public SubscriptionTester()
{
cmdMan = new CommandManager();
cmdMan.Started += new CommandManagerStatusChangedEventHandler(cmdMan_Started);
cmdMan.Stopped += new CommandManagerStatusChangedEventHandler(cmdMan_Stopped);
cmdMan.SharedVariablesLoaded += new SharedVariablesLoadedEventHandler(cmdMan_SharedVariablesLoaded);
cnnMan = new ConnectionManager(2020, cmdMan);
cnnMan.DataReceived += new ConnectionManagerDataReceivedEH(cnnMan_DataReceived);
cnnMan.ClientConnected += new System.Net.Sockets.TcpClientConnectedEventHandler(cnnMan_ClientConnected);
cnnMan.Started += new ConnectionManagerStatusChangedEventHandler(cnnMan_Started);
cnnMan.Stopped += new ConnectionManagerStatusChangedEventHandler(cnnMan_Stopped);
svSpeech = new RecognizedSpeechSharedVariable("recognizedSpeech");
svInteger = new IntSharedVariable("svInteger");
svInteger.ValueChanged += new SharedVariableSubscriptionReportEventHadler <int>(svInteger_ValueChanged);
svDoubles = new DoubleArraySharedVariable("svDoubles");
svDoubles.ValueChanged += new SharedVariableSubscriptionReportEventHadler <double[]>(svDoubles_ValueChanged);
svBytes = new ByteArraySharedVariable("svBytes");
svBytes.ValueChanged += new SharedVariableSubscriptionReportEventHadler <byte[]>(svBytes_ValueChanged);
svMatrix = new MatrixSharedVariable("svMatrix");
svMatrix.ValueChanged += new SharedVariableSubscriptionReportEventHadler <Robotics.Mathematics.Matrix>(svMatrix_ValueChanged);
svVector = new VectorSharedVariable("svVector");
svVector.ValueChanged += new SharedVariableSubscriptionReportEventHadler <Robotics.Mathematics.Vector>(svVector_ValueChanged);
svString = new StringSharedVariable("svString");
svString.WriteNotification += new SharedVariableSubscriptionReportEventHadler <string>(svString_WriteNotification);
svRecognized = new StringSharedVariable("recognized");
svRecognized.WriteNotification += new SharedVariableSubscriptionReportEventHadler <string>(svString_WriteNotification);
}
/// <summary>
/// Registers an existing variable within the list
/// </summary>
/// <param name="type">The type of the variable to register</param>
/// <param name="isArray">Indicates if the variable is an array</param>
/// <param name="name">The name of the variable to register</param>
/// <param name="data">The data of the variable to register received in the read operation</param>
private bool RegisterVar(string type, bool isArray, string name, string data)
{
SharedVariable variable;
variable = null;
switch (type)
{
case "double":
if (isArray)
{
variable = new DoubleArraySharedVariable(this.owner, name, false);
}
else
{
variable = new DoubleSharedVariable(this.owner, name, false);
}
break;
case "HumanFace":
if (!isArray)
{
variable = new DetectedHumanFaces(this.owner, name, false);
}
break;
case "int":
if (isArray)
{
variable = new IntArraySharedVariable(this.owner, name, false);
}
else
{
variable = new IntSharedVariable(this.owner, name, false);
}
break;
case "LaserReadingArray":
if (!isArray)
{
variable = new LaserReadingArrayShV(this.owner, name, false);
}
break;
case "long":
if (isArray)
{
variable = new LongArraySharedVariable(this.owner, name, false);
}
else
{
variable = new LongSharedVariable(this.owner, name, false);
}
break;
case "Matrix":
if (!isArray)
{
variable = new MatrixSharedVariable(this.owner, name, false);
}
break;
case "RecognizedSpeech":
if (!isArray)
{
variable = new RecognizedSpeechSharedVariable(this.owner, name, false);
}
break;
case "var":
variable = new VarSharedVariable(this.owner, name, false);
isArray = false;
break;
case "Vector":
if (!isArray)
{
variable = new VectorSharedVariable(this.owner, name, false);
}
break;
case "string":
if (!isArray)
{
variable = new StringSharedVariable(this.owner, name, false);
}
break;
}
if (variable == null)
{
return(false);
}
rwLock.AcquireWriterLock(-1);
if (!variables.ContainsKey(name))
{
variables.Add(name, variable);
}
else
{
rwLock.ReleaseWriterLock();
return(false);
}
rwLock.ReleaseWriterLock();
Exception ex;
variable.UpdateInfo(500, out ex);
variable.Initialized = true;
return(variable.Update(type, isArray, -1, name, data, out ex));
}
public void Run()
{
int svCount;
cmdMan.Start();
Response rsp;
IAsyncResult result =
cmdMan.BeginSendCommand(new Command("stop", String.Empty), 100);
cmdMan.EndSendCommand(result, out rsp);
while (cnnMan.ConnectedClientsCount < 1)
{
Thread.Sleep(100);
}
e.WaitOne();
Console.WriteLine("Loading shared variables from blackboard");
svCount = cmdMan.SharedVariables.LoadFromBlackboard();
cmdMan.Ready = true;
Console.WriteLine("Loaded " + svCount.ToString() + " shared variables.");
if (svCount > 0)
{
Console.WriteLine("Enumerating:");
foreach (SharedVariable shv in cmdMan.SharedVariables)
