protected override void Start()
{
_physicsEngine = PhysicsEngine.GlobalInstance;
_notificationTarget = new SimulationEnginePort();
// PartnerType.Service is the entity instance name.
SimulationEngine.GlobalInstancePort.Subscribe(ServiceInfo.PartnerList, _notificationTarget);
LogInfo("Starting Simulated Sonar");
// Raul - If state cannot be read from file create a default one
if (_state == null)
{
_state = CreateDefaultState();
}
else // Use the state saved in the file, but don't forget to allocate memory for arrays.
{
_state.DistanceMeasurements = new double[SonarArrayLength];
formerDistanceMeasurements = new double[SonarArrayLength];
}
// dont start listening to DSSP operations, other than drop, until notification of entity
Activate(new Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive <InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.Receive <dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
// Publish the service to the local Node Directory
// DirectoryInsert();
}
protected override void Start()
{
_simEngine = SimulationEngine.GlobalInstancePort;
_notificationTarget = new SimulationEnginePort();
// request a notification when the arm is inserted into the sim engine
var esrt = new EntitySubscribeRequestType {Name = RobotArmEntityName};
_simEngine.Subscribe(esrt, _notificationTarget);
base.Start();
// Add the winform message handler to the interleave
MainPortInterleave.CombineWith(
new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup
(
Arbiter.Receive<InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.ReceiveWithIterator<FromWinformMsg>(true, _fromWinformPort, OnWinformMessageHandler)
),
new ConcurrentReceiverGroup()
));
// Set the initial viewpoint
SetupCamera();
// Set up the world
PopulateWorld();
}
private bool checkSimulator()
{
if (_notifyTarget == null && SimulationEngine.GlobalInstancePort != null)
{
_notifyTarget = new SimulationEnginePort();
addCameraWatch("MainCamera", true);
addCameraWatch("ScribblerCamera", false);
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
base.Start();
_notificationTarget = new SimulationEnginePort();
EntitySubscribeRequestType req = new EntitySubscribeRequestType();
req.Name = "MainCamera";
SimulationEngine.GlobalInstancePort.Subscribe(req, _notificationTarget);
// Set the Simulator camera view and resolution
UpdateCameraView view = new UpdateCameraView(new CameraView());
view.Body.EyePosition = new Vector3(1, 5, 1);
view.Body.LookAtPoint = new Vector3(0, 0, 0);
view.Body.XResolution = 640;
view.Body.YResolution = 480;
SimulationEngine.GlobalInstancePort.Post(view);
// get the current simulator configuration
_defaultConfig = new SimulatorConfiguration(true);
Activate(Arbiter.Choice(SimulationEngine.GlobalInstancePort.Query(_defaultConfig),
delegate(SimulatorConfiguration config)
{
_defaultConfig = config;
if (_embeddedSimUI != null)
{
WinFormsServicePort.FormInvoke(delegate() { _embeddedSimUI.SetHeadless(config.Headless); });
}
},
delegate(W3C.Soap.Fault fault)
{
}
));
// Add the winform message handler to the interleave
Activate(Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup
(
Arbiter.Receive <InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.Receive <FromWinformMsg>(true, _fromWinformPort, OnWinformMessageHandler)
),
new ConcurrentReceiverGroup()
));
// Create the user interface form
WinFormsServicePort.Post(new RunForm(CreateForm));
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local service Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
// Cache reference to simulation/rendering
_simEnginePort = SimulationEngine.GlobalInstancePort;
// Add objects (entities) in our simulated world
PopulateWorld();
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local service Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
// Cache reference to simulation/rendering
_simEnginePort = SimulationEngine.GlobalInstancePort;
// Add objects (entities) in our simulated world
PopulateWorld();
}
protected override void Start()
{
_physicsEngine = PhysicsEngine.GlobalInstance;
_notificationTarget = new SimulationEnginePort();
// PartnerType.Service is the entity instance name.
SimulationEngine.GlobalInstancePort.Subscribe(ServiceInfo.PartnerList, _notificationTarget);
LogInfo("Starting Simulated Sonar");
// Raul - If state cannot be read from file create a default one
if (_state == null)
{
_state = CreateDefaultState();
}
else // Use the state saved in the file, but don't forget to allocate memory for arrays.
{
_state.DistanceMeasurements = new double[SonarArrayLength];
formerDistanceMeasurements = new double[SonarArrayLength];
}
// dont start listening to DSSP operations, other than drop, until notification of entity
Activate(new Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive<InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.Receive<dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
// Publish the service to the local Node Directory
// DirectoryInsert();
}
//-- TT
#endregion
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
int i;
// The state might already have been created using
// the Initial State Partner above. If so, then we
// don't want to create a new one!
if (_state == null)
{
_state = new MazeSimulatorState();
// Do any other initialization here for the default
// settings that you might want ...
