private void updateMissionTool_Click(object sender, EventArgs e)
{
try
{
if (RemoraCommon.Communicator.ArbiterRemote != null)
{
if (RemoraCommon.RoadNetwork != null && RemoraCommon.Mission != null)
{
bool b = RemoraCommon.Communicator.ArbiterRemote.UpdateMission(RemoraCommon.Mission);
string s = b ? "Mission set successfully" : "Mission Update Failed";
RemoraOutput.WriteLine("s", OutputType.Remora);
}
else
{
RemoraOutput.WriteLine("Mission needs to have value for update", OutputType.Remora);
}
}
else
{
RemoraOutput.WriteLine("Arbiter Remote needs to be initialized", OutputType.Remora);
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine(ex.ToString(), OutputType.Remora);
}
}
private void jumpstartAiTool_Click(object sender, EventArgs e)
{
try
{
if (RemoraCommon.Communicator.ArbiterRemote != null)
{
if (RemoraCommon.RoadNetwork != null && RemoraCommon.Mission != null)
{
RemoraCommon.Communicator.ArbiterRemote.JumpstartArbiter(RemoraCommon.RoadNetwork, RemoraCommon.Mission);
}
else
{
RemoraOutput.WriteLine("Road and Mission need to have value for jumpstart", OutputType.Remora);
}
}
else
{
RemoraOutput.WriteLine("Arbiter Remote needs to be initialized", OutputType.Remora);
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine(ex.ToString(), OutputType.Remora);
}
}
/// <summary>
/// Sets the road network
/// </summary>
/// <param name="roads"></param>
private void SetRoadNetwork(ArbiterRoadNetwork roads)
{
// set network
RemoraCommon.RoadNetwork = roads;
// clean out display
this.roadDisplay1.RemoveDisplayObjectType(this.roadDisplay1.RoadNetworkFilter);
// add to display
this.roadDisplay1.AddDisplayObjectRange(roads.DisplayObjects);
// notify
RemoraOutput.WriteLine("Set Road Network", OutputType.Remora);
// test mission
if (RemoraCommon.Mission != null)
{
RemoraOutput.WriteLine("Testing Previously Loaded Mission aginst new Road Network, Removing and Reloading", OutputType.Remora);
ArbiterMissionDescription tmp = RemoraCommon.Mission;
RemoraCommon.Mission = null;
this.SetMission(tmp);
}
// redraw
this.roadDisplay1.Invalidate();
}
/// <summary>
/// Remove the client selected in the list view
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void RemoveClientButtons_Click(object sender, EventArgs e)
{
try
{
System.Windows.Forms.ListView.SelectedListViewItemCollection slvic = this.ClientListView.SelectedItems;
ListViewItem toRemove = null;
if (slvic != null)
{
foreach (ListViewItem lvi in slvic)
{
System.Windows.Forms.ListViewItem.ListViewSubItemCollection lvsic = lvi.SubItems;
if (this.clientHandler.AvailableClients.ContainsKey(lvsic[1].Text))
{
this.clientHandler.Remove(lvsic[1].Text);
toRemove = lvi;
}
}
}
if (toRemove != null)
{
this.ClientListView.Items.Remove(toRemove);
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine("Removal of Client Failed: \n " + ex.ToString(), OutputType.Remora);
}
}
/// <summary>
/// What to do on load
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Remora_Load(object sender, EventArgs e)
{
if (!this.DesignMode)
{
// set output
RemoraOutput.SetTextBox(this.RemoraTextBox);
RemoraOutput.RemoraMain = this;
// comms
RemoraCommon.Communicator = new Communicator(this);
RemoraCommon.Communicator.BeginCommunications();
// update!
