/// <summary>
/// PursuitCamera Start is called when service initializes
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new PursuitCameraState
{
MinDistance = 4,
MaxDistance = 6,
FieldOfView = 45,
Altitude = 2,
OcclusionThreshold = 0.5f,
PreventOcclusion = true,
CameraName = "PursuitCamera"
};
}
base.Start();
_physics = physics.PhysicsEngine.GlobalInstance;
_simPort = sime.SimulationEngine.GlobalInstancePort;
_simPort.Subscribe(ServiceInfo.PartnerList, _simNotify);
base.MainPortInterleave.CombineWith(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <sime.InsertSimulationEntity>(true, _simNotify, OnInsertEntity),
Arbiter.Receive <sime.DeleteSimulationEntity>(true, _simNotify, OnDeleteEntity)
),
new ConcurrentReceiverGroup()
)
);
}
/// <summary>
/// SimulatedFourByFourDriveService start gets called when service initializes
/// </summary>
protected override void Start()
{
_simEngine = sime.SimulationEngine.GlobalInstancePort;
base.Start();
_simEngine.Subscribe(ServiceInfo.PartnerList, _simNotify);
//
// don't start service handlers until we have found the entity.
// however, do insert into the directory.
//
Activate(
new Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <sime.InsertSimulationEntity>(false, _simNotify, OnFoundEntity),
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
)
);
DirectoryInsert();
}
protected override void Start()
{
_simEngine = simengine.SimulationEngine.GlobalInstancePort;
_notificationTarget = new simengine.SimulationEnginePort();
if (_state == null)
{
CreateDefaultState();
}
// PartnerType.Service is the entity instance name.
_simEngine.Subscribe(ServiceInfo.PartnerList, _notificationTarget);
// don't start listening to DSSP operations, other than drop, until notification of entity
Activate(new Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive <simengine.InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup
(
Arbiter.Receive <FromWinformMsg>(true, _fromWinformPort, OnWinformMessageHandler)
),
new ConcurrentReceiverGroup()
));
// Create the user interface form
WinFormsServicePort.Post(new Microsoft.Ccr.Adapters.WinForms.RunForm(CreateForm));
Activate(Arbiter.Receive(false, TimeoutPort(5000), dateTime => SpawnIterator(RefreshListIterator)));
}
// process messages from the UI Form
void OnWinformMessageHandler(FromWinformMsg msg)
{
switch (msg.Command)
{
case FromWinformMsg.MsgEnum.Loaded:
// the windows form is ready to go
_simulatedBipedMoverUI = (SimulatedBipedMoverUI)msg.Object;
break;
case FromWinformMsg.MsgEnum.MoveJoint:
MoveJoint((MoveJoint)msg.Object);
break;
case FromWinformMsg.MsgEnum.Suspend:
Task <simengine.VisualEntity, bool> deferredTask =
new Task <simengine.VisualEntity, bool>(_entity, (bool)msg.Object, SuspendBipedInternal);
_entity.DeferredTaskQueue.Post(deferredTask);
break;
case FromWinformMsg.MsgEnum.ChangeEntity:
{
string entityName = (string)msg.Object;
if (string.IsNullOrEmpty(entityName) == false)
{
if (_entity == null || _entity.State.Name != entityName || _state.Joints == null || _state.Joints.Count == 0)
{
DeleteEntityInternal();
simengine.EntitySubscribeRequestType req = new Microsoft.Robotics.Simulation.Engine.EntitySubscribeRequestType();
req.Name = entityName;
_simEngine.Subscribe(req, _notificationTarget);
}
}
break;
}
case FromWinformMsg.MsgEnum.RefreshList:
{
SpawnIterator(RefreshListIterator);
break;
}
}
}
void SubscribeForEntity()
{
// our entity instance name is passed as a partner
PartnerType entityPartner = Dss.ServiceModel.DsspServiceBase.DsspServiceBase.FindPartner(
new System.Xml.XmlQualifiedName(Microsoft.Robotics.Simulation.Partners.Entity, Microsoft.Robotics.Simulation.Contract.Identifier),
ServiceInfo.PartnerList);
if (entityPartner == null)
{
LogError("Invalid entity name specified as a partner to the iRobotLite Service");
}
else
{
// PartnerType.Service is the entity instance name.
simengine.EntitySubscribeRequestType esrt = new simengine.EntitySubscribeRequestType();
esrt.Name = new Uri(entityPartner.Service).LocalPath.TrimStart('/');
esrt.Subscriber = ServiceInfo.Service;
_simEngine.Subscribe(esrt, _notificationTarget);
}
}
/// <summary>
/// Start initializes service state and listens for drop messages
/// </summary>
protected override void Start()
{
// Find our simulation entity that represents the "hardware" or real-world service.
// To hook up with simulation entities we do the following steps
// 1) have a manifest or some other service create us, specifying a partner named SimulationEntity
// 2) in the simulation service (us) issue a subscribe to the simulation engine looking for
// an instance of that simulation entity. We use the Entity.State.Name for the match so it must be
// exactly the same. See SimulationTutorial2 for the creation process
// 3) Listen for a notification telling us the entity is available
// 4) cache reference to entity and communicate with it issuing low level commands.
_simEngine = simengine.SimulationEngine.GlobalInstancePort;
_notificationTarget = new simengine.SimulationEnginePort();
if (_state == null)
{
CreateDefaultState();
}
// enabled by default
_state.IsEnabled = true;
// PartnerType.Service is the entity instance name.
_simEngine.Subscribe(ServiceInfo.PartnerList, _notificationTarget);
// dont start listening to DSSP operations, other than drop, until notification of entity
Activate(new Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive <simengine.InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
}
protected override void Start()
{
// Find our simulation entity that represents the "hardware" or real-world service.
// To hook up with simulation entities we do the following steps
// 1) have a manifest or some other service create us, specifying a partner named SimulationEntity
// 2) in the simulation service (us) issue a subscribe to the simulation engine looking for
// an instance of that simulation entity. We use the Entity.State.Name for the match so it must be
// exactly the same. See SimulationTutorial2 for the creation process
// 3) Listen for a notification telling us the entity is available
// 4) cache reference to entity and communicate with it issuing low level commands.
_simEngine = simengine.SimulationEngine.GlobalInstancePort;
_notificationTarget = new simengine.SimulationEnginePort();
if (_state == null)
CreateDefaultState();
// PartnerType.Service is the entity instance name.
_simEngine.Subscribe(ServiceInfo.PartnerList, _notificationTarget);
// dont start listening to DSSP operations, other than drop, until notification of entity
Activate(new Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive<simengine.InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.Receive<DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
}
