/// <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();
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
ValidateState();
base.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();
MainPortInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup
(
Arbiter.Receive <simengine.InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.ReceiveWithIterator <irobottypes.Connect>(true, _mainPort, ConnectHandler)
),
new ConcurrentReceiverGroup()
));
SubscribeForEntity();
}
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)));
}
/// <summary>
/// Start initializes SimulatedBumperService and listens for drop messages
/// </summary>
protected override void Start()
{
// Find the Bumper entity we are supposed to be hooked up with
// Detailed explanation on how simulation services compose with the simulation entities
// can be found in SimulationTutorial2 and also in the InitializeSimulation() method
// of other simulation service (like the SimulatedDifferentialDrive)
_notificationTarget = new simengine.SimulationEnginePort();
// PartnerType.Service is the entity instance name
simengine.SimulationEngine.GlobalInstancePort.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 <dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
_notificationTarget = new simengine.SimulationEnginePort();
_utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
simengine.SimulationEngine.GlobalInstancePort.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 <dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
}
/// <summary>
/// Locates the camera entity.
/// </summary>
/// <param name="responsePort">The response port.</param>
/// <returns>Standard ccr iterator</returns>
private IEnumerator <ITask> LocateCameraEntity(PortSet <VisualEntity, Fault> responsePort)
{
// Subscribe for it in the simulation engine
var simenginePort = simengine.SimulationEngine.GlobalInstancePort;
var notificationPort = new simengine.SimulationEnginePort();
var subscribeResponse = simenginePort.Subscribe(ServiceInfo.PartnerList, notificationPort);
var subscribeFailure = (Fault)subscribeResponse;
if (subscribeFailure != null)
{
responsePort.Post(subscribeFailure);
yield break;
}
var insertPort = notificationPort.P6;
yield return(insertPort.Receive(inserted => responsePort.Post(inserted.Body)));
yield break;
}
protected override void Start()
{
_notificationTarget = new simengine.SimulationEnginePort();
simengine.SimulationEngine.GlobalInstancePort.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<dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
// start notification method
SpawnIterator<DateTime>(DateTime.Now, CheckForStateChange);
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
_notificationTarget = new simengine.SimulationEnginePort();
// PartnerType.Service is the entity instance name.
simengine.SimulationEngine.GlobalInstancePort.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 <dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
// start notification method
SpawnIterator <DateTime>(DateTime.Now, CheckForStateChange);
}
/// <summary>
/// Start initializes SimulatedDepthcamService and listens for drop messages
/// </summary>
protected override void Start()
{
const double KinectMaxValidDepthMm = 4000.0;
const double KinectMinValidDepthMm = 800.0;
if (this._state == null)
{
// no config file found, initialize default state according to KinectReservedSampleValues
this._state = new DepthCamSensorState();
this._state.MaximumRange = KinectMaxValidDepthMm / 1000.0;
this._state.MinimumRange = KinectMinValidDepthMm / 1000.0;
this._state.FurtherThanMaxDepthValue = (short)4095.0;
this._state.NearerThanMinDepthValue = (short)0.0;
this.SaveState(this._state);
}
this._physicsEngine = physics.PhysicsEngine.GlobalInstance;
_notificationTarget = new simengine.SimulationEnginePort();
utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
// PartnerType.Service is the entity instance name.
simengine.SimulationEngine.GlobalInstancePort.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 <dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
}
/// <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()
));
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
// Get the notification target
_notificationTarget = new simengine.SimulationEnginePort();
// PartnerType.Service is the entity instance name
simengine.SimulationEngine.GlobalInstancePort.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<dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
}