public static void IssueDirective(this IJobBuilderClient jobBuilder, int taskId, string parameterAlias, byte value)
{
ServiceOperationResult result = jobBuilder.TryIssueDirective(taskId, parameterAlias, value);
if (!result.IsSuccessfull)
{
throw Tools.GetException(result);
}
}
private static void AddGoToTask(IJobBuilderClient client, int unorderedListTaskId, IEnumerable <NodeDto> nodes, string alias)
{
NodeDto target = nodes.FirstOrDefault(e => e.Alias == alias);
IServiceCallResult <int> gotoResult = client.CreateGoToNodeTask(unorderedListTaskId, target.Id);
if (!gotoResult.IsSuccessful())
{
Console.WriteLine($"Failed to create goto task, serviceCode:{gotoResult.ServiceCode}");
}
}
public static JobData CreateJob(this IJobBuilderClient jobBuilder)
{
JobData jobData;
ServiceOperationResult result = jobBuilder.TryCreateJob(out jobData);
if (result.IsSuccessfull)
{
return(jobData);
}
else
{
throw Tools.GetException(result);
}
}
public static int CreateExecution(this IJobBuilderClient jobBuilder, int parentListTaskId, int nodeId, TimeSpan expectedDuration = default(TimeSpan))
{
int executionTaskId;
ServiceOperationResult result = jobBuilder.TryCreateServicingTask(parentListTaskId, nodeId, ServiceType.Execution, out executionTaskId, expectedDuration);
if (result.IsSuccessfull)
{
return(executionTaskId);
}
else
{
throw Tools.GetException(result);
}
}
public static int CreateMovingTask(this IJobBuilderClient jobBuilder, int listTaskId, int nodeId)
{
int moveTaskId;
ServiceOperationResult result = jobBuilder.TryCreateMovingTask(listTaskId, nodeId, out moveTaskId);
if (result.IsSuccessfull)
{
return(moveTaskId);
}
else
{
throw Tools.GetException(result);
}
}
public static bool Commit(this IJobBuilderClient jobBuilder, int jobId)
{
bool success;
ServiceOperationResult result = jobBuilder.TryCommit(jobId, out success);
if (result.IsSuccessfull)
{
return(success);
}
else
{
throw Tools.GetException(result);
}
}
private static void HandleCreateJob(EndpointSettings endpointSettings)
{
IEnumerable <NodeDto> nodes = null;
// Using the map manager client, get the ids of all nodes in the map
using (IMapClient mapClient = SchedulingClients.Core.ClientFactory.CreateTcpMapClient(endpointSettings))
{
IServiceCallResult <NodeDto[]> nodeResults = mapClient.GetAllNodes();
if (!nodeResults.IsSuccessful())
{
Console.WriteLine($"Failed to get nodes, serviceCode:{nodeResults.ServiceCode}");
}
else
{
nodes = nodeResults.Value;
}
}
// Create a multijob
using (IJobBuilderClient jobBuilder = SchedulingClients.Core.ClientFactory.CreateTcpJobBuilderClient(endpointSettings))
{
IServiceCallResult <JobDto> createResult = jobBuilder.CreateJob();
if (!createResult.IsSuccessful())
{
Console.WriteLine($"Failed to create job, serviceCode:{createResult.ServiceCode}");
}
IServiceCallResult <int> createUnorderedListTaskResult = jobBuilder.CreateUnorderedListTask(createResult.Value.RootOrderedListTaskId);
if (!createUnorderedListTaskResult.IsSuccessful())
{
Console.WriteLine($"Failed to create unordered list task, serviceCode:{createResult.ServiceCode}");
}
string[] targets = new string[] { "A0", "B0", "C0", "A1", "B1", "C1" };
foreach (string target in targets)
{
AddGoToTask(jobBuilder, createUnorderedListTaskResult.Value, nodes, target);
}
IServiceCallResult commitResult = jobBuilder.CommitJob(createResult.Value.JobId);
if (!commitResult.IsSuccessful())
{
Console.WriteLine($"Failed to commit job, serviceCode:{commitResult.ServiceCode}");
}
}
}
private static void Main(string[] args)
{
// Here we create an endpoint settings object that defines where the fleet manager service is currently running
// For this demo we are assuming it is running on localhost, using the default TCP port of 41917.
EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917);
IEnumerable <int> nodeIds = Enumerable.Empty <int>(); // Create an array to store node ids in
NodeDto startNode = null;
// Using the map manager client, get the ids of all nodes in the map
using (IMapClient mapClient = SchedulingClients.Core.ClientFactory.CreateTcpMapClient(endpointSettings))
{
IServiceCallResult <NodeDto[]> nodeResults = mapClient.GetAllNodes();
if (!nodeResults.IsSuccessful())
{
Console.WriteLine($"Failed to get nodes, serviceCode:{nodeResults.ServiceCode}");
}
else
{
nodeIds = nodeResults.Value.Select(e => e.Id);
}
startNode = nodeResults.Value.First();
}
// Now we create a fleet manager client using the client factory, and create a virtual vehicle at pose at the first node.
// see: https://github.com/GuidanceAutomation/FleetClients
using (IFleetManagerClient fleetManagerClient = FleetClients.Core.ClientFactory.CreateTcpFleetManagerClient(endpointSettings))
{
IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(IPAddress.Parse("192.168.0.1"), startNode.Pose.X, startNode.Pose.Y, startNode.Pose.Heading);
if (!result.IsSuccessful())
{
Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}");
}
}
Random random = new Random(); // Random number generator
bool continueFlag = true;
while (continueFlag)
{
Console.WriteLine("Press <any> key to create a random GoTo job, 'q' to quit");
switch (Console.ReadKey(true).Key)
{
case ConsoleKey.Q:
{
continueFlag = false;
break;
}
default:
{
// Use the job builder client to create a new goto job.
using (IJobBuilderClient jobBuilder = SchedulingClients.Core.ClientFactory.CreateTcpJobBuilderClient(endpointSettings))
{
// Boiler plate code to pick a random node from the array of nodes.
int index = random.Next(0, nodeIds.Count());
int nodeId = nodeIds.ElementAt(index);
Console.WriteLine($"Sending to node:{nodeId}");
IServiceCallResult <JobDto> createResult = jobBuilder.CreateJob();
if (!createResult.IsSuccessful())
{
Console.WriteLine($"Failed to create job, serviceCode:{createResult.ServiceCode}");
}
IServiceCallResult <int> gotoResult = jobBuilder.CreateGoToNodeTask(createResult.Value.RootOrderedListTaskId, nodeId);
if (!gotoResult.IsSuccessful())
{
Console.WriteLine($"Failed to create goto task, serviceCode:{gotoResult.ServiceCode}");
}
IServiceCallResult commitResult = jobBuilder.CommitJob(createResult.Value.JobId);
if (!commitResult.IsSuccessful())
{
Console.WriteLine($"Failed to commit job, serviceCode:{commitResult.ServiceCode}");
}
}
break;
}
}
}
}