// Raul - Aug 2007 - Indicate what sensors are being used
// Using LRF instead of Sonar doesn't work with control panel
// until I fix the limit of 19 ports in Control Panel Operations portset
_state.UseLRF = false;
_state.UseSonar = true;
// Raul - Aug 2007 - Initial position of the robot
// This is valid for the maze I am using now
// Note that position could be inside a wall in
// your maze!
_state.RobotStartCellCol = 30;
_state.RobotStartCellRow = 30;
}
// TT Feb-2007 - Shock! Horror! Setting the maze in the config
// file did not work because it was initialized in the constructor
// for the State!
// The maze here is one with lots of different objects including some balls
// Note the path - It is relative to where dsshost is started from
// Other samples are:
// ModelSmall.gif -- A smaller model than the one above
// office.bmp -- A black and white image of an "office" maze
// Jul-2007:
// Changed the location of the files
if (_state.Maze == null || _state.Maze == "")
_state.Maze = "Apps/UC3M/MazeSimulatorRA/OfficeRaul1.bmp";
// Make sure that there is a floor texture
// Plenty of others to try, e.g. concrete.jpg.
if (_state.GroundTexture == null || _state.GroundTexture == "")
_state.GroundTexture = "cellfloor.jpg";
// _state.GroundTexture = "granito.bmp";
// TT Dec-2006 - This is a fudge to support upgrading from
// prior versions where the RobotType did not exist. When
// MSRS loades the config file, it does not populate any
// of the fields that are missing. Therefore the RobotType
// is null and this causes the code to crash later on.
if (_state.RobotType == null)
_state.RobotType = "Pioneer3DX";
// Now initialize our internal copies of state info
// This is a little bit of insurance against a bad
// config file ...
// Copy as many textures as available up to the max
for (i = 0; (i < 16) && (i < _state.WallTextures.Length); i++)
{
_WallTextures[i] = _state.WallTextures[i];
}
// Fill any remaining textures with empty string
for ( ; i < 16; i++)
_WallTextures[i] = "";
// Copy as many colors as specified
// NOTE: The constructor for the State sets all of the
// colors to the standard ones, so any that are not
// specified will default to them.
for (i = 0; (i < 16) && (i < _state.WallColors.Length); i++)
{
_WallColors[i] = _state.WallColors[i];
}
// Fill any remaining colors with the defaults
for (; i < 16; i++)
_WallColors[i] = MazeSimulatorState.DefaultColors[i];
// Copy as many heights as specified
for (i = 0; (i < 16) && (i < _state.HeightMap.Length); i++)
{
_WallHeights[i] = _state.HeightMap[i];
}
// Fill any remaining heights with the defaults
for (; i < 16; i++)
_WallHeights[i] = 5.0f;
// Copy as many weights as specified
for (i = 0; (i < 16) && (i < _state.MassMap.Length); i++)
{
_WallMasses[i] = _state.MassMap[i];
}
// Fill any remaining weights with the defaults
for (; i < 16; i++)
_WallMasses[i] = 0.0f;
// Copy as many sphere flags as specified
for (i = 0; (i < 16) && (i < _state.UseSphere.Length); i++)
{
_UseSphere[i] = _state.UseSphere[i];
}
// Fill any remaining flags with false
for (; i < 16; i++)
_UseSphere[i] = false;
if (_state.SphereScale <= 0.0f)
_state.SphereScale = 1.0f;
if (_state.HeightScale <= 0.0f)
_state.HeightScale = 1.0f;
// Copy back our private versions which might have the
// effect of extending the state
_state.WallColors = _WallColors;
_state.WallTextures = _WallTextures;
_state.HeightMap = _WallHeights;
_state.MassMap = _WallMasses;
_state.UseSphere = _UseSphere;
// Now save the State
// This creates a new file the first time it is run
// Later, it re-reads the existing file, but by then
// the file has been populated with the defaults
SaveState(_state);
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
// Cache references to simulation/rendering and physics
_physicsEngine = PhysicsEngine.GlobalInstance;
_simEnginePort = SimulationEngine.GlobalInstancePort;
// TT Dec-2006 - Set up the initial camera view
SetupCamera();
// Add objects (entities) in our simulated world
PopulateWorld();
}
private bool checkSimulator()
{
if (_notifyTarget == null && SimulationEngine.GlobalInstancePort != null)
{
_notifyTarget = new SimulationEnginePort();
addCameraWatch("MainCamera", true);
addCameraWatch("ScribblerCamera", false);
return true;
}
else
return false;
}
/// <summary>
/// Entry Point for the Dashboard Service
/// </summary>
protected override void Start()
{
// TT - Added code to create a default State if no
// config file exists
if (_state == null)
{
_state = new StateType();
_state.Log = false;
_state.LogFile = "";
_state.Machine = "";
_state.Port = 0;
}
// TT - Version 2 - The options "bag"
// This is tacky, but we need to set the default values
// in case there is no existing config.xml file
if (_state.Options == null)
{
_state.Options = new GUIOptions();
_state.Options.DeadZoneX = 80;
_state.Options.DeadZoneY = 80;
_state.Options.TranslateScaleFactor = 1.0;
_state.Options.RotateScaleFactor = 0.5;
_state.Options.ShowLRF = false;
_state.Options.ShowArm = false;
_state.Options.DisplayMap = false;
// Raul - Sept 2007
_state.Options.DisplaySonarMap = false;
// Updated in later versions with more options
// These values are in mm
_state.Options.RobotWidth = 300;
_state.Options.MaxLRFRange = 8192;
_state.Options.DriveDistance = 300;
// Speed is in mm/sec???
