public ClientConnectorTester()
{
theCommand = new RecordingCommand <RunSpec>();
theRemoteController = Substitute.For <IRemoteController>();
theConnector = new ClientConnector(new WebSocketsHandler(), theRemoteController, new ICommand[] { theCommand });
}
public void Setup()
{
_remoteController = CreateRemoteController();
_cluster = CreateCluster(_remoteController);
StartMember(_remoteController, _cluster);
}
protected void ShutdownCluster(IRemoteController remoteController, Cluster cluster)
{
while (!StopCluster(remoteController, cluster))
{
Thread.Sleep(1000);
}
}
public void Start(IRemoteController remoteController)
{
_agent = new StorytellerAgent(_project.Port, _system);
_agent.Receive(new StartProject {
Project = _project
});
}
public ControllerProcess(IMotorConnection motor, IRemoteController controller)
{
WorkerSupportsCancellation = true;
_motor = motor;
_controller = controller;
DoWork += Work;
}
/// <summary>
/// Transforms the input values from controller to left and right speed
/// values for the motors
/// </summary>
/// <param name="controller"></param>
/// <returns>A Tuple(int, int) with left and right speed values</int></returns>
private Tuple <int, int> CalculateSpeedValues(IRemoteController controller)
{
controller.Update();
float rightTrigger = controller.RightTrigger;
float leftTrigger = controller.LeftTrigger;
double rightThumbX = controller.RightThumb.X;
int leftspeed = 0;
int rightspeed = 0;
// calculate speed based on left and right triggers (right trigger forward, left trigger backward)
int tempSpeed = (int)((rightTrigger - leftTrigger));// / 255 * 100);
if (rightThumbX > 0)
{
double multiplier = rightThumbX / 100;
leftspeed = (int)(tempSpeed + multiplier * 255);
rightspeed = (int)(tempSpeed - multiplier * 255);
}
else if (rightThumbX < 0)
{
double multiplier = rightThumbX / -100;
leftspeed = (int)(tempSpeed - multiplier * 255);
rightspeed = (int)(tempSpeed + multiplier * 255);
}
else
{
rightspeed = leftspeed = tempSpeed;
}
return(Tuple.Create(leftspeed, rightspeed));
}
public ClientConnector(ILogger logger, IRemoteController controller, IEnumerable <ICommand> commands)
{
_logger = logger;
_controller = controller;
_commands = commands;
_port = PortFinder.FindPort(8200);
}
public WebApplicationRegistry(IRemoteController controller, StorytellerContext context)
{
For<ISpecFileWatcher>().Use<SpecFileWatcher>();
For<IRemoteController>().Use(controller);
For<StorytellerContext>().Use(context);
ForSingletonOf<IClientConnector>().Use<ClientConnector>();
ForSingletonOf<AssetFileWatcher>().Use<AssetFileWatcher>();
ForSingletonOf<IPersistenceController>().Use<PersistenceController>();
For<ILogger>().Use<Logger>();
For<ILogListener>().Use<ExceptionListener>();
For<IActivator>().Add<ClientConnectorActivator>();
For<IActivator>().Add<StartWatchingFilesActivator>();
For<IActivator>().Add<StartWatchingAssets>();
Scan(x =>
{
x.AssemblyContainingType<ICommand>();
x.AssemblyContainingType<OpenInput>();
x.AddAllTypesOf<ICommand>();
});
}
public void SetUp()
{
theCommand = new RecordingCommand <RunSpec>();
theRemoteController = MockRepository.GenerateMock <IRemoteController>();
theConnector = new ClientConnector(new RecordingLogger(), theRemoteController, new ICommand[] { theCommand });
}
public override void OnStart()
{
PackageHost.WriteInfo("Package starting - IsRunning: {0} - IsConnected: {1}", PackageHost.IsRunning, PackageHost.IsConnected);
//// Remote controller
this.RemoteController = new HttpPanasonicRemoteController();
}
protected virtual Cluster CreateCluster(IRemoteController remoteController, string xmlconfig)
{
_logger.Info("Creating cluster using custom config...");
var cluster = remoteController.createCluster(null, xmlconfig);
_logger.Info("Created cluster");
return(cluster);
}
public void Setup()
{
_initialMembershipListener = new InitialMembershipListener();
_remoteController = CreateRemoteController();
_cluster = CreateCluster(_remoteController);
StartMember(_remoteController, _cluster);
_client = CreateClient();
}
protected virtual Cluster CreateCluster(IRemoteController remoteController)
{
_logger.Info("Creating cluster");
var cluster = remoteController.createCluster(null, Resources.Hazelcast);
_logger.Info("Created cluster");
return(cluster);
}
public ClientConnector(WebSocketsHandler handler, IRemoteController controller, IEnumerable <ICommand> commands)
{
_controller = controller;
_commands = commands;
_handler = handler;
_handler.Received = HandleJson;
}
public ClientConnector(ILogger logger, IRemoteController controller, IEnumerable <ICommand> commands)
{
_logger = logger;
_controller = controller;
_commands = commands;
_host = controller.WebSocketAddress.IsNotEmpty() ? controller.WebSocketAddress : "127.0.0.1";
_port = PortFinder.FindPort(8200);
}
/// <summary>
/// Standard constructor of the Core class
/// </summary>
public Core()
{
m_pServoController = new PCA9685();
m_pAccelerometer = new LSM303DLHC();
m_pGyroscope = new L3GD20H();
m_pTelemetryClient = new Client();
m_pRemoteControl = new NetworkRemoteControl();
}
public void Setup()
{
_remoteController = CreateRemoteController();
_cluster = CreateCluster(_remoteController);
StartMember(_remoteController, _cluster);
_client = CreateClient();
_client.GetMap <object, object>("default").Get(new object());
}
public void Start(IRemoteController remoteController)
{
killLingeringProcesses();
_controller = remoteController;
// Watch UseShellExecute.
