static void Main(string[] args)
{
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("RJWA77RbaJDdCRJpg4Iunl5Or6/FPX1xT+Gzu495Eaa0ZahxWi3jkNFDjUb/w70cHXyv7viRTjiNRrYqnqGA+Dc/yzIIzTJlf1s4DJvmQc8TCSrH7MBeQ2ON5lMs/vO0p6rBlkaG+wwnJk7cp4PbOKCfEQ4NsMb8cT9nckfdcWmaKdOQNhHsrw+y1oMR7rIH+rGes0jGGttRDhTOBxwUJK2rBA9Z9PDz2pGOkPjy9fwQ4YY2V4WPeeqM+6eYxnDZ068mnSCPbEnBxpwAldwXTyeWdXv8sn3Dikkwt3yqphQxvs0h6a8Dd6K/9UYni3o8pRkTed6SWodQwICcewfHTyGKQowz3afARj07et2h+becxowq3cRHL+76RyukbIXMfAqLYoT2UzDJNsZqcPPq/kxeXujuhT4SrNF3444MU1GaZZ205KYEMFlz7x/aEnjM6p3BuM6ZuO3Fjf0A0Ki/NBfS6n20E07CTGRtI6AsM2m59orPpI8+24GFlJ9xGTjoRA==");
//On ajoute un gestionnaire d'évènement pour détecter la fermeture de l'application
_handler += new EventHandler(Handler);
SetConsoleCtrlHandler(_handler, true);
//serialPort1 = new ReliableSerialPort(cfgSerialPort.CommName, cfgSerialPort.ComBaudrate, cfgSerialPort.Parity, cfgSerialPort.DataByte, cfgSerialPort.StopByte);
//serialPort1 = new ReliableSerialPort("COM1", 115200, Parity.None, 8, StopBits.One);
int teamId = (int)TeamId.Team1;
int robotId = (int)RobotId.Robot1 + teamId;
usbDriver = new USBVendor.USBVendor();
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new MsgGenerator();
robotMsgProcessor = new MsgProcessor(robotId, competition);
imuProcessor = new ImuProcessor.ImuProcessor(robotId);
if (usingLidar)
{
lidar_OMD60M_TCP = new LidaRxR2000(50, R2000SamplingRate._72kHz);
}
perceptionManager = new PerceptionManager(robotId, competition);
kalmanPositioning = new KalmanPositioning.KalmanPositioning(robotId, 50, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.02);
trajectoryPlanner = new TrajectoryPlanner(robotId, competition);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false);
globalWorldMapManager = new GlobalWorldMapManager(robotId);
strategyManager = new StrategyManagerNS.StrategyManager(robotId, teamId, "224.16.32.79", competition);
robotUdpMulticastSender = new UDPMulticastSender(robotId, "224.16.32.79");
robotUdpMulticastReceiver = new UDPMulticastReceiver(robotId, "224.16.32.79");
robotUdpMulticastInterpreter = new UDPMulticastInterpreter(robotId);
herkulexManager = new HerkulexManager();
herkulexManager.AddServo(ServoId.BrasCentral, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.BrasDroit, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.BrasGauche, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.PorteDrapeau, HerkulexDescription.JOG_MODE.positionControlJOG);
xBoxManette = new XBoxController.XBoxController(robotId);
//Démarrage des interface de visualisation
if (usingRobotInterface)
{
StartRobotInterface();
}
//if (usingLogReplay)
// StartReplayNavigatorInterface();
//Initialisation du logger
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
logReplay = new LogReplay.LogReplay();
//Liens entre modules
//strategyManager.strategy.OnRefereeBoxCommandEvent += globalWorldMapManager.OnRefereeBoxCommandReceived;
strategyManager.strategy.OnGameStateChangedEvent += trajectoryPlanner.OnGameStateChangeReceived;
strategyManager.strategy.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
//Kalman
perceptionManager.OnAbsolutePositionEvent += kalmanPositioning.OnAbsolutePositionCalculatedEvent;
imuProcessor.OnGyroSpeedEvent += kalmanPositioning.OnGyroRobotSpeedReceived;
robotMsgProcessor.OnSpeedPolarOdometryFromRobotEvent += kalmanPositioning.OnOdometryRobotSpeedReceived;
