static void Main(string[] args) { /// Enregistrement de la license SciChart en début de code SciChartSurface.SetRuntimeLicenseKey("RJWA77RbaJDdCRJpg4Iunl5Or6/FPX1xT+Gzu495Eaa0ZahxWi3jkNFDjUb/w70cHXyv7viRTjiNRrYqnqGA+Dc/yzIIzTJlf1s4DJvmQc8TCSrH7MBeQ2ON5lMs/vO0p6rBlkaG+wwnJk7cp4PbOKCfEQ4NsMb8cT9nckfdcWmaKdOQNhHsrw+y1oMR7rIH+rGes0jGGttRDhTOBxwUJK2rBA9Z9PDz2pGOkPjy9fwQ4YY2V4WPeeqM+6eYxnDZ068mnSCPbEnBxpwAldwXTyeWdXv8sn3Dikkwt3yqphQxvs0h6a8Dd6K/9UYni3o8pRkTed6SWodQwICcewfHTyGKQowz3afARj07et2h+becxowq3cRHL+76RyukbIXMfAqLYoT2UzDJNsZqcPPq/kxeXujuhT4SrNF3444MU1GaZZ205KYEMFlz7x/aEnjM6p3BuM6ZuO3Fjf0A0Ki/NBfS6n20E07CTGRtI6AsM2m59orPpI8+24GFlJ9xGTjoRA=="); /// Initialisation des modules utilisés dans le robot int robotId = 10; /// Ne pas changer cette variable ! int teamId = 0; /// Ne pas changer cette variable ! usbDriver = new USBVendor(); msgDecoder = new MsgDecoder(); msgEncoder = new MsgEncoder(); robotMsgGenerator = new MsgGenerator(); robotMsgProcessor = new MsgProcessor(robotId, competition); xBoxManette = new XBoxControllerNS.XBoxController(robotId); strategyManager = new StrategyEurobot(robotId, teamId, "224.16.32.79"); localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false); positioning2Wheels = new Positioning2Wheels(robotId); trajectoryGenerator = new TrajectoryGeneratorNonHolonome(robotId); /// Création des liens entre module, sauf depuis et vers l'interface graphique usbDriver.OnUSBDataReceivedEvent += msgDecoder.DecodeMsgReceived; // Transmission des messages reçus par l'USB au Message Decoder msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage; // Transmission les messages décodés par le Message Decoder au Message Processor //Events d'activation et configuration de l'asservissement en vitesse depuis le Strategy Manager strategyManager.On2WheelsToPolarMatrixSetupEvent += robotMsgGenerator.GenerateMessage2WheelsToPolarMatrixSet; //Transmission des messages de set-up de la matrice de transformation moteurindepeandt -> polaire en embarqué strategyManager.On2WheelsAngleSetupEvent += robotMsgGenerator.GenerateMessage2WheelsAngleSet; //Transmission des messages de set-up de la config angulaire des roues en embarqué strategyManager.OnOdometryPointToMeterSetupEvent += robotMsgGenerator.GenerateMessageOdometryPointToMeter; //Transmission des messages de set-up du coeff pointToMeter en embarqué strategyManager.On2WheelsIndependantSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage2WheelsIndependantSpeedPIDSetup; //Setup du PID independant strategyManager.OnSetAsservissementModeEvent += robotMsgGenerator.GenerateMessageSetAsservissementMode; robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot; // Envoi des messages du générateur de message à l'encoder msgEncoder.OnMessageEncodedEvent += usbDriver.SendUSBMessage; // Envoi des messages en USB depuis le message encoder robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += positioning2Wheels.OnOdometryRobotSpeedReceived; //Envoi des vitesses reçues de l'embarqué au module de calcul de positionnement positioning2Wheels.OnCalculatedLocationEvent += trajectoryGenerator.OnPhysicalPositionReceived; //Envoi du positionnement calculé au module de génération de trajectoire trajectoryGenerator.OnGhostLocationEvent += localWorldMapManager.OnGhostLocationReceived; trajectoryGenerator.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot; //Transmission des commande de vitesse aux moteurs de déplacement strategyManager.OnSetSpeedConsigneToMotorEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor; //Transmission des commande de vitesse (aux moteurs annexes) positioning2Wheels.OnCalculatedLocationEvent += localWorldMapManager.OnPhysicalPositionReceived; strategyManager.InitStrategy(); //à faire après avoir abonné les events ! StartRobotInterface(); while (!exitSystem) { Thread.Sleep(500); } }