var start = new ProcessStartInfo
{
UseShellExecute = false,
WorkingDirectory = _project.ProjectPath.ToFullPath(),
FileName = "dotnet"
};
#if NET46
var framework = "NET46";
#else
var framework = AppContext.TargetFrameworkName;
#endif
// TODO -- need to lock this down somehow
start.Arguments = $"run --framework {framework} -- {_project.Port}";
_command = $"dotnet {start.Arguments}";
_process = Process.Start(start);
_process.Exited += _process_Exited;
lock (_readyLock)
{
_agentReady = false;
}
Task.Delay(5.Seconds()).ContinueWith(t =>
{
lock (_readyLock)
{
if (!_agentReady)
{
// TODO -- send a timeout message here.
}
}
if (_process.HasExited)
{
sendFailedToStartMessage();
}
});
if (_process.HasExited)
{
sendFailedToStartMessage();
}
}
public RunSpecCommand(Lazy <IPersistenceController> controller, SaveSpecBodyCommand saveSpec, IRemoteController engine)
{
if (saveSpec == null)
{
throw new ArgumentNullException("saveSpec");
}
_controller = controller;
_saveSpec = saveSpec;
_engine = engine;
}
public RunSpecCommand(Lazy <IPersistenceController> persistence, SaveSpecBodyCommand saveSpec, IRemoteController remote)
{
if (saveSpec == null)
{
throw new ArgumentNullException(nameof(saveSpec));
}
_persistence = persistence;
_saveSpec = saveSpec;
_remote = remote;
}
protected void StopMemberAndWait(IHazelcastInstance client, IRemoteController remoteController, Cluster cluster,
Member member)
{
var resetEvent = new ManualResetEventSlim();
var regId = client.Cluster.AddMembershipListener(
new MembershipListener {
OnMemberRemoved = @event => resetEvent.Set()
});
StopMember(remoteController, cluster, member);
Assert.IsTrue(resetEvent.Wait(120 * 1000), "The member did not get removed in 120 seconds");
Assert.IsTrue(client.Cluster.RemoveMembershipListener(regId));
}
/// <summary>
/// //メーカー選択変更時のイベントハンドラ
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Manufacturer_RadioButton_CheckedChanged(object sender, EventArgs e)
{
//ラジオボタンがONになった場合のみ処理する
RadioButton radioButton = sender as RadioButton;
if (!radioButton.Checked)
{
return;
}
//メンバ変数に操作用インターフェースを格納
_remoteController = this.CreateRemoteController(radioButton.Text, txtSendingContent);
}
IEnumerator WaitToCreateRemoteCtrl(UnityAction <IRemoteController> onCtrlCreate)
{
yield return(new WaitUntil(() => staps != null));
Debug.Log("count" + commandDic.Count + staps.Length.ToString());
yield return(new WaitUntil(() => commandDic.Count == staps.Length));
GetActionCommandList();
remoteController = new RemoteController(actionCommandList);
onCtrlCreate(remoteController);
Debug.Log("create");
}
/// <summary>
/// 设置安装顺序并生成最终步骤
/// </summary>
public void LunchActionSystem <T>(T[] steps, UnityAction <T[]> onLunchOK) where T : IActionStap
{
Debug.Assert(steps != null);
onCommandRegisted = (activeCommands) =>
{
var stepsWorp = ConfigSteps <T>(activeCommands, steps);//重新计算步骤
activeCommands = GetIActionCommandList(activeCommands, Array.ConvertAll <IActionStap, string>(stepsWorp, x => x.StapName));
remoteController = new RemoteController(activeCommands);
onLunchOK.Invoke(Array.ConvertAll <IActionStap, T>(stepsWorp, x => (T)x));
};
if (commandCtrl.CommandRegisted)
{
onCommandRegisted.Invoke(commandCtrl.CommandList);
}
}
/// <summary>
/// 设置安装顺序并生成最终步骤
/// </summary>
public void LunchActionSystem(UnityAction <string[]> onLunchOK)
{
onCommandRegisted = (activeCommands) =>
{
var steps = activeCommands.ConvertAll <string>(x => x.StepName);
steps.Sort();
activeCommands = GetIActionCommandList(activeCommands, steps.ToArray());
remoteController = new RemoteController(activeCommands);
onLunchOK.Invoke(steps.ToArray());
};
if (commandCtrl.CommandRegisted)
{
onCommandRegisted.Invoke(commandCtrl.CommandList);
}
}
