private double throttle; // throttle (between 0 and 1), the fraction of maximum torque commanded
#endregion Fields
#region Constructors
public DynamicsSimVehicle(SimVehicleState vehicleState, ObjectDirectory od)
{
this.simVehicleState = vehicleState;
InitializeState();
Connect(od);
}
public static void InitComm()
{
// set the machine name from the config
machineName = Properties.Settings.Default.MachineName.Trim().ToUpper();
// configure remoting
RemotingConfiguration.Configure("net.xml", false);
// get the name service
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// get the channel factory
channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
}
/// <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");
// Notify user of success
RemoraOutput.WriteLine("Connection to Name Service Successful", OutputType.Remora);
// get simulation if supposed to
if (global::RemoraAdvanced.Properties.Settings.Default.SimMode)
{
this.simulatorFacade = (SimulatorFacade)objectDirectory.Resolve("SimulationServer");
// Notify user of success
RemoraOutput.WriteLine("Connection to Simulation Service Successful", OutputType.Remora);
}
}
/// <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>
/// Attempts to register with the simulation
/// </summary>
public void AttemptSimulationConnection()
{
// notify
Console.WriteLine(DateTime.Now.ToString() + ": Attempting Connection To Simulation Server");
try
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Resolve the SimulationServer as the simulator remote facade server
this.client.SimulationServer = (SimulatorFacade)objectDirectory.Resolve("SimulationServer");
// create the dynamics sim facade
this.client.DynamicsVehicle = new DynamicsSimVehicle(new SimVehicleState(), this.objectDirectory);
// register ourselves
bool success = this.client.SimulationServer.Register(this.client.Name());
// notify
if(success)
Console.WriteLine(DateTime.Now.ToString() + ": Attempt Succeeded");
else
Console.WriteLine(DateTime.Now.ToString() + ": Registration Failed in Simulation");
}
catch (Exception e)
{
// notify
Console.WriteLine(DateTime.Now.ToString() + ": Attempt Failed" + "\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());
}
}
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);
}
/// <summary>
/// Initializes communications with the outside world by means of remoting
/// </summary>
public void InitializeRemotingCommunications()
{
// try to shut down in case we have already been active
this.ShutDown();
try
{
// Read the configuration file.
RemotingConfiguration.Configure("Remora.exe.config", false);
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "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 listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString() + "\n\n" + "Could not initialize communications, attempting to reconnect");
try
{
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "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 listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e1)
{
RemoraOutput.WriteLine(e1.ToString() + "\n\n" + "Could not reinitialize nameservice communications");
try
{
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e2)
{
RemoraOutput.WriteLine(e2.ToString() + "\n\n" + "Could not reinitialize messaging communications");
}
}
}
}
public static void ConfigureRemoting(string server)
{
RemotingConfiguration.Configure("net.xml", false);
if (!string.IsNullOrEmpty(server)) {
string uri = "tcp://" + server + ":12345/ObjectDirectory";
od = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), uri);
}
else {
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
od = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
}
}
/// <summary>
/// Configures remoting
/// </summary>
public void Configure()
{
// configure
RemotingConfiguration.Configure("VehicleSeparationDisplay.exe.config", false);
wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Notify user of success
Console.WriteLine("Connection to Name Service Successful");
// get information channel
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(messagingListener);
}