static void Main(string[] args) { ConsoleFormat.InitMainConsole(); /// Enregistrement de la license SciChart en début de code SciChartSurface.SetRuntimeLicenseKey(ConstVar.SCICHART_RUNTIME_KEY); ConsoleFormat.SetupScichartLicenceKey(); /// Initialisation des modules utilisés dans le robot int robotId = (int)RobotId.Robot1; int teamId = (int)TeamId.Team1; usbDriver = new USBVendor(); msgDecoder = new MsgDecoder(); msgEncoder = new MsgEncoder(); msgGenerator = new MsgGenerator(); msgProcessor = new MsgProcessor(robotId, competition); ConsoleFormat.SetupAllCommunication(); xBoxManette = new XBoxController(robotId); ConsoleFormat.SetupXboxController(); logRecorder = new LogRecorder(); logReplay = new LogReplay(); strategyManager = new StrategyEurobot(robotId, teamId, "224.16.32.79"); #region Communication to Low Lvl /// Création des liens entre module, sauf depuis et vers l'interface graphique usbDriver.OnUSBuffReceivedEvent += msgDecoder.BuffReceived; // Transmission des messages reçus par l'USB au Message Decoder msgDecoder.OnCorrectMessageReceivedEvent += msgProcessor.ProcessRobotDecodedMessage; // Transmission les messages décodés par le Message Decoder au Message Processor msgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeAndSendMessage; // Envoi des messages du générateur de message à l'encoder msgEncoder.OnSendMessageEvent += usbDriver.SendUSBMessage; // Envoi des messages en USB depuis le message encoder #endregion #region Console // Control: bool hex_viewer = false; bool hex_sender = false; bool hex_viewer_error = true; bool hex_sender_error = true; bool hex_processor = false; bool hex_generator = false; #region USB Vendor usbDriver.OnDeviceAddedEvent += ConsoleFormat.PrintNewDeviceAdded; usbDriver.OnDeviceRemovedEvent += ConsoleFormat.PrintDeviceRemoved; usbDriver.OnUsbVendorExeptionEvent += ConsoleFormat.PrintUsbErrorExeption; #endregion #region Hex Viewer if (hex_viewer) { msgDecoder.OnUnknowByteEvent += ConsoleFormat.PrintUnknowByte; msgDecoder.OnSOFByteReceivedEvent += ConsoleFormat.PrintSOF; msgDecoder.OnFunctionMSBByteReceivedEvent += ConsoleFormat.PrintFunctionMSB; msgDecoder.OnFunctionLSBByteReceivedEvent += ConsoleFormat.PrintFunctionLSB; msgDecoder.OnPayloadLenghtMSBByteReceivedEvent += ConsoleFormat.PrintLenghtMSB; msgDecoder.OnPayloadLenghtLSBByteReceivedEvent += ConsoleFormat.PrintLenghtLSB; msgDecoder.OnPayloadByteReceivedEvent += ConsoleFormat.PrintPayloadByte; msgDecoder.OnCorrectMessageReceivedEvent += ConsoleFormat.PrintCorrectChecksum; msgDecoder.OnErrorMessageReceivedEvent += ConsoleFormat.PrintWrongChecksum; } #endregion #region Hex Viewer Error if (hex_viewer_error) { msgDecoder.OnOverLenghtMessageEvent += ConsoleFormat.PrintOverLenghtWarning; msgDecoder.OnUnknowFunctionEvent += ConsoleFormat.PrintUnknowFunctionReceived; msgDecoder.OnWrongLenghtFunctionEvent += ConsoleFormat.PrintWrongFonctionLenghtReceived; } #endregion #region Hex Sender if (hex_sender) { msgEncoder.OnSendMessageByteEvent += ConsoleFormat.PrintSendMsg; } #endregion #region Hex Sender Error if (hex_sender_error) { msgEncoder.OnSerialDisconnectedEvent += ConsoleFormat.PrintOnSerialDisconnectedError; msgEncoder.OnUnknownFunctionSentEvent += ConsoleFormat.PrintUnknowFunctionSent; msgEncoder.OnWrongPayloadSentEvent += ConsoleFormat.PrintWrongFunctionLenghtSent; } #endregion #endregion #region Lidar lidar = new SickLidar(17422959); // 18110177 lidarProcess = new LidarProcess(robotId, teamId); lidar.OnLidarDeviceConnectedEvent += lidarProcess.OnNewLidarConnected; lidar.OnLidarDeviceConnectedEvent += ConsoleFormat.NewLidarDeviceConnected; lidar.PointsAvailable += lidarProcess.OnRawPointAvailable; lidar.Start(); #endregion lidarProcess.OnRawLidarDataEvent += logRecorder.OnRawLidarDataReceived; msgProcessor.OnSpeedPolarOdometryFromRobotEvent += logRecorder.OnPolarSpeedDataReceived; #region Local World Map localWorldMap = new LocalWorldMap(robotId, teamId); localWorldMap.OnUpdateRobotLocationEvent += lidarProcess.OnRobotLocation; lidarProcess.OnRawLidarPointPolarEvent += localWorldMap.OnLidarRawPointReceived; lidarProcess.OnProcessLidarPolarDataEvent += localWorldMap.OnLidarProcessedPointReceived; lidarProcess.OnProcessLidarLineDataEvent += localWorldMap.OnLidarProcessedLineReceived; lidarProcess.OnProcessLidarCupDataEvent += localWorldMap.OnLidarProcessedCupReceived; lidarProcess.OnLidarSetupRobotLocationEvent += localWorldMap.OnRobotLocation; //lidarProcess.OnProcessLidarObjectsDataEvent += localWorldMap.OnLidarProcesObjectsReceived; localWorldMap.OnLocalWorldMapEvent += strategyManager.OnLocalWorldMapReceived; localWorldMap.Init(); #endregion #region Position2Wheels positioning2Wheels = new Positioning2Wheels(robotId); msgProcessor.OnSpeedPolarOdometryFromRobotEvent += positioning2Wheels.OnOdometryRobotSpeedReceived; positioning2Wheels.OnCalculatedLocationEvent += localWorldMap.OnRobotLocationArgs; #endregion #region TrajectoryPlanner trajectoryPlanner = new TrajectoryPlanner(robotId); trajectoryPlanner.OnNewGhostLocationEvent += localWorldMap.OnGhostLocation; trajectoryPlanner.OnNewRobotLocationEvent += localWorldMap.OnRobotLocation; trajectoryPlanner.OnDestinationReachedEvent += strategyManager.OnGhostLocationReached; #endregion #region Strategy /!\Need to be Last /! \ strategyManager.On2WheelsToPolarMatrixSetupEvent += msgGenerator.GenerateMessage2WheelsToPolarMatrixSet; //Transmission des messages de set-up de la matrice de transformation moteurindepeandt -> polaire en embarqué strategyManager.On2WheelsAngleSetupEvent += msgGenerator.GenerateMessage2WheelsAngleSet; //Transmission des messages de set-up de la config angulaire des roues en embarqué strategyManager.OnOdometryPointToMeterSetupEvent += msgGenerator.GenerateMessageOdometryPointToMeter; //Transmission des messages de set-up du coeff pointToMeter en embarqué strategyManager.OnSetAsservissementModeEvent += msgGenerator.GenerateMessageSetAsservissementMode; strategyManager.OnDestinationReachedEvent += localWorldMap.OnDestinationReached; strategyManager.OnWaypointsReachedEvent += localWorldMap.OnWaypointReached; strategyManager.OnSetActualLocationEvent += trajectoryPlanner.OnUpdateActualLocation; strategyManager.OnSetWantedLocationEvent += trajectoryPlanner.OnUpdateWantedDestination; strategyManager.OnGhostCalculationBeginEvent += trajectoryPlanner.OnLaunchCalculation; strategyManager.OnSetNewWaypointEvent += localWorldMap.AddNewWaypointsEvent; strategyManager.OnSetNewDestinationEvent += localWorldMap.SetDestinationLocationEvent; strategyManager.OnUpdateGhostCalculationOrderEvent += trajectoryPlanner.OnCalculateGhostMovement; ConsoleFormat.PrintStrategyBoot(); strategyManager.InitStrategy(); //à faire après avoir abonné les events ! #endregion if (usingMatchDisplay) { StartMatchInterface(); } else { StartRobotInterface(); } ConsoleFormat.EndMainBootSequence(); while (!exitSystem) { Thread.Sleep(500); } }