kalmanPositioning.OnKalmanLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += perceptionManager.OnPhysicalRobotPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += strategyManager.strategy.OnPositionRobotReceived;
//Update des données de la localWorldMap
perceptionManager.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
strategyManager.strategy.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
strategyManager.strategy.OnRoleEvent += localWorldMapManager.OnRoleReceived; //Utile pour l'affichage
strategyManager.strategy.OnMessageDisplayEvent += localWorldMapManager.OnMessageDisplayReceived; //Utile pour l'affichage
strategyManager.strategy.OnHeatMapStrategyEvent += localWorldMapManager.OnHeatMapStrategyReceived;
strategyManager.strategy.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.strategy.OnHeatMapWayPointEvent += localWorldMapManager.OnHeatMapWaypointReceived;
trajectoryPlanner.OnGhostLocationEvent += localWorldMapManager.OnGhostLocationReceived;
//Gestion des events liés à une détection de collision soft
trajectoryPlanner.OnCollisionEvent += kalmanPositioning.OnCollisionReceived;
//trajectoryPlanner.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
if (usingLidar)
{
strategyManager.strategy.OnMessageEvent += lidar_OMD60M_TCP.OnMessageReceivedEvent;
}
strategyManager.strategy.OnSetRobotSpeedPolarPIDEvent += robotMsgGenerator.GenerateMessageSetupSpeedPolarPIDToRobot;
strategyManager.strategy.OnSetRobotSpeedIndependantPIDEvent += robotMsgGenerator.GenerateMessageSetupSpeedIndependantPIDToRobot;
strategyManager.strategy.OnSetAsservissementModeEvent += robotMsgGenerator.GenerateMessageSetAsservissementMode;
// strategyEurobot.OnHerkulexPositionRequestEvent += herkulexManager.OnHerkulexPositionRequestEvent;
strategyManager.strategy.OnSetSpeedConsigneToMotor += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor;
strategyManager.strategy.OnEnableDisableMotorCurrentDataEvent += robotMsgGenerator.GenerateMessageEnableMotorCurrentData;
herkulexManager.OnHerkulexSendToSerialEvent += robotMsgGenerator.GenerateMessageForwardHerkulex;
if (usingLidar)
{
lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += perceptionManager.OnRawLidarDataReceived;
perceptionManager.OnLidarRawDataEvent += localWorldMapManager.OnRawLidarDataReceived;
perceptionManager.OnLidarProcessedDataEvent += localWorldMapManager.OnProcessedLidarDataReceived;
}
//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(usingXBoxController);
//Gestion des messages envoyé par le robot
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
//msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
msgEncoder.OnMessageEncodedEvent += usbDriver.SendUSBMessage;
//Gestion des messages reçu par le robot
//serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
usbDriver.OnUSBDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += imuProcessor.OnIMURawDataReceived;
robotMsgProcessor.OnIOValuesFromRobotGeneratedEvent += strategyManager.strategy.OnIOValuesFromRobotEvent;
robotMsgProcessor.OnIOValuesFromRobotGeneratedEvent += perceptionManager.OnIOValuesFromRobotEvent;
// robotMsgProcessor.OnMotorsCurrentsFromRobotGeneratedEvent += strategyManager.OnMotorCurrentReceive;
//Le local Manager n'est là que pour assurer le stockage de ma local world map avant affichage et transmission des infos, il ne doit pas calculer quoique ce soit,
//c'est le perception manager qui le fait.
