/// <summary>
/// Shuts down the communicator and unsubscribes from channels, whatnot
/// </summary>
public void Shutdown()
{
try
{
if (vehicleStateChannel != null)
{
// unsubscribe from channels
vehicleStateChannel.Unsubscribe(vehicleStateChannelToken);
observedObstacleChannel.Unsubscribe(observedObstacleChannelToken);
observedVehicleChannel.Unsubscribe(observedVehicleChannelToken);
vehicleSpeedChannel.Unsubscribe(vehicleSpeedChannelToken);
arbiterOutputChannel.Unsubscribe(arbiterOutputChannelToken);
arbiterInformationChannel.Unsubscribe(arbiterInformationChannelToken);
sideObstacleChannel.Unsubscribe(sideObstacleChannelToken);
this.arbiterRemote = null;
this.operationalFacade = null;
// notify
RemoraOutput.WriteLine("Unsubscribed from channels", OutputType.Remora);
}
}
catch (Exception e)
{
// notify
RemoraOutput.WriteLine("Error in shutting down registered channels", OutputType.Remora);
Console.WriteLine(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();
}
public static bool Attach(string suffix, bool throwException)
{
operationalFacade = null;
operationalUIFacade = null;
if (suffix == null)
{
suffix = string.Empty;
}
try {
operationalFacade = (OperationalFacade)od.Resolve("OperationalService" + suffix);
operationalUIFacade = (OperationalUIFacade)od.Resolve("OperationalUIService" + suffix);
DatasetSourceFacade dsfacade = operationalUIFacade.DatasetFacade;
DataItemDescriptor[] dataItems = dsfacade.GetDataItems();
foreach (DataItemDescriptor item in dataItems)
{
if (!dataset.ContainsKey(item.Name))
{
dataset.Add(item);
}
}
dataset.AttachToSource(dsfacade);
}
catch (Exception) {
operationalFacade = null;
operationalUIFacade = null;
if (throwException)
{
throw;
}
else
{
return(false);
}
}
if (Attached != null)
{
Attached(null, new AttachEventArgs(string.IsNullOrEmpty(suffix) ? string.Empty : suffix.Substring(1)));
}
return(true);
}
public void ResgisterWithClient()
{
try
{
// 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 output channel
arbiterOutputChannel = channelFactory.GetChannel("ArbiterOutputChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
arbiterOutputChannelToken = arbiterOutputChannel.Subscribe(messagingListener);
// get information channel
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(messagingListener);
// get side obstacle channel
sideObstacleChannel = channelFactory.GetChannel("SideObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
sideObstacleChannelToken = sideObstacleChannel.Subscribe(messagingListener);
// get ai
this.arbiterRemote = (ArbiterAdvancedRemote)objectDirectory.Resolve("ArbiterAdvancedRemote" + this.RemotingSuffix);
// get the operational layer
this.operationalFacade = (OperationalFacade)objectDirectory.Resolve("OperationalService" + this.RemotingSuffix);
// register
RemoraOutput.WriteLine("Resgistered To Client with suffix: " + this.RemotingSuffix, OutputType.Remora);
}
catch (Exception e)
{
RemoraOutput.WriteLine("Error registering with client: " + e.ToString(), OutputType.Remora);
}
}
