public DriveService(IDriveAccountService accountService, SiteContext siteContext, DriveContext driveContext)
{
this.accountService = accountService;
graph = accountService.Graph;
this.siteContext = siteContext;
this.driveContext = driveContext;
}
public VehicleModelRepository(DriveContext context, IMapper mapper, MapperConfiguration mapperConfiguration) : base(context)
{
_context = context;
dbSet = _context.Set <VehicleModelEntity>();
_mapper = mapper;
_mapperConfiguration = mapperConfiguration;
}
public AutonomousService(StateType initialStateType, GPS gate, int lrfPort, int fuckItGoForItCountDown, bool lrfTest = false)
{
this.driveContext = new DriveContext(initialStateType, gate);
this.ObstacleEvent += driveContext.HandleObstacleEvent;
if (!lrfTest)
{
this.rocks_lrf_socket = new UdpClient(lrfPort);
// Initialize async receive
this.rocks_lrf_socket.BeginReceive(HandleSocketReceive, null);
}
else
{
this.plot = new Plot();
}
this.startTimeStamp = DateTime.Now;
this.fuckItGoForItCountDown = fuckItGoForItCountDown;
}
public HomeController()
{
/*
* DatabaseTarget target = new DatabaseTarget();
* DatabaseParameterInfo param;
* target.ConnectionStringName = "DriveContext";
* target.DBDatabase = "DriveDB";
* target.CommandText = "insert into LogEntries(Date, Level, Logger, Message) values(@Date, @Level, @Logger, @Message);";
*
* param = new DatabaseParameterInfo();
* param.Name = "@Date";
* param.Layout = "${Date}";
* target.Parameters.Add(param);
*
* param = new DatabaseParameterInfo();
* param.Name = "@Level";
* param.Layout = "${Level}";
* target.Parameters.Add(param);
*
* param = new DatabaseParameterInfo();
* param.Name = "@Logger";
* param.Layout = "${Logger}";
* target.Parameters.Add(param);
*
* param = new DatabaseParameterInfo();
* param.Name = "@Message";
* param.Layout = "${Message}";
* target.Parameters.Add(param);
*
* NLog.Config.SimpleConfigurator.ConfigureForTargetLogging(target, LogLevel.Info);
*/
context = new DriveContext();
logger = LogManager.GetCurrentClassLogger();
logger.Info("Home Controller");
context.SaveChanges();
}
protected WriterBase(DriveContext driveContext, IMapper mapper) : base(driveContext, mapper)
{
}
public ContextWriter(DriveContext driveContext, IMapper mapper) : base(driveContext, mapper)
{
}
public DriveService(IDriveAccountService accountService, DriveContext driveContext)
{
_accountService = accountService;
_graph = accountService.Graph;
_driveContext = driveContext;
}
public DriveAccountService(DriveContext siteContext, TokenService tokenService)
{
this.SiteContext = siteContext;
this.app = tokenService.app;
this.Graph = tokenService.Graph;
}
public SettingService(DriveContext context)
{
_context = context;
}
public Line FindBestGap(Plot obstacles)
{
List <Region> regions = obstacles.Regions;
double bestGapDistance = 0;
Line bestGap = null;
// Sanity check
if (regions.Count == 0)
{
// Return Line representing gap straight in front of Ascent
return(DriveContext.GapStraightInFront());
}
// Check first and last Region gaps (may be same Region if only one Region)
Region firstRegion = regions.ElementAt(0);
Region lastRegion = regions.ElementAt(regions.Count - 1);
// Check if leftmost Coordinate in the leftmost Region is on the right half of the entire FOV. If it is, make leftEdgeCoordinate where the
// max-acceptable-range meets the left FOV line, since the FindClosestPointOnLine function return will cause errors for 180 degree FOV.
Coordinate leftEdgeCoordinate = Line.FindClosestPointOnLine(DriveContext.LRF_LEFT_FOV_EDGE, firstRegion.StartCoordinate);
if (firstRegion.StartCoordinate.X > 0)
{
leftEdgeCoordinate = new Coordinate(-AutonomousService.OBSTACLE_DETECTION_DISTANCE, 0, CoordSystem.Cartesian);
}
Line leftEdgeGap = new Line(leftEdgeCoordinate, firstRegion.StartCoordinate);
// Check if rightmost Coordinate in the rightmost Region is on the left half of the entire FOV. If it is, make rightEdgeCoordinate where the
// max-acceptable-range meets the right FOV line, since the FindClosestPointOnLine function return will cause errors for 180 degree FOV.
Coordinate rightEdgeCoordinate = Line.FindClosestPointOnLine(DriveContext.LRF_RIGHT_FOV_EDGE, lastRegion.EndCoordinate);
if (lastRegion.EndCoordinate.X < 0)
{
rightEdgeCoordinate = new Coordinate(AutonomousService.OBSTACLE_DETECTION_DISTANCE, 0, CoordSystem.Cartesian);
}
Line rightEdgeGap = new Line(rightEdgeCoordinate, lastRegion.EndCoordinate);
// Check two possible edge gaps for bestGap
Line bestEdgeGap = leftEdgeGap.Length > rightEdgeGap.Length ? leftEdgeGap : rightEdgeGap;
if (bestEdgeGap.Length > DriveContext.ASCENT_WIDTH)
{
bestGap = bestEdgeGap;
bestGapDistance = bestEdgeGap.Length;
}
// Check all non-edge Regions for bestGap (only if there is more than 1 Region)
for (int i = 0; i < regions.Count - 1; i++)
{
Region leftRegion = regions.ElementAt(i);
Region rightRegion = regions.ElementAt(i + 1);
double gapDistance = Plot.GapDistanceBetweenRegions(leftRegion, rightRegion);
// If gap distance is big enough for robot to fit and larger than current bestGapDistance
if (gapDistance > DriveContext.ASCENT_WIDTH)
{
if (gapDistance > bestGapDistance)
{
bestGapDistance = gapDistance;
bestGap = new Line(leftRegion.EndCoordinate, rightRegion.StartCoordinate);
}
}
}
return(bestGap);
}
public GenericRepository(DriveContext context)
{
_context = context;
dbSet = _context.Set <T>();
}
public DriveAccountService(DriveContext siteContext, TokenService tokenService)
{
SiteContext = siteContext;
_app = tokenService.app;
Graph = tokenService.Graph;
}
public UnitOfWork(DriveContext context)
{
_context = context;
}
public UnitOfWork(DriveContext context, IRepositoryFactory factory)
{
_context = context;
_repositoryFactory = factory;
}
public ReaderBase(DriveContext driveContext, IMapper mapper) : base(driveContext, mapper)
{
}
public ContextReader(DriveContext driveContext, IMapper mapper)
: base(driveContext, mapper)
{
}
protected DbHandlerBase(DriveContext driveContext, IMapper mapper)
{
this.DriveContext = driveContext;
this.Mapper = mapper;
}