/// <summary>
/// 设置安装顺序并生成最终步骤
/// </summary>
public void LunchActionSystem(string[] steps, UnityAction <string[]> onLunchOK)
{
Debug.Assert(steps != null);
onCommandRegisted = (activeCommands) =>
{
var stepsWorp = ConfigSteps(activeCommands, steps);//重新计算步骤
activeCommands = GetIActionCommandList(activeCommands, stepsWorp);
remoteController = new RemoteController(activeCommands);
onLunchOK.Invoke(stepsWorp);
};
if (commandCtrl.CommandRegisted)
{
onCommandRegisted.Invoke(commandCtrl.CommandList);
}
}
/// <summary>
/// 获取控制器
/// </summary>
/// <returns></returns>
public void GetRemoteController(UnityAction <IRemoteController> onCtrlCreate)
{
if (remoteController != null)
{
onCtrlCreate(remoteController);
}
else if (staps != null && staps.Length == commandDic.Count)
{
GetActionCommandList();
remoteController = new RemoteController(actionCommandList);
onCtrlCreate(remoteController);
}
else
{
StartCoroutine(WaitToCreateRemoteCtrl(onCtrlCreate));
}
}
protected Member StartMemberAndWait(IHazelcastInstance client, IRemoteController remoteController, Cluster cluster,
int expectedSize)
{
var resetEvent = new ManualResetEventSlim();
var regId = client.Cluster.AddMembershipListener(new MembershipListener {
OnMemberAdded = @event => resetEvent.Set()
});
var member = StartMember(remoteController, cluster);
Assert.IsTrue(resetEvent.Wait(120 * 1000), "The member did not get added in 120 seconds");
Assert.IsTrue(client.Cluster.RemoveMembershipListener(regId));
// make sure partitions are updated
TestSupport.AssertTrueEventually(() => { Assert.AreEqual(expectedSize, GetUniquePartitionOwnerCount(client)); }, 60,
"The partition list did not contain " + expectedSize + " partitions.");
return(member);
}
protected void Setup(string serverXml, bool isSslEnabled, bool?validateCertificateChain,
bool?validateCertificateName, bool?checkCertificateRevocation, string certSubjectName, byte[] clientCertificate,
string certPassword)
{
RemoteController = CreateRemoteController();
var cluster = CreateCluster(RemoteController, serverXml);
RemoteController.startMember(cluster.Id);
var clientConfig = new Configuration();
clientConfig.NetworkConfig.AddAddress("localhost:5701");
clientConfig.NetworkConfig.ConfigureSSL(sslConfig =>
{
ConfigSslConfig(sslConfig, isSslEnabled, validateCertificateChain,
validateCertificateName, checkCertificateRevocation, certSubjectName, clientCertificate, certPassword);
});
clientConfig.ClusterName = cluster.Id;
Client = HazelcastClient.NewHazelcastClient(clientConfig);
}
public void Start(IRemoteController controller)
{
_domain = AppDomain.CreateDomain("Storyteller-SpecRunning-Domain", null, _remoteSetup.Setup);
try
{
var proxyType = typeof(RemoteProxy);
_proxy = (RemoteProxy)_domain.CreateInstanceAndUnwrap(proxyType.Assembly.FullName, proxyType.FullName);
_proxy.Start(_project);
}
catch (Exception)
{
ConsoleWriter.Write(ConsoleColor.Yellow,
"Storyteller was unable to start an AppDomain for the specification project. Check that the project has already been compiled.");
throw;
}
}
public ServerHandle(IRemoteController controller, TcpClient client)
{
this._controller = controller;
this._client = client;
this.EndPoint = client.Client.RemoteEndPoint as IPEndPoint;
}
public Task<BatchRunResponse> StartBatch(IRemoteController controller)
{
var request = GetBatchRunRequest();
return controller.Send(request).AndWaitFor<BatchRunResponse>();
}
public ClientConnectorActivator(IClientConnector connector, IRemoteController controller)
{
_connector = connector;
_controller = controller;
}
protected virtual void SuspendMember(IRemoteController remoteController, Cluster cluster, Member member)
{
remoteController.suspendMember(cluster.Id, member.Uuid);
}