updateThread = new Thread(UpdateThread);
updateThread.IsBackground = true;
updateThread.Priority = ThreadPriority.Normal;
updateThread.Start();
// client
this.clientHandler = new ClientHandler();
// event for machine name updates
RemoraCommon.Communicator.ManchineNameUpdate += new Communicator.MachineEventHandler(Communicator_ManchineNameUpdate);
}
}
/// <summary>
/// Called when message sent to us
/// </summary>
/// <param name="channelName"></param>
/// <param name="message"></param>
public void MessageArrived(string channelName, object message)
{
if (channelName == "ArbiterSceneEstimatorPositionChannel" + RemoraCommon.Communicator.RemotingSuffix &&
message is VehicleState)
{
// cast and set
vehicleState = (VehicleState)message;
}
else if (channelName == "ObservedObstacleChannel" + RemoraCommon.Communicator.RemotingSuffix &&
message is SceneEstimatorUntrackedClusterCollection)
{
// cast and set
observedObstacles = (SceneEstimatorUntrackedClusterCollection)message;
}
else if (channelName == "ObservedVehicleChannel" + RemoraCommon.Communicator.RemotingSuffix &&
message is SceneEstimatorTrackedClusterCollection)
{
// cast and set
observedVehicles = (SceneEstimatorTrackedClusterCollection)message;
}
else if (channelName == "VehicleSpeedChannel" + RemoraCommon.Communicator.RemotingSuffix &&
message is double)
{
// cast and set
vehicleSpeed = (double)message;
}
else if (channelName == "ArbiterOutputChannel" + RemoraCommon.Communicator.RemotingSuffix &&
message is string)
{
// output
RemoraOutput.WriteLine((string)message, OutputType.Arbiter);
}
else if (channelName == "ArbiterInformationChannel" + RemoraCommon.Communicator.RemotingSuffix &&
message is ArbiterInformation)
{
// set info
RemoraCommon.aiInformation.information = (ArbiterInformation)message;
}
else if (channelName == "SideObstacleChannel" + RemoraCommon.Communicator.RemotingSuffix &&
message is SideObstacles)
{
SideObstacles sideSickObstacles = (SideObstacles)message;
if (sideSickObstacles.side == SideObstacleSide.Driver)
{
this.sideSickObstaclesDriver = sideSickObstacles;
}
else
{
this.sideSickObstaclesPass = sideSickObstacles;
}
}
}
/// <summary>
/// Connects to the Arbiter and Sets it up for Remote Control
/// </summary>
public void ConnectToArbiter()
{
RemoraOutput.WriteLine("Connecting to Arbiter");
try
{
this.arbiterRemote = (ArbiterRemote)objectDirectory.Resolve("ArbiterRemote");
RemoraOutput.WriteLine("Bind Successful...");
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString() + "\n\n" + "Error Binding Arbiter");
}
}
/// <summary>
/// Sets the rndf and mdf network data
/// </summary>
public void RetrieveNetworkData()
{
RemoraOutput.WriteLine("Retrieving Rndf, Mdf");
try
{
this.remora.SetRndf(this.arbiterRemote.Rndf());
this.remora.SetMdf(this.arbiterRemote.Mdf());
RemoraOutput.WriteLine("Set Rndf, Mdf");
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString() + "\n\n" + "Error Retrieving Rndf, Mdf");
}
}
/// <summary>
/// Sync road and mission with ai
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void SyncWithAi_Click(object sender, EventArgs e)
{
try
{
if (RemoraCommon.Communicator.ArbiterRemote != null)
{
this.SetRoadNetwork(RemoraCommon.Communicator.ArbiterRemote.GetRoadNetwork());
this.SetMission(RemoraCommon.Communicator.ArbiterRemote.GetMissionDescription());
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine("Error in road network, mission sync: \n" + ex.ToString(), OutputType.Remora);
}
}
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);
}
}
/// <summary>
/// Stop the Arbiter dead and remove the Rndf, Mdf
/// </summary>
public void StopArbiter()
{
if (arbiterRemote != null)