trajectoryPlanner.OnPidSpeedResetEvent += robotMsgGenerator.GenerateMessageResetSpeedPid;
////Event d'interprétation d'une globalWorldMap à sa réception dans le robot
robotUdpMulticastInterpreter.OnRefBoxMessageEvent += strategyManager.strategy.OnRefBoxMsgReceived;
robotUdpMulticastInterpreter.OnGlobalWorldMapEvent += strategyManager.strategy.OnGlobalWorldMapReceived;
robotUdpMulticastInterpreter.OnLocalWorldMapEvent += globalWorldMapManager.OnLocalWorldMapReceived;
globalWorldMapManager.OnMulticastSendGlobalWorldMapEvent += robotUdpMulticastSender.OnMulticastMessageToSendReceived;
////Event de Transmission des Local World Map du robot vers le multicast
localWorldMapManager.OnMulticastSendLocalWorldMapEvent += robotUdpMulticastSender.OnMulticastMessageToSendReceived;
//Event de Réception de data Multicast sur le robot
robotUdpMulticastReceiver.OnDataReceivedEvent += robotUdpMulticastInterpreter.OnMulticastDataReceived;
/// LOGGER related events
perceptionManager.OnLidarRawDataEvent += logRecorder.OnRawLidarDataReceived;
robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += logRecorder.OnIMURawDataReceived;
robotMsgProcessor.OnSpeedPolarOdometryFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
//omniCamera.OpenCvMatImageEvent += logRecorder.OnOpenCVMatImageReceived;
//strategyManagerDictionary.Add(robotId, strategyManager);
trajectoryPlanner.InitRobotPosition(0, 0, 0);
strategyManager.strategy.InitStrategy(robotId, teamId);
while (!exitSystem)
{
Thread.Sleep(500);
}
}
private static void CreatePlayer(int TeamNumber, int RobotNumber, string Name, string multicastIpAddress)
{
int robotId = TeamNumber + RobotNumber;
var strategyManager = new StrategyManagerNS.StrategyManager(robotId, TeamNumber, multicastIpAddress, GameMode.RoboCup);
//var waypointGenerator = new WaypointGenerator(robotId, GameMode.RoboCup);
var trajectoryPlanner = new TrajectoryPlanner(robotId, GameMode.RoboCup);
var sensorSimulator = new SensorSimulator.SensorSimulator(robotId);
var kalmanPositioning = new KalmanPositioning.KalmanPositioning(robotId, 50, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.02);
var localWorldMapManager = new LocalWorldMapManager(robotId, TeamNumber, bypassMulticast: false);
//var lidarSimulator = new LidarSimulator.LidarSimulator(robotId);
var perceptionSimulator = new PerceptionManager(robotId, GameMode.RoboCup);
UDPMulticastSender robotUdpMulticastSender = null;
UDPMulticastReceiver robotUdpMulticastReceiver = null;
UDPMulticastInterpreter robotUdpMulticastInterpreter = null;
if (TeamNumber == (int)TeamId.Team1)
{
robotUdpMulticastSender = new UDPMulticastSender(robotId, "224.16.32.79");
robotUdpMulticastReceiver = new UDPMulticastReceiver(robotId, "224.16.32.79");
robotUdpMulticastInterpreter = new UDPMulticastInterpreter(robotId);
}
else if (TeamNumber == (int)TeamId.Team2)
{
robotUdpMulticastSender = new UDPMulticastSender(robotId, "224.16.32.63");
robotUdpMulticastReceiver = new UDPMulticastReceiver(robotId, "224.16.32.63");
robotUdpMulticastInterpreter = new UDPMulticastInterpreter(robotId);
}
//Liens entre modules
strategyManager.strategy.OnGameStateChangedEvent += trajectoryPlanner.OnGameStateChangeReceived;
strategyManager.strategy.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
((StrategyRoboCup)strategyManager.strategy).OnShootRequestEvent += physicalSimulator.OnShootOrderReceived;
trajectoryPlanner.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
//Gestion des events liés à une détection de collision soft
trajectoryPlanner.OnCollisionEvent += kalmanPositioning.OnCollisionReceived;
trajectoryPlanner.OnCollisionEvent += physicalSimulator.OnCollisionReceived;
////physicalSimulator.OnPhysicalRobotLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived; //replacé par les 5 lignes suivantes
physicalSimulator.OnPhysicalRobotLocationEvent += sensorSimulator.OnPhysicalRobotPositionReceived;
physicalSimulator.OnPhysicalBallHandlingEvent += sensorSimulator.OnPhysicalBallHandlingReceived;