static void Main(string[] args) { SetConsoleCtrlHandler(new HandlerRoutine(ConsoleCtrlCheck), true); // Set this code once in App.xaml.cs or application startup SciChartSurface.SetRuntimeLicenseKey("wsCOsvBlAs2dax4o8qBefxMi4Qe5BVWax7TGOMLcwzWFYRNCa/f1rA5VA1ITvLHSULvhDMKVTc+niao6URAUXmGZ9W8jv/4jtziBzFZ6Z15ek6SLU49eIqJxGoQEFWvjANJqzp0asw+zvLV0HMirjannvDRj4i/WoELfYDubEGO1O+oAToiJlgD/e2lVqg3F8JREvC0iqBbNrmfeUCQdhHt6SKS2QpdmOoGbvtCossAezGNxv92oUbog6YIhtpSyGikCEwwKSDrlKlAab6302LLyFsITqogZychLYrVXJTFvFVnDfnkQ9cDi7017vT5flesZwIzeH497lzGp3B8fKWFQyZemD2RzlQkvj5GUWBwxiKAHrYMnQjJ/PsfojF1idPEEconVsh1LoYofNk2v/Up8AzXEAvxWUEcgzANeQggaUNy+OFet8b/yACa/bgYG7QYzFQZzgdng8IK4vCPdtg4/x7g5EdovN2PI9vB76coMuKnNVPnZN60kSjtd/24N8A=="); switch (robotMode) { case RobotMode.Standard: usingLidar = true; usingCamera = true; usingLogging = false; usingLogReplay = false; break; case RobotMode.Acquisition: usingLidar = true; usingCamera = true; usingLogging = true; usingLogReplay = false; break; case RobotMode.Replay: usingLidar = false; usingCamera = false; usingLogging = false; usingLogReplay = true; break; case RobotMode.Nolidar: usingLidar = false; usingCamera = true; usingLogging = false; usingLogReplay = false; break; case RobotMode.NoCamera: usingLidar = true; usingCamera = false; usingLogging = false; usingLogReplay = false; break; } int robotId = (int)TeamId.Team1 + (int)RobotId.Robot1; int teamId = (int)TeamId.Team1; serialPort1 = new ReliableSerialPort("COM1", 115200, Parity.None, 8, StopBits.One); msgDecoder = new MsgDecoder(); msgEncoder = new MsgEncoder(); robotMsgGenerator = new MsgGenerator(); robotMsgProcessor = new MsgProcessor(robotId, GameMode.RoboCup); robotPilot = new RobotPilot.RobotPilot(robotId); strategyManager = new StrategyRoboCup(robotId, teamId, "224.16.32.79"); waypointGenerator = new WaypointGenerator(robotId, GameMode.RoboCup); trajectoryPlanner = new TrajectoryGeneratorHolonome(robotId, GameMode.RoboCup); kalmanPositioning = new KalmanPositioning.KalmanPositioning(robotId, 50, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.02); localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false); perceptionManager = new PerceptionManager(robotId, GameMode.RoboCup); imuProcessor = new ImuProcessor.ImuProcessor(robotId); if (usingYolo) { yoloDetector = new YoloObjectDetector.YoloObjectDetector(false); //Instancie un detecteur avec un Wrappeur Yolo utilisant le GPU } if (usingLidar) { lidar_OMD60M_TCP = new LidaRxR2000(); } if (usingLidar || usingLogReplay) { lidarProcessor = new LidarProcessor.LidarProcessor(robotId, GameMode.RoboCup); } xBoxManette = new XBoxControllerNS.XBoxController(robotId); if (usingCamera || usingLogReplay) { imageProcessingPositionFromOmniCamera = new ImageProcessingPositionFromOmniCamera(); absolutePositionEstimator = new AbsolutePositionEstimator(robotId); } if (usingCamera) { omniCamera = new BaslerCameraAdapter(); omniCamera.CameraInit(); //omniCamera.BitmapPanoramaImageEvent += absolutePositionEstimator.AbsolutePositionEvaluation; } if (usingImageExtractor && usingCamera) { imgSaver = new ImageSaver.ImageSaver(); omniCamera.BitmapPanoramaImageEvent += imgSaver.OnSaveBitmapImage; } //Démarrage des interface de visualisation if (usingRobotInterface) { StartRobotInterface(); } if (usingCameraInterface) { StartCameraInterface(); } //Démarrage du logger si besoin if (usingLogging) { logRecorder = new LogRecorder.LogRecorder(); } //Démarrage du log replay si l'interface est utilisée et existe ou si elle n'est pas utilisée, sinon on bloque if (usingLogReplay) { logReplay = new LogReplay.LogReplay(); } //Liens entre modules strategyManager.OnDestinationEvent += waypointGenerator.OnDestinationReceived; strategyManager.OnHeatMapStrategyEvent += waypointGenerator.OnStrategyHeatMapReceived; waypointGenerator.