public OperationalService(ICommandTransport transport, bool forwardPackets, bool listenPackets)
{
if (transport == null)
{
throw new ArgumentNullException("transport");
}
if (forwardPackets || listenPackets)
{
InitializePacketForwarding(listenPackets, forwardPackets);
}
// don't really need to initialize anything
if (Settings.TestMode)
{
helper = new TestHelper();
CommBuilder.BindObject(OperationalTestComponentFacade.ServiceName, helper);
}
else
{
CommBuilder.BindObject(OperationalFacade.ServiceName, this);
}
// set up the car mode channel
carModeChannel = CommBuilder.GetChannel(CarModeChannelName);
// register to receive run mode events
transport.CarModeChanged += new EventHandler <CarModeChangedEventArgs>(transport_CarModeChanged);
// mark that we haven't started yet
started = false;
}
public TrackingManager(ICommandTransport commandTransport, bool testMode)
{
// check that the command transport is legit
if (commandTransport == null)
{
throw new ArgumentNullException("commandTransport");
}
this.testMode = testMode;
// create the command queue
deltaSteeringQueue = new TimeWindowQueue <double>(3);
// store the command transport
this.commandTransport = commandTransport;
// set up a null tracking command initially
currentCommand = new NullTrackingCommand();
// mark the current completion result as "working"
currentResult = CompletionResult.Working;
if (!testMode)
{
AsyncFlowControl?flowControl = null;
if (!ExecutionContext.IsFlowSuppressed())
{
flowControl = ExecutionContext.SuppressFlow();
}
// set up the thread
trackingThread = new Thread(TrackingProc);
// set it as a background thread
trackingThread.IsBackground = true;
// set it as higher priority
trackingThread.Priority = ThreadPriority.AboveNormal;
// give it a useful name
trackingThread.Name = "Tracking Thread";
// start her up
trackingThread.Start();
if (flowControl != null)
{
flowControl.Value.Undo();
}
}
}
public TrackingManager(ICommandTransport commandTransport, bool testMode)
{
// check that the command transport is legit
if (commandTransport == null) {
throw new ArgumentNullException("commandTransport");
}
this.testMode = testMode;
// create the command queue
deltaSteeringQueue = new TimeWindowQueue<double>(3);
// store the command transport
this.commandTransport = commandTransport;
// set up a null tracking command initially
currentCommand = new NullTrackingCommand();
// mark the current completion result as "working"
currentResult = CompletionResult.Working;
if (!testMode) {
AsyncFlowControl? flowControl = null;
if (!ExecutionContext.IsFlowSuppressed()) {
flowControl = ExecutionContext.SuppressFlow();
}
// set up the thread
trackingThread = new Thread(TrackingProc);
// set it as a background thread
trackingThread.IsBackground = true;
// set it as higher priority
trackingThread.Priority = ThreadPriority.AboveNormal;
// give it a useful name
trackingThread.Name = "Tracking Thread";
// start her up
trackingThread.Start();
if (flowControl != null) {
flowControl.Value.Undo();
}
}
}