sensorSimulator.OnCamLidarSimulatedRobotPositionEvent += kalmanPositioning.OnCamLidarSimulatedRobotPositionReceived;
sensorSimulator.OnGyroSimulatedRobotSpeedEvent += kalmanPositioning.OnGyroRobotSpeedReceived;
sensorSimulator.OnOdometrySimulatedRobotSpeedEvent += kalmanPositioning.OnOdometryRobotSpeedReceived;
sensorSimulator.OnBallHandlingSimulatedEvent += ((StrategyRoboCup)strategyManager.strategy).OnBallHandlingSensorInfoReceived;
kalmanPositioning.OnKalmanLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
//physicalSimulator.OnPhysicalRobotLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived; //ajout
kalmanPositioning.OnKalmanLocationEvent += perceptionSimulator.OnPhysicalRobotPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += strategyManager.strategy.OnPositionRobotReceived;
//physicalSimulator.OnPhysicalRobotLocationEvent += perceptionSimulator.OnPhysicalRobotPositionReceived; //ajout
physicalSimulator.OnPhysicicalObjectListLocationEvent += perceptionSimulator.OnPhysicalObjectListLocationReceived;
physicalSimulator.OnPhysicalBallPositionListEvent += perceptionSimulator.OnPhysicalBallPositionListReceived;
//Update des données de la localWorldMap
perceptionSimulator.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
strategyManager.strategy.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
strategyManager.strategy.OnRoleEvent += localWorldMapManager.OnRoleReceived; //Utile pour l'affichage
strategyManager.strategy.OnBallHandlingStateEvent += localWorldMapManager.OnBallHandlingStateReceived;
strategyManager.strategy.OnMessageDisplayEvent += localWorldMapManager.OnMessageDisplayReceived; //Utile pour l'affichage
//strategyManager.strategy.OnPlayingSideEvent += localWorldMapManager.OnPlayingSideReceived; //inutile
strategyManager.strategy.OnHeatMapStrategyEvent += localWorldMapManager.OnHeatMapStrategyReceived;
strategyManager.strategy.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.strategy.OnHeatMapWayPointEvent += localWorldMapManager.OnHeatMapWaypointReceived;
//waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
//waypointGenerator.OnHeatMapEvent += localWorldMapManager.OnHeatMapWaypointReceived;
trajectoryPlanner.OnGhostLocationEvent += localWorldMapManager.OnGhostLocationReceived;
//Event de Réception de data Multicast sur le robot
robotUdpMulticastReceiver.OnDataReceivedEvent += robotUdpMulticastInterpreter.OnMulticastDataReceived;
//Event d'interprétation d'une globalWorldMap à sa réception dans le robot
robotUdpMulticastInterpreter.OnGlobalWorldMapEvent += strategyManager.strategy.OnGlobalWorldMapReceived;
robotUdpMulticastInterpreter.OnRefBoxMessageEvent += strategyManager.strategy.OnRefBoxMsgReceived;
//robotUdpMulticastInterpreter.OnGlobalWorldMapEvent += waypointGenerator.OnGlobalWorldMapReceived;
robotUdpMulticastInterpreter.OnGlobalWorldMapEvent += perceptionSimulator.OnGlobalWorldMapReceived;
//Event de Transmission des Local World Map du robot vers le multicast
localWorldMapManager.OnMulticastSendLocalWorldMapEvent += robotUdpMulticastSender.OnMulticastMessageToSendReceived;
strategyManagerDictionary.Add(robotId, strategyManager);
//waypointGeneratorList.Add(waypointGenerator);
trajectoryPlannerList.Add(trajectoryPlanner);
sensorSimulatorList.Add(sensorSimulator);
kalmanPositioningList.Add(kalmanPositioning);
localWorldMapManagerList.Add(localWorldMapManager);
//lidarSimulatorList.Add(lidarSimulator);
perceptionManagerList.Add(perceptionSimulator);
robotUdpMulticastReceiverList.Add(robotUdpMulticastReceiver);
robotUdpMulticastSenderList.Add(robotUdpMulticastSender);
robotUdpMulticastInterpreterList.Add(robotUdpMulticastInterpreter);
double xInit, yInit, thetaInit;
if (TeamNumber == (int)TeamId.Team1)
{
xInit = 2 * RobotNumber + 2;
yInit = -6.5;
thetaInit = Math.PI / 2;
}
else
{
xInit = -(2 * RobotNumber + 2);
yInit = +6.5;
thetaInit = 0;
}
physicalSimulator.RegisterRobot(robotId, xInit, yInit);
trajectoryPlanner.InitRobotPosition(xInit, yInit, thetaInit);
}