{
try
{
this.arbiterRemote.Stop();
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString());
}
}
else
{
RemoraOutput.WriteLine("Arbter Remote does not exist");
}
}
private void pauseVehicleFromAi_Click(object sender, EventArgs e)
{
try
{
if (RemoraCommon.Communicator.ArbiterRemote != null)
{
RemoraCommon.Communicator.ArbiterRemote.PauseFromAi();
}
else
{
RemoraOutput.WriteLine("Arbiter Remote needs to be initialized", OutputType.Remora);
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine(ex.ToString(), OutputType.Remora);
}
}
private void beginNewLogTool_Click(object sender, EventArgs e)
{
try
{
if (RemoraCommon.Communicator.ArbiterRemote != null)
{
RemoraCommon.Communicator.ArbiterRemote.BeginNewLog();
}
else
{
RemoraOutput.WriteLine("Arbiter Remote needs to be initialized", OutputType.Remora);
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine(ex.ToString(), OutputType.Remora);
}
}
private void shutdownAiTool_Click(object sender, EventArgs e)
{
try
{
if (RemoraCommon.Communicator.ArbiterRemote != null)
{
RemoraCommon.Communicator.ArbiterRemote.SetAiMode(UrbanChallenge.Arbiter.Core.Common.ArbiterMode.Stop);
}
else
{
RemoraOutput.WriteLine("Arbiter Remote needs to be initialized", OutputType.Remora);
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine(ex.ToString(), OutputType.Remora);
}
}
public void RestartArbiter(RndfNetwork rndfNetwork, Mdf mdf)
{
if (arbiterRemote != null)
{
try
{
this.arbiterRemote.Restart(rndfNetwork, mdf, UrbanChallenge.Arbiter.ArbiterCommon.ArbiterMode.Debug);
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString());
}
}
else
{
RemoraOutput.WriteLine("Arbter Remote does not exist");
}
}
/// <summary>
/// Opens files
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void openToolStripButton_Click(object sender, EventArgs e)
{
// create a new open file dialog
this.openFileDialog1 = new OpenFileDialog();
// settings for openFileDialog
openFileDialog1.InitialDirectory = "Desktop\\";
openFileDialog1.Filter = "Arbiter Road Network (*.arn)|*.arn|Arbiter Mission Description (*.amd)|*.amd|All files (*.*)|*.*";
openFileDialog1.FilterIndex = 1;
openFileDialog1.RestoreDirectory = true;
// check if everything was selected alright
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
// switch over the final index
switch (openFileDialog1.FilterIndex)
{
// open a road network
case 1:
// open network from a file
this.SetRoadNetwork(this.OpenRoadNetworkFromFile(openFileDialog1.FileName));
// end case
break;
// open mission
case 2:
// open mission
this.SetMission(OpenMissionFromFile(openFileDialog1.FileName));
// end case
break;
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine("Error in [private void openToolStripButton_Click(object sender, EventArgs e)]: " + ex.ToString(), OutputType.Remora);
}
}
}
/// <summary>
/// On loading, we want to load up the readme file located in the top-level remora directory
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Readme_Load(object sender, EventArgs e)
{
// path to readme
string relativePath = "..\\..\\Readme.txt";
try
{
using (StreamReader sr = new StreamReader(relativePath))
{
this.readmeTextBox.Text = sr.ReadToEnd();
sr.Dispose();
sr.Close();
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine(ex.ToString());
}
}
/// <summary>
/// Track the ai vehicle
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void TrackAiVehicleButton_Click(object sender, EventArgs e)
{
if (this.roadDisplay1.aiVehicle.State != null)
{
if (this.TrackAiVehicleButton.CheckState == CheckState.Checked)
{
this.roadDisplay1.tracked = this.roadDisplay1.aiVehicle;
}
else
{
this.roadDisplay1.tracked = null;
}
}