_state.Options.MotionSpeed = 100;
// Angle is in degrees
_state.Options.RotateAngle = 45;
// Camera update interval in milliseconds
// Note that this is only required for the
// simulated webcam because it does not provide
// updates when you subscribe
_state.Options.CameraInterval = 250;
// Raul - Version 9
_state.Options.SonarRange = 4000;
_state.Options.SonarTransducerAngularRange = 15.0f;
// Raul - Sonar transducer positions.
// This is only valid for a single sonar array of 8 transducers!!
_state.Options.SonarRadians = new double[8];
// Orientations of the P3DX frontal sonar transducers
_state.Options.SonarRadians[0] = (Math.PI * 90) / 180;
_state.Options.SonarRadians[1] = (Math.PI * 50) / 180;
_state.Options.SonarRadians[2] = (Math.PI * 30) / 180;
_state.Options.SonarRadians[3] = (Math.PI * 10) / 180;
_state.Options.SonarRadians[4] = -(Math.PI * 10) / 180;
_state.Options.SonarRadians[5] = -(Math.PI * 30) / 180;
_state.Options.SonarRadians[6] = -(Math.PI * 50) / 180;
_state.Options.SonarRadians[7] = -(Math.PI * 90) / 180;
}
if (_state.Options.CameraInterval < 100)
_state.Options.CameraInterval = 100;
// Handlers that need write or exclusive access to state go under
// the exclusive group. Handlers that need read or shared access, and can be
// concurrent to other readers, go to the concurrent group.
// Other internal ports can be included in interleave so you can coordinate
// intermediate computation with top level handlers.
Activate(Arbiter.Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive<DsspDefaultDrop>(false, _mainPort, DropHandler)
),
new ExclusiveReceiverGroup
(
Arbiter.ReceiveWithIterator<Replace>(true, _mainPort, ReplaceHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnLoad>(true, _eventsPort, OnLoadHandler),
Arbiter.ReceiveFromPortSet<OnClosed>(true, _eventsPort, OnClosedHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnChangeJoystick>(true, _eventsPort, OnChangeJoystickHandler),
Arbiter.ReceiveFromPortSet<OnLogSetting>(true, _eventsPort, OnLogSettingHandler),
// TT - Added this handler for Connection parameters
Arbiter.ReceiveFromPortSet<OnConnectSetting>(true, _eventsPort, OnConnectSettingHandler),
// TT - Added this handler for Options
Arbiter.ReceiveFromPortSet<OnOptionSettings>(true, _eventsPort, OnOptionSettingsHandler),
Arbiter.ReceiveWithIterator<cam.UpdateFrame>(true, _webCamNotify, CameraUpdateFrameHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnConnectPanTilt>(true, _eventsPort, OnConnectPanTiltHandler)
// Raul - Sept. Added this handler to disconnect cam - doesn't work yet
// Arbiter.ReceiveFromPortSet<OnDisconnectWebCam>(true, _eventsPort, OnDisconnectWebCamHandler),
// Raul - Handler for Cera Vision
// Arbiter.ReceiveWithIteratorFromPortSet<OnConnectVision>(true, _eventsPort, OnConnectVisionHandler),
// Arbiter.ReceiveFromPortSet<OnDisconnectVision>(true, _eventsPort, OnDisconnectVisionHandler)
),
new ConcurrentReceiverGroup
(
Arbiter.Receive<DsspDefaultLookup>(true,_mainPort,DefaultLookupHandler),
Arbiter.ReceiveWithIterator<Get>(true, _mainPort, GetHandler),
// TT Dec-2006 - Updated for V1.0
Arbiter.ReceiveWithIterator<game.Replace>(true, _gameControllerNotify, JoystickReplaceHandler),
Arbiter.ReceiveWithIterator<sicklrf.Replace>(true, _laserNotify, OnLaserReplaceHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnConnect>(true, _eventsPort, OnConnectHandler),
