private static void Main(string[] args) { // Here we create an endpoint settings object that defines where the fleet manager service is currently running // For this demo we are assuming it is running on localhost, using the default TCP port of 41917. EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917); // Now we create a fleet manager client using the client factory; IFleetManagerClient fleetManagerClient = ClientFactory.CreateTcpFleetManagerClient(endpointSettings); Console.WriteLine("Press <any> key to create a virtual vehicle 192.168.0.1 at 0,0,0"); Console.ReadKey(true); IPAddress virtualVehicle = IPAddress.Parse("192.168.0.1"); IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(virtualVehicle, 0, 0, 0); if (!result.IsSuccessful()) { Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}"); } // Now we can update the vehicles pose Console.WriteLine("Press <any> key to set the pose of the vehicle to 1,1,1.57"); Console.ReadKey(true); result = fleetManagerClient.SetPose(virtualVehicle, 1, 1, 1.57); if (!result.IsSuccessful()) { Console.WriteLine($"Failed to set pose serviceCode:{result.ServiceCode}"); } Console.WriteLine("Press <any> key to quit"); Console.ReadKey(true); // The fleet manager client has its own thread which must be disposed. fleetManagerClient.Dispose(); }
protected override IServiceCallResult HandleExecution(IJobStateClient client) { IServiceCallResult <JobSummaryDto> result = client.GetCurrentJobSummaryForAgentId(Id); Console.WriteLine($"Getting job summary for agent:{Id}"); if (result.IsSuccessful()) { if (result.Value != null) { Console.WriteLine($"JobId:{result.Value.JobId}"); } else { Console.WriteLine($"No active job"); } } else { Console.WriteLine(result.ExceptionMessage); } return(result); }
private static void Main(string[] args) { // Here we create an endpoint settings object that defines where the fleet manager service is currently running // For this demo we are assuming it is running on localhost, using the default TCP port of 41917. EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917); IEnumerable <int> nodeIds = Enumerable.Empty <int>(); // Create an array to store node ids in NodeDto startNode = null; // Using the map manager client, get the ids of all nodes in the map using (IMapClient mapClient = SchedulingClients.Core.ClientFactory.CreateTcpMapClient(endpointSettings)) { IServiceCallResult <NodeDto[]> nodeResults = mapClient.GetAllNodes(); if (!nodeResults.IsSuccessful()) { Console.WriteLine($"Failed to get nodes, serviceCode:{nodeResults.ServiceCode}"); } else { nodeIds = nodeResults.Value.Select(e => e.Id); } startNode = nodeResults.Value.First(); } // Now we create a fleet manager client using the client factory, and create a virtual vehicle at pose at the first node. // see: https://github.com/GuidanceAutomation/FleetClients using (IFleetManagerClient fleetManagerClient = FleetClients.Core.ClientFactory.CreateTcpFleetManagerClient(endpointSettings)) { IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(IPAddress.Parse("192.168.0.1"), startNode.Pose.X, startNode.Pose.Y, startNode.Pose.Heading); if (!result.IsSuccessful()) { Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}"); } } Random random = new Random(); // Random number generator bool continueFlag = true; while (continueFlag) { Console.WriteLine("Press <any> key to create a random GoTo job, 'q' to quit"); switch (Console.ReadKey(true).Key) { case ConsoleKey.Q: { continueFlag = false; break; } default: { // Use the job builder client to create a new goto job. using (IJobBuilderClient jobBuilder = SchedulingClients.Core.ClientFactory.CreateTcpJobBuilderClient(endpointSettings)) { // Boiler plate code to pick a random node from the array of nodes. int index = random.Next(0, nodeIds.Count()); int nodeId = nodeIds.ElementAt(index); Console.WriteLine($"Sending to node:{nodeId}"); IServiceCallResult <JobDto> createResult = jobBuilder.CreateJob(); if (!createResult.IsSuccessful()) { Console.WriteLine($"Failed to create job, serviceCode:{createResult.ServiceCode}"); } IServiceCallResult <int> gotoResult = jobBuilder.CreateGoToNodeTask(createResult.Value.RootOrderedListTaskId, nodeId); if (!gotoResult.IsSuccessful()) { Console.WriteLine($"Failed to create goto task, serviceCode:{gotoResult.ServiceCode}"); } IServiceCallResult commitResult = jobBuilder.CommitJob(createResult.Value.JobId); if (!commitResult.IsSuccessful()) { Console.WriteLine($"Failed to commit job, serviceCode:{commitResult.ServiceCode}"); } } break; } } } }