/// <summary>
/// Move the position or the heading of the car depending on current direction.
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
public override void Move(SimulationCommand command)
{
if (command.GetType() == typeof(CarCommand)){
CarCommand carCommand = (CarCommand)command;
if (_isLogging) Console.WriteLine("Car: Moving " + carCommand.Direction.ToString());
switch (carCommand.Direction)
{
case Enums.Direction.forward:
this.Position.MovePosition(_forward.X, _forward.Y);
break;
case Enums.Direction.back:
this.Position.MovePosition(_backward.X, _backward.Y);
break;
case Enums.Direction.left:
TurnLeft();
break;
case Enums.Direction.right:
TurnRight();
break;
default:
throw new IsNotEnumException("Car: " + "\"" + Convert.ToChar(carCommand.Direction) + "\"" + " is not a valid command.");
}
}
else {
throw new IsNotCarException("Command given is not of type CarCommand.");
}
}
/// <summary>
/// When we get a message from the server, we handle the message here
/// and perform any necessary tasks.
/// </summary>
private void ListenerOnNetworkReceiveEvent(NetPeer peer, NetDataReader reader)
{
try
{
// The message type is the first byte, (255 message types)
var messageType = reader.Data[0];
// Skip the first byte
var message = reader.Data.Skip(1).ToArray();
// Switch between all the messages
switch (messageType)
{
case CommandBase.ConnectionResultCommandId:
// We only want this message while connecting
if (Status != ClientStatus.Connecting)
{
break;
}
// Get the result
var connectionResult = ConnectionResultCommand.Deserialize(message);
if (connectionResult.Success)
{
// Log and set that we are connected.
CSM.Log($"Successfully connected to server at {peer.EndPoint.Host}:{peer.EndPoint.Port}.");
Status = ClientStatus.Connected;
}
else
{
CSM.Log($"Could not connect to server at {peer.EndPoint.Host}:{peer.EndPoint.Port}. Disconnecting... Error Message: {connectionResult.Reason}");
ConnectionMessage = $"Could not connect to server at {peer.EndPoint.Host}:{peer.EndPoint.Port}. Disconnecting... Error Message: {connectionResult.Reason}";
Disconnect();
}
break;
// Handle ping commands by returning the ping
case CommandBase.PingCommandId:
// Update the last server ping
_lastServerPing = DateTime.UtcNow;
// Send back a ping event
peer.Send(ArrayHelpers.PrependByte(CommandBase.PingCommandId, new PingCommand().Serialize()), SendOptions.ReliableOrdered);
break;
case CommandBase.SimulationCommandID:
var simulation = SimulationCommand.Deserialize(message);
SimulationManager.instance.SimulationPaused = simulation.SimulationPaused;
SimulationManager.instance.SelectedSimulationSpeed = simulation.SelectedSimulationSpeed;
break;
}
}
catch (Exception ex)
{
CSM.Log($"Received an error from {peer.EndPoint.Host}:{peer.EndPoint.Port}. Message: {ex.Message}");
}
}
private SimulationCommand GetSimulationProject()
{
SimulationCommand simulationProject = new SimulationCommand()
{
FileName = arg
};
bool metUnknownOption = false;
while (!metUnknownOption && Eat() is string option)
{
switch (option)
{
case "-o":
case "--output":
string folder = GetString();
if (folder is null)
{
throw logger.Error(new OptionException(option, "output parameter need a string value."));
}
simulationProject.OutputFolder = folder;
break;
case "-s":
case "--step-size":
simulationProject.StepSize = GetDouble();
break;
case "-t":
case "--stop-time":
simulationProject.StopTime = GetDouble();
break;
case "-j":
case "--json":
simulationProject.IsJsonFile = GetBoolean();
break;
case "-r":
case "--real-time":
simulationProject.RealTimeSimulation = GetBoolean();
break;
case "-c":
case "--compile":
simulationProject.ToCompile = GetBoolean();
break;
default:
metUnknownOption = true;
break;
}
}
return(simulationProject);
}
/// <summary>
/// Starts, stops or resets the V-REP EDU simulation according to the given command.
/// </summary>
/// <param name="command">The given command.</param>
public void SetSimulationState(SimulationCommand command)
{
switch (command)
{
case SimulationCommand.Stop:
StopSimulation();
break;
case SimulationCommand.Start:
StartSimulation();
break;
case SimulationCommand.Reset:
//StopSimulation();
VREPWrapper.simxStopSimulation(_clientId, simx_opmode.oneshot_wait);
Thread.Sleep(400);
//StartSimulation();
VREPWrapper.simxStartSimulation(_clientId, simx_opmode.oneshot_wait);
break;
}
}
/// <summary>
/// When we get a message from a client, we handle the message here
/// and perform any necessary tasks.
/// </summary>
private void ListenerOnNetworkReceiveEvent(NetPeer peer, NetDataReader reader)
{
try
{
// The message type is the first byte, (255 message types)
var messageType = reader.Data[0];
// Skip the first byte
var message = reader.Data.Skip(1).ToArray();
// Switch between all the messages
switch (messageType)
{
case CommandBase.ConnectionRequestCommandId:
var connectionResult = Commands.ConnectionRequestCommand.Deserialize(message);
CSM.Log($"Connection request from {peer.EndPoint.Host}:{peer.EndPoint.Port}. Version: {connectionResult.GameVersion}, ModCount: {connectionResult.ModCount}, ModVersion: {connectionResult.ModVersion}");
// TODO, check these values, but for now, just accept the request.
SendToClient(peer, CommandBase.ConnectionResultCommandId, new ConnectionResultCommand {
Success = true
});
break;
case CommandBase.SimulationCommandID:
var simulation = SimulationCommand.Deserialize(message);
SimulationManager.instance.SimulationPaused = simulation.SimulationPaused;
SimulationManager.instance.SelectedSimulationSpeed = simulation.SelectedSimulationSpeed;
break;
}
}
catch (Exception ex)
{
CSM.Log($"Received an error from {peer.EndPoint.Host}:{peer.EndPoint.Port}. Message: {ex.Message}");
}
}
public abstract void Move(SimulationCommand command);
public void SetSimulationState(SimulationCommand command)
{
switch (command)
{
case SimulationCommand.Stop:
StopSimulation();
break;
case SimulationCommand.Start:
StartSimulation();
break;
case SimulationCommand.Reset:
//StopSimulation();
VREPWrapper.simxStopSimulation(_clientId, simx_opmode.oneshot_wait);
Thread.Sleep(400);
//StartSimulation();
VREPWrapper.simxStartSimulation(_clientId, simx_opmode.oneshot_wait);
break;
}
}
public void MoveEntity(SimulationCommand command)
{
_entity.Move(command);
if (_isLogging) Console.WriteLine("Moved entity: " + _entity.ToString());
DidEntityHitWall();
}