else
{
RemoraOutput.WriteLine("Cannot track vehicle, as we have no vehicle state update", OutputType.Remora);
this.TrackAiVehicleButton.CheckState = CheckState.Unchecked;
}
}
/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Notify user of success
RemoraOutput.WriteLine("Connection to Name Service Successful", OutputType.Remora);
// get simulation if supposed to
if (global::RemoraAdvanced.Properties.Settings.Default.SimMode)
{
this.simulatorFacade = (SimulatorFacade)objectDirectory.Resolve("SimulationServer");
// Notify user of success
RemoraOutput.WriteLine("Connection to Simulation Service Successful", OutputType.Remora);
}
}
/// <summary>
/// Prints speeds of the current mdf
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void printMdfSpeeds_Click(object sender, EventArgs e)
{
if (RemoraCommon.Mission != null)
{
foreach (ArbiterSpeedLimit asl in RemoraCommon.Mission.SpeedLimits)
{
RemoraOutput.WriteLine("SpeedLimit: " + asl.Area.ToString() + ", Max: " + asl.MaximumSpeed.ToString() + ", Min: " + asl.MinimumSpeed.ToString(), OutputType.Remora);
}
ArbiterCheckpoint[] acs = RemoraCommon.Mission.MissionCheckpoints.ToArray();
for (int i = 0; i < acs.Length; i++)
{
RemoraOutput.WriteLine(i.ToString() + ": Checkpoint Number: " + acs[i].CheckpointNumber.ToString() + ", Waypoint: " + acs[i].WaypointId.ToString(), OutputType.Remora);
}
}
else
{
RemoraOutput.WriteLine("Mission cannot be null to print speeds", OutputType.Remora);
}
}
public Mdf RetrieveMdf()
{
if (arbiterRemote != null)
{
try
{
return(this.arbiterRemote.Mdf());
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString());
}
}
else
{
RemoraOutput.WriteLine("Arbter Remote does not exist");
}
return(null);
}
public bool PingArbiter()
{
if (arbiterRemote != null)
{
try
{
return(this.arbiterRemote.Ping());
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString());
return(false);
}
}
else
{
RemoraOutput.WriteLine("Arbter Remote does not exist");
return(false);
}
}
public bool UpdateMdf(Mdf mdf)
{
if (arbiterRemote != null)
{
try
{
return(this.arbiterRemote.SetMdf(mdf));
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString());
}
}
else
{
RemoraOutput.WriteLine("Arbter Remote does not exist");
}
return(false);
}
/// <summary>
/// Forces the ai to reconnect to the shits
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ForceReconnectTool_Click(object sender, EventArgs e)
{
if (RemoraCommon.Communicator.ArbiterRemote != null)
{
RemoraOutput.WriteLine("Forcing ai to reconnect to the shits", OutputType.Remora);
try
{
RemoraCommon.Communicator.ArbiterRemote.Reconnect();
}
catch (Exception ex)
{
RemoraOutput.WriteLine("Error reconnecting: \n" + ex.ToString(), OutputType.Remora);
RemoraCommon.Communicator.CommunicationsReady = false;
}
}
else
{
RemoraOutput.WriteLine("Remora not connected to ai", OutputType.Remora);
}
}
private void pointAnalysisTool_Click(object sender, EventArgs e)
{
if (this.pointAnalysisTool.CheckState == CheckState.Checked)
{
if (RemoraCommon.RoadNetwork != null)
{
this.roadDisplay1.SecondaryEditorTool = new PointAnalysisTool(RemoraCommon.RoadNetwork.PlanarProjection, false, RemoraCommon.RoadNetwork, this.roadDisplay1.WorldTransform);
}
else
{
RemoraOutput.WriteLine("Road network cannot be null for point analysis tool", OutputType.Remora);
}
}
else
{
if (this.roadDisplay1.SecondaryEditorTool != null && this.roadDisplay1.SecondaryEditorTool is PointAnalysisTool)
{
this.roadDisplay1.SecondaryEditorTool = null;
}
}
this.roadDisplay1.Invalidate();
}
private void rulerTool_Click(object sender, EventArgs e)
{
if (this.rulerTool.CheckState == CheckState.Checked)
{
if (RemoraCommon.RoadNetwork != null)