Arbiter.ReceiveWithIterator<drive.Update>(true, _driveNotify, OnDriveUpdateNotificationHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnConnectMotor>(true, _eventsPort, OnConnectMotorHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnMove>(true, _eventsPort, OnMoveHandler),
// TT May-2007 - Added Rotate and Translate
Arbiter.ReceiveWithIteratorFromPortSet<OnRotate>(true, _eventsPort, OnRotateHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnTranslate>(true, _eventsPort, OnTranslateHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnEStop>(true, _eventsPort, OnEStopHandler),
// Raul - LRF
Arbiter.ReceiveWithIteratorFromPortSet<OnStartService>(true, _eventsPort, OnStartServiceHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnConnectSickLRF>(true, _eventsPort, OnConnectSickLRFHandler),
Arbiter.ReceiveFromPortSet<OnDisconnectSickLRF>(true, _eventsPort, OnDisconnectSickLRFHandler),
// Raul - Sonar
Arbiter.ReceiveWithIteratorFromPortSet<OnConnectSonar>(true, _eventsPort, OnConnectSonarHandler),
Arbiter.ReceiveFromPortSet<OnDisconnectSonar>(true, _eventsPort, OnDisconnectSonarHandler),
Arbiter.ReceiveWithIterator<pxsonar.Replace>(true, _sonarNotify, OnSonarReplaceHandler),
// Raul - GPS
Arbiter.ReceiveWithIteratorFromPortSet<OnConnectGPS>(true, _eventsPort, OnConnectGPSHandler),
Arbiter.ReceiveFromPortSet<OnDisconnectGPS>(true, _eventsPort, OnDisconnectGPSHandler),
Arbiter.ReceiveWithIterator<pxGPS.Replace>(true, _gpsNotify, OnGPSReplaceHandler),
// Raul - Bumpers
Arbiter.ReceiveWithIteratorFromPortSet<OnConnectBumpers>(true, _eventsPort, OnConnectBumpersHandler),
Arbiter.ReceiveFromPortSet<OnDisconnectBumpers>(true, _eventsPort, OnDisconnectBumpersHandler),
Arbiter.ReceiveWithIterator<pxbumper.Replace>(true, _bumpersNotify, OnBumpersReplaceHandler),
Arbiter.ReceiveWithIterator<pxbumper.Update>(true, _bumpersNotify, OnBumperUpdateHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnConnectWebCam>(true, _eventsPort, OnConnectWebCamHandler),
Arbiter.ReceiveWithIteratorFromPortSet<OnPTMove>(true, _eventsPort, OnPanTiltMoveHandler)
)
));
DirectoryInsert();
_notificationTarget = new SimulationEnginePort();
EntitySubscribeRequestType req = new EntitySubscribeRequestType();
req.Name = "PursuitCam";
SimulationEngine.GlobalInstancePort.Subscribe(req, _notificationTarget);
// Set the Simulator camera view and resolution
UpdateCameraView view = new UpdateCameraView(new CameraView());
view.Body.EyePosition = new Vector3(1, 5, 1);
view.Body.LookAtPoint = new Vector3(0, 0, 0);
view.Body.XResolution = 640;
view.Body.YResolution = 480;
SimulationEngine.GlobalInstancePort.Post(view);
// get the current simulator configuration
_defaultConfig = new SimulatorConfiguration(true);
Activate(Arbiter.Choice(SimulationEngine.GlobalInstancePort.Query(_defaultConfig),
delegate(SimulatorConfiguration config)
{
_defaultConfig = config;
if (_driveControl != null)
WinFormsServicePort.FormInvoke(delegate() { _driveControl.SetHeadless(config.Headless); });
},
delegate(W3C.Soap.Fault fault)
{
}
));
// Add the winform message handler to the interleave
Activate(Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup
(
Arbiter.Receive<InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.ReceiveFromPortSet<OnSimulLoaded>(true, _eventsPort, OnSimulLoadedHandler),
Arbiter.ReceiveFromPortSet<OnSimulDrag>(true, _eventsPort, OnSimulDragHandler),
Arbiter.ReceiveFromPortSet<OnSimulZoom>(true, _eventsPort, OnSimulZoomHandler)
),
new ConcurrentReceiverGroup()
));
WinFormsServicePort.Post(new RunForm(CreateForm));
}