{
Console.WriteLine("\t" + shv.ToString());
}
}
Console.WriteLine();
if (!cmdMan.SharedVariables.Contains(svSpeech))
{
cmdMan.SharedVariables.Add(svSpeech);
}
else
{
svSpeech = (RecognizedSpeechSharedVariable)cmdMan.SharedVariables["recognizedSpeech"];
}
if (!cmdMan.SharedVariables.Contains(svInteger))
{
cmdMan.SharedVariables.Add(svInteger);
}
else
{
svInteger = (IntSharedVariable)cmdMan.SharedVariables["svInteger"];
}
if (!cmdMan.SharedVariables.Contains(svDoubles))
{
cmdMan.SharedVariables.Add(svDoubles);
}
else
{
svDoubles = (DoubleArraySharedVariable)cmdMan.SharedVariables["svDoubles"];
}
if (!cmdMan.SharedVariables.Contains(svBytes))
{
cmdMan.SharedVariables.Add(svBytes);
}
else
{
svBytes = (ByteArraySharedVariable)cmdMan.SharedVariables["svBytes"];
}
if (!cmdMan.SharedVariables.Contains(svMatrix))
{
cmdMan.SharedVariables.Add(svMatrix);
}
else
{
svMatrix = (MatrixSharedVariable)cmdMan.SharedVariables["svMatrix"];
}
if (!cmdMan.SharedVariables.Contains(svVector))
{
cmdMan.SharedVariables.Add(svVector);
}
else
{
svVector = (VectorSharedVariable)cmdMan.SharedVariables["svVector"];
}
if (!cmdMan.SharedVariables.Contains(svString))
{
cmdMan.SharedVariables.Add(svString);
}
else
{
svString = (StringSharedVariable)cmdMan.SharedVariables["svString"];
}
if (!cmdMan.SharedVariables.Contains(svRecognized))
{
cmdMan.SharedVariables.Add(svRecognized);
}
else
{
svRecognized = (StringSharedVariable)cmdMan.SharedVariables["recognized"];
}
Console.Write("Subscribing...");
try
{
svSpeech.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svSpeech.WriteNotification += new SharedVariableSubscriptionReportEventHadler <Robotics.HAL.Sensors.RecognizedSpeech>(svSpeech_WriteNotification);
svInteger.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svDoubles.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svDoubles.WriteNotification += new SharedVariableSubscriptionReportEventHadler <double[]>(svDoubles_WriteNotification);
svMatrix.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svVector.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svString.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svRecognized.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svBytes.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
svBytes.WriteNotification += new SharedVariableSubscriptionReportEventHadler <byte[]>(svBytes_WriteNotification);
}
catch (Exception ex) { Console.WriteLine(ex.Message); }
Console.Write("\b\b\b");
Console.WriteLine();
Console.WriteLine("Done!");
if (cmdMan.SharedVariables.Contains("svBytes"))
{
byte[] data;
Random rnd = new Random();
for (int i = 0; i < 10; ++i)
{
data = new byte[rnd.Next(1, 21)];
for (int j = 0; j < data.Length; ++j)
{
data[j] = (byte)rnd.Next(1, 220);
}
svBytes.TryWrite(data);
Thread.Sleep(100);
}
}
/*
* if (cmdMan.SharedVariables.Contains("svDoubles"))
* {
* double[] data;
* Random rnd = new Random();
*
* for (int i = 0; i < 10; ++i)
* {
* data = new double[rnd.Next(1, 21)];
* for (int j = 0; j < data.Length; ++j)
* data[j] = rnd.Next(1, 1000);
* svDoubles.TryWrite(data);
* Thread.Sleep(100);
* }
* }
*/
for (int i = 0; i < 500; ++i)
{
svSpeech.TryWrite(new Robotics.HAL.Sensors.RecognizedSpeech(
new Robotics.HAL.Sensors.RecognizedSpeechAlternate[] {
new Robotics.HAL.Sensors.RecognizedSpeechAlternate(i.ToString(), 1),
new Robotics.HAL.Sensors.RecognizedSpeechAlternate("Hello", 0)
}
));
//Console.ReadLine();
}
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
/*
* sw.Start();
* System.Text.StringBuilder sb = new System.Text.StringBuilder(65536);
* for (int i = 0; i < 65536; ++i)
* {
* sb.Append((char)('a' + i % 25));
* }
* string longStr = sb.ToString();
* sw.Stop();
* sw.Reset();
* //svString.TryWrite(longStr);
* sw.Start();
* for (int i = 0; i < 1000; ++i )
* svString.TryWrite(longStr, 0);
* sw.Stop();
* Console.WriteLine("Written 1000 times a 64k string > " + sw.ElapsedMilliseconds.ToString() + "ms elapsed.");
* Console.ReadLine();
*/
//Thread.Sleep(1000);
svInteger.TryWrite(1);
svDoubles.TryWrite(new double[] { 0, 0 });
svMatrix.Write(Robotics.Mathematics.Matrix.Identity(2));
svVector.Write(Robotics.Mathematics.Vector.Zero(4));
svString.TryWrite("Realmente dijo \"Hola mundo\"?");
Console.ReadLine();
Console.Clear();
//while (true)
// Thread.Sleep(10);
if (cmdMan.SharedVariables.Contains("var1"))
{
VarSharedVariable var1 = (VarSharedVariable)cmdMan.SharedVariables["var1"];
var1.WriteNotification += new SharedVariableSubscriptionReportEventHadler <string>(var1_WriteNotification);
var1.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteAny);
for (int i = 0; i < 10; ++i)
{
var1.Write(i.ToString());
Thread.Sleep(100);
}
}
}