{
this.roadDisplay1.CurrentEditorTool = new RulerTool(false, RemoraCommon.RoadNetwork, this.roadDisplay1.WorldTransform);
}
else
{
RemoraOutput.WriteLine("Road network cannot be null for ruler tool", OutputType.Remora);
}
}
else
{
if (this.roadDisplay1.CurrentEditorTool != null && this.roadDisplay1.CurrentEditorTool is RulerTool)
{
this.roadDisplay1.CurrentEditorTool = null;
}
}
this.roadDisplay1.Invalidate();
}
/// <summary>
/// Connect to a client
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ConnectClientButton_Click(object sender, EventArgs e)
{
try
{
System.Windows.Forms.ListView.SelectedListViewItemCollection slvic = this.ClientListView.SelectedItems;
if (slvic != null && slvic.Count == 1)
{
ListViewItem lvi = slvic[0];
System.Windows.Forms.ListViewItem.ListViewSubItemCollection lvsic = lvi.SubItems;
this.clientHandler.SetMachine(lvsic[1].Text);
RemoraCommon.Communicator.Shutdown();
RemoraCommon.Communicator.ResgisterWithClient();
}
}
catch (Exception ex)
{
RemoraOutput.WriteLine("Connection to Client Failed: \n " + ex.ToString(), OutputType.Remora);
}
}
/// <summary>
/// Sets mission
/// </summary>
/// <param name="mission"></param>
private void SetMission(ArbiterMissionDescription mission)
{
// set mission
RemoraCommon.Mission = mission;
// set speeds if can
if (RemoraCommon.RoadNetwork != null)
{
try
{
RemoraCommon.RoadNetwork.SetSpeedLimits(mission.SpeedLimits);
}
catch (Exception e)
{
RemoraOutput.WriteLine("Error setting road network speed limits from inputted mission: " + e.ToString(), OutputType.Remora);
}
RemoraOutput.WriteLine("Successfully loaded mission, passed speed limit set check", OutputType.Remora);
int numAreas = RemoraCommon.RoadNetwork.ArbiterSegments.Count + RemoraCommon.RoadNetwork.ArbiterZones.Count;
int numSpeeds = RemoraCommon.Mission.SpeedLimits.Count;
if (numAreas != numSpeeds)
{
RemoraOutput.WriteLine("Warning: Number of Speed Limits: " + numSpeeds.ToString() + " not equal to number of network Areas: " + numAreas.ToString(), OutputType.Remora);
}
else
{
RemoraOutput.WriteLine("Number of Speed Limits: " + numSpeeds.ToString() + " equal to number of network Areas: " + numAreas.ToString(), OutputType.Remora);
}
}
else
{
RemoraOutput.WriteLine("Cannot load Mission before Road Network", OutputType.Remora);
}
}
/// <summary>
/// Initializes communications with the outside world by means of remoting
/// </summary>
public void InitializeRemotingCommunications()
{
// try to shut down in case we have already been active
this.ShutDown();
try
{
// Read the configuration file.
RemotingConfiguration.Configure("Remora.exe.config", false);
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString() + "\n\n" + "Could not initialize communications, attempting to reconnect");
try
{
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e1)
{
RemoraOutput.WriteLine(e1.ToString() + "\n\n" + "Could not reinitialize nameservice communications");
try
{
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e2)
{
RemoraOutput.WriteLine(e2.ToString() + "\n\n" + "Could not reinitialize messaging communications");
}
}
}
}
public string PartitionIdString()
{
string final = "";
#region Standard Areas
List <AreaProbability> AreaProbabilities = new List <AreaProbability>();
Circle circ = new Circle(TahoeParams.T + 0.3, new Coordinates());
Polygon conv = circ.ToPolygon(32);
Circle circ1 = new Circle(TahoeParams.T + 0.6, new Coordinates());
Polygon conv1 = circ1.ToPolygon(32);
Circle circ2 = new Circle(TahoeParams.T + 1.4, new Coordinates());
Polygon conv2 = circ2.ToPolygon(32);
for (int i = 0; i < this.trackedCluster.closestPartitions.Length; i++)
{
