/// <summary>
/// Initializes communications with the outside world by means of remoting
/// </summary>
private void InitializeRemotingCommunications()
{
// Read the configuration file.
RemotingConfiguration.Configure("..\\..\\App.config", false);
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Bind the operational test faceade
objectDirectory.Rebind(this, "OperationalTestFacade");
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
rndfChannel = channelFactory.GetChannel("RndfNetworkChannel", ChannelMode.Bytestream);
mdfChannel = channelFactory.GetChannel("MdfChannel", ChannelMode.Bytestream);
positionChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.Bytestream);
testStringChannel = channelFactory.GetChannel("TestStringChannel", ChannelMode.Vanilla);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
rndfToken = rndfChannel.Subscribe(channelListener);
mdfToken = mdfChannel.Subscribe(channelListener);
//positionToken = positionChannel.Subscribe(channelListener);
testStringToken = testStringChannel.Subscribe(new StringListener());
// Show that the navigation system is ready and waiting for input
Console.WriteLine(" > Remoting Communication Initialized");
}
/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
try
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to push to
simulationMessageChannel = channelFactory.GetChannel("SimulationMessageChannel", ChannelMode.UdpMulticast);
// Rebind the Simulator as the simulator remote facade server
objectDirectory.Rebind(this, "SimulationServer");
// Notify user of success
SimulatorOutput.WriteLine("Connection to Name Service and Registration of Simulation Server as Simulator Facade Successful");
// let clients know the sim is alive
simulationMessageChannel.PublishUnreliably(SimulationMessage.Alive);
}
catch (Exception e)
{
SimulatorOutput.WriteLine("Error Registering With Remoting Services: " + e.ToString());
}
}
/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// register the core as implementing the arbiter advanced remote facade
objectDirectory.Rebind(this.arbiterCore, "ArbiterAdvancedRemote" + this.RemotingSuffix);
// shutdown old channels
this.Shutdown();
// get vehicle state channel
vehicleStateChannel = channelFactory.GetChannel("ArbiterSceneEstimatorPositionChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
vehicleStateChannelToken = vehicleStateChannel.Subscribe(messagingListener);
// get observed obstacle channel
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
observedObstacleChannelToken = observedObstacleChannel.Subscribe(messagingListener);
// get observed vehicle channel
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
observedVehicleChannelToken = observedVehicleChannel.Subscribe(messagingListener);
// get vehicle speed channel
vehicleSpeedChannel = channelFactory.GetChannel("VehicleSpeedChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
vehicleSpeedChannelToken = vehicleSpeedChannel.Subscribe(messagingListener);
// get side obstacle channel
sideObstacleChannel = channelFactory.GetChannel("SideObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
sideObstacleChannelToken = sideObstacleChannel.Subscribe(messagingListener);
// get output channel
if (arbiterOutputChannel != null)
{
arbiterOutputChannel.Dispose();
}
arbiterOutputChannel = channelFactory.GetChannel("ArbiterOutputChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
// get information channel
if (arbiterInformationChannel != null)
{
arbiterInformationChannel.Dispose();
}
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
// get the operational layer
this.operationalFacade = (OperationalFacade)objectDirectory.Resolve("OperationalService" + this.RemotingSuffix);
this.operationalFacade.RegisterListener(this);
this.SendProjection();
// try connecting to the test facade
this.TryOperationalTestFacadeConnect();
}
private void Connect(ObjectDirectory od)
{
// get the channel for the sim state
IChannelFactory channelFactory = (IChannelFactory)od.Resolve("ChannelFactory");
operationalStateChannel = channelFactory.GetChannel("OperationalSimState_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// publish ourself to the object directory
od.Rebind(this, "DynamicsSim_" + SimulatorClient.MachineName);
}
static void Main(string[] args)
{
// Read the configuration file.
RemotingConfiguration.Configure("..\\..\\ProxyService.exe.config", false);
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
ObjectDirectory od = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Bind the facades of components we implement.
od.Rebind(Arbiter.FacadeImpl.Instance, "Arbiter");
Console.WriteLine("Waiting");
// Enter the main event loop...
Console.ReadLine();
}
public void TryConnect()
{
try
{
// configure
RemotingConfiguration.Configure("FakeOperational.exe.config", false);
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
ObjectDirectory objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// register the core as implementing the arbiter advanced remote facade
objectDirectory.Rebind(this, "OperationalService_" + Environment.MachineName);
Console.WriteLine("Connection and Registration Success");
}
catch (Exception e)
{
Console.WriteLine("Connection error: \n" + e.ToString());
}
}
/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
try
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to interact with
if (simulationMessageChannel != null)
{
simulationMessageChannel.Dispose();
}
simulationMessageChannel = channelFactory.GetChannel("SimulationMessageChannel", ChannelMode.UdpMulticast);
// Listen to channels we wish to listen to
simulationMessageChannelToken = simulationMessageChannel.Subscribe(this.messagingListener);
// Rebind the Simulator as the simulator remote facade server
objectDirectory.Rebind(this.client, this.client.Name());
// get vehicle state channel
if (vehicleStateChannel != null)
{
vehicleStateChannel.Dispose();
}
vehicleStateChannel = channelFactory.GetChannel("ArbiterSceneEstimatorPositionChannel_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// get observed obstacle channel
if (observedObstacleChannel != null)
{
observedObstacleChannel.Dispose();
}
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// get observed vehicle channel
if (observedVehicleChannel != null)
{
observedVehicleChannel.Dispose();
}
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// get vehicle speed channel
if (vehicleSpeedChannel != null)
{
vehicleSpeedChannel.Dispose();
}
vehicleSpeedChannel = channelFactory.GetChannel("VehicleSpeedChannel_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// get the local road estimate channel
if (localRoadChannel != null)
{
localRoadChannel.Dispose();
}
localRoadChannel = channelFactory.GetChannel(LocalRoadEstimate.ChannelName + "_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// Notify user of success
Console.WriteLine(DateTime.Now.ToString() + ": Connection to Name Service and Registration of Simulation Client Successful");
}
catch (Exception e)
{
// notify
Console.WriteLine(DateTime.Now.ToString() + ": Error Registering With Remoting Services: " + e.ToString());
}
}
public static void BindObject(string baseName, MarshalByRefObject obj)
{
// bind the object to the object directory
objectDirectory.Rebind(obj, BuildServiceName(baseName));
}