private void InternalShutdown()
{
log_manager.addLog("rrs shutting down...", RRS.Tools.Log.LogType.INFO, "main");
Net2.Shutdown();
log_manager.addLog("rrs shutdown done", RRS.Tools.Log.LogType.INFO, "main");
}
void init()
{
publisher_lidar_1 = Net2.Publisher("lidar_1");
publisher_camera_color = Net2.Publisher("camera_color");
subscriber_cmd_vel = Net2.Subscriber("rrs_ros-cmd_vel");
subscriber_cmd_vel.delegateNewData += Subscriber_cmd_vel_delegateNewData;
//Sensors
//color_camera.delegateCameraDataChanged += Color_camera_delegateCameraDataChanged;
lidar.delegateLidarDataChanged += Lidar_delegateLidarDataChanged;
}
//Unity Benchamark Report
//ROS2
//ROS#
void init()
{
//Initialization
publisher_lidar_net2 = Net2.Publisher("lidar");
publisher_camera_rgb_net2 = Net2.Publisher("camera_color");
publisher_camera_depth_net2 = Net2.Publisher("camera_depth");
publisher_imu_net2 = Net2.Publisher("imu");
color_camera.delegateCameraDataChanged += Color_camera_delegateCameraDataChanged;
depth_camera.delegateCameraDataChanged += Depth_camera_delegateCameraDataChanged;
imu.delegateIMUDataChanged += Imu_delegateIMUDataChanged;
lidar.delegateLidarDataChanged += Lidar_delegateLidarDataChanged;
}
void init()
{
initJointsConfig();
d_joints = new float[joint_numbers];
c_joints = new float[joint_numbers];
publisher_joint_state = Net2.Publisher("joint_state");
publisher_lidar_front = Net2.Publisher("lidar_front");
publisher_lidar_rear = Net2.Publisher("lidar_rear");
publisher_camera_color = Net2.Publisher("camera_color");
publisher_camera_info = Net2.Publisher("camera_info");
publisher_camera_depth = Net2.Publisher("camera_depth");
publisher_camera_segment = Net2.Publisher("camera_segment");
publisher_camera_normal = Net2.Publisher("camera_normal");
publisher_groundtruth = Net2.Publisher("groundtruth");
publisher_imu = Net2.Publisher("imu");
publisher_odometry = Net2.Publisher("odometry");
publisher_tf = Net2.Publisher("tf");
subscriber_cmd_vel = Net2.Subscriber("rrs_ros-cmd_vel");
subscriber_cmd_vel.delegateNewData += Subscriber_cmd_vel_delegateNewData;
subscriber_planner_viz = Net2.Subscriber("rrs_ros-planner_viz");
subscriber_planner_viz.delegateNewData += Subscriber_planner_viz_delegateNewData;
subscriber_rrs_command = Net2.Subscriber("rrs_ros-rrs_command");
subscriber_rrs_command.delegateNewData += Subscriber_rrs_command_delegateNewData;
subscriber_rrs_joint_command = Net2.Subscriber("rrs_ros-joint_command");
subscriber_rrs_joint_command.delegateNewData += Subscriber_rrs_joint_command_delegateNewData;
//Sensors
color_camera.delegateCameraDataChanged += Color_camera_delegateCameraDataChanged;
depth_camera.delegateCameraDataChanged += Depth_camera_delegateCameraDataChanged;
segment_camera.delegateCameraDataChanged += Segment_camera_delegateCameraDataChanged;
normal_camera.delegateCameraDataChanged += Normal_camera_delegateCameraDataChanged;
imu.delegateIMUDataChanged += Imu_delegateIMUDataChanged;
lidar_front.delegateLidarDataChanged += Lidar_front_delegateLidarDataChanged;
lidar_rear.delegateLidarDataChanged += Lidar_rear_delegateLidarDataChanged;
}
public void LoadSetting(SerializeableNetworkSettings loadedSettings)
{
SetUpSettingsDefault();
//Set up the interfaces and tell the UI they have changed just in case.
Net1.SetUpInterfaceFromId(loadedSettings.Net1AdapterId); RaisePropertyChangedEvent("Net1Enabled");
Net2.SetUpInterfaceFromId(loadedSettings.Net2AdapterId); RaisePropertyChangedEvent("Net2Enabled");
//set up network output defaults
Net1StartUniverse = loadedSettings.Net1StartUniverse;
Net1UniverseCount = loadedSettings.Net1UniverseCount;
Net1Enabled = loadedSettings.Net1Enabled;
Net2StartUniverse = loadedSettings.Net2StartUniverse;
Net2UniverseCount = loadedSettings.Net2UniverseCount;
Net2Enabled = loadedSettings.Net2Enabled;
//load width height and aspect lock
Width = loadedSettings.Width;
Height = loadedSettings.Height;
LockAspect = loadedSettings.LockAspect;
}
private void Initialize()
{
string p1 = Application.dataPath;
string folder_path = p1.Replace("/Assets", "/Config/");
Directory.CreateDirectory(folder_path);
log_manager = new LogManager(folder_path + "log.txt", 1000, 1048576, true);
xml_manager = new DataManagerXML();
if (File.Exists(folder_path + "config.xml") == false)
{
xml_manager.saveXML <Config>(folder_path + "config.xml", new Config());
}
ProcessResult result = xml_manager.loadXML <Config>(folder_path + "config.xml");
current_config = (Config)result.Result;
net2_config = new Net2Config();
net2_config.consul_mode = RRS.Tools.Network.Net2ConsulMode.CLIENT;
net2_config.consul_network_address = current_config.consul_network_address;
net2_config.consul_network_port = current_config.consul_network_port;
net2_config.consul_network_mask = current_config.consul_network_mask;
net2_config.ntp_server_host_name = current_config.ntp_server_host_name;
net2_config.local_network_address = current_config.local_network_address;
net2_config.ntp_server_port = 123;
net2_config.name_space = "rrs";
log_manager.addLog("rrs started", RRS.Tools.Log.LogType.INFO, "main");
Net2.delegateInfoServiceNewLog += Net2__delegateInfoServiceNewLog;
Net2.Init(net2_config);
}