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived; //Filtre de Kalman perceptionManager.OnAbsolutePositionEvent += kalmanPositioning.OnAbsolutePositionCalculatedEvent; robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += kalmanPositioning.OnOdometryRobotSpeedReceived; imuProcessor.OnGyroSpeedEvent += kalmanPositioning.OnGyroRobotSpeedReceived; kalmanPositioning.OnKalmanLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived; kalmanPositioning.OnKalmanLocationEvent += perceptionManager.OnPhysicalRobotPositionReceived; //kalmanPositioning.OnKalmanLocationEvent += strategyManager.OnPositionRobotReceived; //L'envoi des commandes dépend du fait qu'on soit en mode manette ou pas. //Il faut donc enregistrer les évènement ou pas en fonction de l'activation //C'est fait plus bas dans le code avec la fonction que l'on appelle ConfigControlEvents(useXBoxController: true); //Gestion des messages envoyé par le robot robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot; msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage; //Gestion des messages reçu par le robot serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived; msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage; robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += imuProcessor.OnIMURawDataReceived; //physicalSimulator.OnPhysicalRobotLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived; //physicalSimulator.OnPhysicicalObjectListLocationEvent += perceptionSimulator.OnPhysicalObjectListLocationReceived; //physicalSimulator.OnPhysicalRobotLocationEvent += perceptionSimulator.OnPhysicalRobotPositionReceived; //physicalSimulator.OnPhysicalBallPositionEvent += perceptionSimulator.OnPhysicalBallPositionReceived; perceptionManager.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived; strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived; waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived; strategyManager.OnHeatMapStrategyEvent += localWorldMapManager.OnHeatMapStrategyReceived; //if (usingLidar) //{ // lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += lidarProcessor.OnRawLidarDataReceived; // //lidar_OMD60M.OnLidarDecodedFrameEvent += absolutePositionEstimator.OnRawLidarDataReceived; // lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += localWorldMapManager.OnRawLidarDataReceived; // lidarProcessor.OnLidarObjectProcessedEvent += localWorldMapManager.OnLidarObjectsReceived; //} if (usingLidar) { lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += perceptionManager.OnRawLidarDataReceived; //lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += localWorldMapManager.OnLidarDataReceived; lidarProcessor.OnLidarProcessedEvent += localWorldMapManager.OnLidarDataReceived; } //Events de recording if (usingLogging) { //lidar_OMD60M_UDP.OnLidarDecodedFrameEvent += logRecorder.OnRawLidarDataReceived; lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += logRecorder.OnRawLidarDataReceived; omniCamera.BitmapFishEyeImageEvent += logRecorder.OnBitmapImageReceived; imuProcessor.OnIMUProcessedDataGeneratedEvent += logRecorder.OnIMURawDataReceived; robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += logRecorder.OnPolarSpeedDataReceived; //omniCamera.OpenCvMatImageEvent += logRecorder.OnOpenCVMatImageReceived; } if (usingLogReplay) { logReplay.OnLidarEvent += perceptionManager.OnRawLidarDataReceived; //logReplay.OnCameraImageEvent += imageProcessingPositionFromOmniCamera.ProcessOpenCvMatImage; //logReplay.OnCameraImageEvent += absolutePositionEstimator.AbsolutePositionEvaluation; //lidarProcessor.OnLidarObjectProcessedEvent += localWorldMapManager.OnLidarObjectsReceived; } lock (ExitLock) { // Do whatever setup code you need here // once we are done wait Monitor.Wait(ExitLock); } }