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
vehicleStateChannelToken = vehicleStateChannel.Subscribe(messagingListener);
// get observed obstacle channel
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
observedObstacleChannelToken = observedObstacleChannel.Subscribe(messagingListener);
// get observed vehicle channel
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
observedVehicleChannelToken = observedVehicleChannel.Subscribe(messagingListener);
// get vehicle speed channel
vehicleSpeedChannel = channelFactory.GetChannel("VehicleSpeedChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
vehicleSpeedChannelToken = vehicleSpeedChannel.Subscribe(messagingListener);
// get output channel
arbiterOutputChannel = channelFactory.GetChannel("ArbiterOutputChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
arbiterOutputChannelToken = arbiterOutputChannel.Subscribe(messagingListener);
// get information channel
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(messagingListener);
// get side obstacle channel
sideObstacleChannel = channelFactory.GetChannel("SideObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
sideObstacleChannelToken = sideObstacleChannel.Subscribe(messagingListener);
// get ai
this.arbiterRemote = (ArbiterAdvancedRemote)objectDirectory.Resolve("ArbiterAdvancedRemote" + this.RemotingSuffix);
// get the operational layer
this.operationalFacade = (OperationalFacade)objectDirectory.Resolve("OperationalService" + this.RemotingSuffix);
// register
RemoraOutput.WriteLine("Resgistered To Client with suffix: " + this.RemotingSuffix, OutputType.Remora);
}
catch (Exception e)
{
RemoraOutput.WriteLine("Error registering with client: " + e.ToString(), OutputType.Remora);
}
}
private static void HandleResetStage2(bool initialize)
{
// if we're initializing, send the stop to both the scene estimator and local map
// wait until we have confirmation that they're stopped, then restart them
// wait until we get data
// restart AI
if (initialize)
{
forceTimeout = true;
watchdogResetComplete = false;
stage2Timer = null;
watchdogResetEvent.Set();
OperationalTrace.WriteWarning("signaling restart to sensor fusion");
}
else if (watchdogResetComplete)
{
stage2Timer = Stopwatch.StartNew();
watchdogResetComplete = false;
OperationalTrace.WriteWarning("sensor fusion restart complete");
}
else if (stage2Timer != null && stage2Timer.Elapsed > TimeSpan.FromSeconds(10))
{
// possibly could wait until we have data to do this, but whatever
OperationalTrace.WriteWarning("resetting arbiter");
// time to reset the AI
stage2Timer.Reset();
try {
ArbiterAdvancedRemote remote = GetRemote();
if (remote != null)
{
remote.Reset();
OperationalTrace.WriteWarning("arbiter reset complete");
}
}
catch (Exception ex) {
OperationalTrace.WriteError("Error resetting AI in stage 2: {0}", ex);
}
}
}