SceneEstimatorClusterPartition secp = this.trackedCluster.closestPartitions[i];
if (RemoraCommon.RoadNetwork.VehicleAreaMap.ContainsKey(secp.partitionID))
{
IVehicleArea iva = RemoraCommon.RoadNetwork.VehicleAreaMap[secp.partitionID];
bool found = false;
for (int j = 0; j < AreaProbabilities.Count; j++)
{
AreaProbability ap = AreaProbabilities[j];
if (ap.Key.Equals(iva))
{
ap.Value = ap.Value + secp.probability;
found = true;
}
}
if (!found)
{
AreaProbabilities.Add(new AreaProbability(iva, secp.probability));
}
}
else
{
RemoraOutput.WriteLine("Remora caught exception, partition: " + secp.partitionID + " not found in Vehicle Area Map", OutputType.Remora);
}
}
if (AreaProbabilities.Count > 0)
{
double rP = 0.0;
foreach (AreaProbability ap in AreaProbabilities)
{
if (ap.Key is ArbiterLane)
{
rP += ap.Value;
}
}
if (rP > 0.1)
{
foreach (AreaProbability ap in AreaProbabilities)
{
if (ap.Key is ArbiterLane)
{
// proabbility says in area
double vP = ap.Value / rP;
if (vP > 0.3)
{
#region Check if obstacle enough in area
bool ok = false;
if (ap.Key is ArbiterLane)
{
VehicleState vs = RemoraCommon.Communicator.GetVehicleState();
ArbiterLane al = (ArbiterLane)ap.Key;
Coordinates closest = this.ClosestPointToLine(al.LanePath(), vs).Value;
// dist to closest
double distanceToClosest = vs.Front.DistanceTo(closest);
// get our dist to closest
if (30.0 < distanceToClosest && distanceToClosest < (30.0 + ((5.0 / 2.24) * Math.Abs(RemoraCommon.Communicator.GetVehicleSpeed().Value))))
{
if (al.LanePolygon != null)
{
ok = this.VehicleExistsInsidePolygon(al.LanePolygon, vs);
}
else
{
ok = al.LanePath().GetClosestPoint(closest).Location.DistanceTo(closest) < al.Width / 2.0;
}
}
else if (distanceToClosest <= 30.0)
{
if (al.LanePolygon != null)
{
if (!this.trackedCluster.isStopped && this.VehicleAllInsidePolygon(al.LanePolygon, vs))
{
ok = true;
}
else
{
if (this.trackedCluster.isStopped)
{
bool isInSafety = false;
foreach (ArbiterIntersection ai in RemoraCommon.RoadNetwork.ArbiterIntersections.Values)
{
if (ai.IntersectionPolygon.IsInside(this.trackedCluster.closestPoint))
{
isInSafety = true;
}
}
foreach (ArbiterSafetyZone asz in al.SafetyZones)
{
if (asz.IsInSafety(this.trackedCluster.closestPoint))
{
isInSafety = true;
}
}
if (isInSafety)
{
if (!this.VehiclePassableInPolygon(al, al.LanePolygon, vs, conv1))
{
ok = true;
}
}
else
{
if (!this.VehiclePassableInPolygon(al, al.LanePolygon, vs, conv))
{
ok = true;
}
}
}
else
{
if (!this.VehiclePassableInPolygon(al, al.LanePolygon, vs, conv2))
{
ok = true;
}
}
}
}
else
{
ok = al.LanePath().GetClosestPoint(closest).Location.DistanceTo(closest) < al.Width / 2.0;
}
}
else
{
ok = true;
}
if (ok)
{
final = final + ap.Key.ToString() + ": " + vP.ToString("F4") + "\n";
}
}
#endregion
}
}
}
}
}
#endregion
#region Interconnect Area Mappings
foreach (ArbiterInterconnect ai in RemoraCommon.RoadNetwork.ArbiterInterconnects.Values)
{
if (ai.TurnPolygon.IsInside(this.trackedCluster.closestPoint))
{
final = final + ai.ToString() + "\n";
if (ai.TurnDirection == ArbiterTurnDirection.UTurn && ai.InitialGeneric is ArbiterWaypoint && ai.FinalGeneric is ArbiterWaypoint)
{
// initial
ArbiterLane initialLane = ((ArbiterWaypoint)ai.InitialGeneric).Lane;
ArbiterLane targetLane = ((ArbiterWaypoint)ai.FinalGeneric).Lane;
final = final + "UTurn2Lane: " + initialLane.ToString() + " & " + targetLane.ToString() + "\n";
}
}
}
#endregion
#region Intersections
foreach (ArbiterIntersection aInt in RemoraCommon.RoadNetwork.ArbiterIntersections.Values)
{
if (aInt.IntersectionPolygon.IsInside(this.trackedCluster.closestPoint))
{
final = final + "Inter: " + aInt.ToString() + "\n";
}
}
#endregion
return(final);
}
