/**
* Construct and pass to parent
*
* @param string host
* @param int port
*
* @return InputThread
*/
public OutputThread(List<Coordinate> trajectory, int period, string host, int port, ref InputThread iThread)
: base(host, port)
{
this.trajectory = trajectory;
this.period = period;
this.iThread = iThread;
}
/**
* Executes the automated system
*/
public void Execute()
{
InputThread a = new InputThread(PYT.Properties.Settings.Default.IncomingHost, PYT.Properties.Settings.Default.IncomingCommandPort);
Thread aThread = new Thread(new ThreadStart(a.process));
aThread.Start();
Console.WriteLine("Waiting for Automated Input Command thread to start...");
while (!aThread.IsAlive) ;
Console.WriteLine("Automated input command thread started");
Coordinate previous = new Coordinate(this.coordinates);
foreach (string coord in this.coordinates)
{
previous.setCoordinate(coord, -1000.0);
}
TrajectoryDispatcher tjd = new TrajectoryDispatcher(this.coordinates, ref this.i);
while (true)
{
try
{
Coordinate next = Coordinate.fromString(this.coordinates, a.getLastReceived());
if (next.getCompareString() != previous.getCompareString())
{
previous = next;
// wait for the last one to finish excuting
tjd.wait();
tjd.setData(next, 1, 35);
Coordinate last = Coordinate.fromString(this.coordinates, this.i.getLastReceived());
//last.setCoordinate("y", last.getCoordinate("y") - 6);
tjd.Execute(last);
}
}
catch (Exception e) { }
}
}
/**
* Constructs the dispatcher
*
* @param List<string> coordinates the coordinates we want to compute for
*
* @return TrajectoryDispatcher
*/
public TrajectoryDispatcher(List<string> coordinates, ref InputThread iThread)
{
this.coordinates = coordinates;
this.iThread = iThread;
}
static void Main(string[] args)
{
Console.WriteLine("Please select (a)uto or (m)anual mode");
string mode = Console.ReadLine().ToLower().Trim();
List<string> coordinates = new List<string>(new string[] { "x", "y", "z" });
if (mode == "a" || mode == "auto")
{
Console.WriteLine("Welcome to Auto mode");
Console.WriteLine("Initialising AutomatedCommander");
AutomatedCommander ac = new AutomatedCommander(coordinates);
string input = "";
bool exit = false;
while (!exit)
{
Console.WriteLine("Please input a command:");
input = Console.ReadLine();
switch (input.Trim())
{
case "go":
case "g":
case "start":
ac.Start();
break;
case "stop":
case "s":
case "panic":
case "p":
case "x":
ac.Stop();
break;
case "help":
case "h":
case "?":
Console.WriteLine("Available commands: (g)o / start, (s)top / (p)anic / x, (h)elp / ?, (q)uit / exit");
break;
case "exit":
case "quit":
case "q":
exit = true;
break;
default:
break;
}
}
}
else if (mode == "m" || mode == "manual")
{
Console.WriteLine("Welcome to Manual mode");
Console.WriteLine("Initialising Input thread");
InputThread i = new InputThread(PYT.Properties.Settings.Default.IncomingHost, PYT.Properties.Settings.Default.IncomingDataPort);
Thread iThread = new Thread(new ThreadStart(i.process));
iThread.Start();
Console.WriteLine("Waiting for Input thread to start...");
while (!iThread.IsAlive) ;
Console.WriteLine("Input thread started");
string input = "";
bool exit = false;
while (!exit)
{
Console.WriteLine("Please input a command:");
input = Console.ReadLine();
switch (input.Trim())
{
case "latest":
case "l":
Console.WriteLine("Latest message on Input: " + i.getLastReceived());
break;
case "send":
case "s":
// collect required information from user
Console.WriteLine("Preparing to send...");
TrajectoryDispatcher tjd = new TrajectoryDispatcher(coordinates, ref i);
tjd.collectData();
Console.WriteLine("Enter 'execute' and press return to dispatch. Enter anything else to abort");
if (Console.ReadLine() != "execute")
{
Console.WriteLine("Aborting");
break;
}
Console.WriteLine("Collecting last known position...");
Coordinate start = Coordinate.fromString(coordinates, i.getLastReceived());
Console.WriteLine("... captured");
tjd.Execute(start);
Console.WriteLine("Done");
break;
case "help":
case "h":
case "?":
Console.WriteLine("Available commands: (l)atest, (s)end, (h)elp / ?, (q)uit / exit");
break;
case "exit":
case "quit":
case "q":
exit = true;
break;
default:
break;
}
}
Console.WriteLine("Closing Input thread");
iThread.Abort();
Console.WriteLine("Waiting for Input thread to terminate...");
iThread.Join();
Console.WriteLine("Input thread closed");
}
else
{
Console.WriteLine("Unknown command. Terminating");
}
}
/**
* Starts execution of automated system
*/
public void Start()
{
this.i = new InputThread(PYT.Properties.Settings.Default.IncomingHost, PYT.Properties.Settings.Default.IncomingDataPort);
this.iThread = new Thread(new ThreadStart(this.i.process));
this.iThread.Start();
Console.WriteLine("Waiting for Input thread to start...");
while (!this.iThread.IsAlive) ;
Console.WriteLine("Input thread started");
Console.WriteLine("Starting automated command system");
this.acThread = new Thread(new ThreadStart(this.Execute));
this.acThread.Start();
Console.WriteLine("Waiting for thread to start...");
while (!this.acThread.IsAlive);
Console.WriteLine("... running");
this.enabled = true;
}
