/// <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>
/// Start initializes SimulatedLRFService and listens for drop messages
/// </summary>
protected override void Start()
{
_physicsEngine = physics.PhysicsEngine.GlobalInstance;
_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>
/// 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>
/// Initialize the IR Distance sensor
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public override void Initialize(xnagrfx.GraphicsDevice device, simcommon.PhysicsEngine physicsEngine)
{
try
{
if (Parent == null)
{
throw new Exception("This entity must be a child of another entity.");
}
// make sure that we take at least 2 samples in each direction
if (Samples < 2f)
{
Samples = 2f;
}
_raycastProperties = new simcommon.RaycastProperties();
_raycastProperties.StartAngle = -DispersionConeAngle / 2.0f;
_raycastProperties.EndAngle = DispersionConeAngle / 2.0f;
_raycastProperties.AngleIncrement = DispersionConeAngle / (Samples - 1f);
_raycastProperties.Range = MaximumRange;
_raycastProperties.OriginPose = new Pose();
// set flag so rendering engine renders us last
Flags |= simengine.VisualEntityProperties.UsesAlphaBlending;
base.Initialize(device, physicsEngine);
// set up for rendering impact points
simcommon.HeightFieldShapeProperties hf = new simcommon.HeightFieldShapeProperties("height field", 2, 0.02f, 2, 0.02f, 0, 0, 1, 1);
hf.HeightSamples = new simcommon.HeightFieldSample[hf.RowCount * hf.ColumnCount];
for (int i = 0; i < hf.HeightSamples.Length; i++)
{
hf.HeightSamples[i] = new simcommon.HeightFieldSample();
}
_particlePlane = new simcommon.Shape(hf);
_particlePlane.State.Name = "laser impact plane";
// The mesh is used to render the ray impact points rather than the sensor geometry.
int index = Meshes.Count;
Meshes.Add(simengine.SimulationEngine.ResourceCache.CreateMesh(device, _particlePlane.State));
Meshes[0].Textures[0] = simengine.SimulationEngine.ResourceCache.CreateTextureFromFile(device, "particle.bmp");
// we have a custom effect, with an additional global parameter. Get handle to it here
if (Effect != null)
{
_timeAttenuationHandle = Effect.GetParameter("timeAttenuation");
}
}
catch (Exception ex)
{
// clean up
if (PhysicsEntity != null)
{
PhysicsEngine.DeleteEntity(PhysicsEntity);
}
HasBeenInitialized = false;
InitError = ex.ToString();
}
}
