/// <summary>
/// Initialize service
/// </summary>
/// <returns>ITask enumerator</returns>
private IEnumerator <ITask> Initialize()
{
if (this.serviceState == null)
{
this.serviceState = new DssLogAnalyzerState();
this.serviceState.LogFilesFolder = string.Empty;
this.serviceState.Envelopes = new List <EnvelopeList>();
}
if (this.serviceState.Headless == false)
{
this.wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = this.wpfServicePort.RunWindow(() => new UserInterface(this));
yield return((Choice)runWindow);
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
this.userInterface = (UserInterface)runWindow;
}
this.Load();
}
private IEnumerator<ITask> DoStart()
{
DispatcherQueue queue = new DispatcherQueue();
this._wpfServicePort = wpf.WpfAdapter.Create(queue);
// invoke the UI
var runWindow = this._wpfServicePort.RunWindow(() => (Window)new Dashboard(this));
yield return (Choice)runWindow;
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// Subscribe to partners
var subscribe1 = this._nxtDrivePort.Subscribe(_nxtDriveNotify);
yield return (Choice)subscribe1;
_timerPort.Post(DateTime.Now);
// Activate independent tasks
Activate<ITask>(
Arbiter.Receive<drive.DriveEncodersUpdate>(true, _nxtDriveNotify, DriveEncoderHandler),
Arbiter.Receive(true, _timerPort, TimerHandler)
);
// Start operation handlers and insert into directory service.
StartHandlers();
}
private IEnumerator<ITask> Initialize()
{
// create WPF adapter
_wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = _wpfServicePort.RunWindow(() => new MainWindow {ViewModel = new MainViewModel(this)});
yield return (Choice) runWindow;
var exception = (Exception) runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
_mainWindow = (Window) runWindow as MainWindow;
// subscribe to Articulated Arm notifications
var subscribe = _armPort.Subscribe(_armNotify);
yield return (Choice)subscribe;
var fault = (Fault)subscribe;
if (fault != null)
{
LogError(fault);
StartFailed();
yield break;
}
// register
base.Start();
//TODO:
MainPortInterleave.CombineWith(
new Interleave());
SpawnIterator(StartCompleted);
}
private IEnumerator <ITask> InitializeGui()
{
// create WPF adapter
this._wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = this._wpfServicePort.RunWindow(() => new libguiwpf.MainWindow());
yield return((Choice)runWindow);
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
var userInterface = ((Window)runWindow) as libguiwpf.MainWindow;
if (userInterface == null)
{
var e = new ApplicationException("User interface was expected to be libguiwpf.MainWindow");
LogError(e);
throw e;
}
_mainWindow = userInterface;
_mainWindow.Closing += new CancelEventHandler(_mainWindow_Closing);
// for convenience mark the initial robot position:
DetectedObstacle dobst1 = new DetectedObstacle()
{
geoPosition = (GeoPosition)_mapperVicinity.robotPosition.Clone(),
firstSeen = DateTime.Now.Ticks,
lastSeen = DateTime.Now.Ticks,
color = Colors.Green,
detectorType = DetectorType.NONE,
objectType = DetectedObjectType.Mark,
timeToLiveSeconds = 3600
};
lock (_mapperVicinity)
{
_mapperVicinity.Add(dobst1);
}
_mainWindow.setMapper(_mapperVicinity, _routePlanner);
}
/// <summary>
/// Initialize Kinect UI serice
/// </summary>
/// <returns>CCR Iterator</returns>
private IEnumerator <ITask> Initialize()
{
this.frameProcessor = new FramePreProcessor(this.kinectPort);
// create WPF adapter
this.wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = this.wpfServicePort.RunWindow(() => new KinectUI(this));
yield return((Choice)runWindow);
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
this.userInterface = (Window)runWindow as KinectUI;
yield return(this.kinectPort.Get().Choice(
kinectState =>
{
this.UpdateState(kinectState);
},
failure =>
{
LogError(failure);
}));
yield return(this.kinectPort.GetDepthProperties().Choice(
GetDepthProperties =>
{
KinectUI.MaxValidDepth = GetDepthProperties.MaxDepthValue;
},
failure =>
{
LogError(failure);
}));
base.Start();
SpawnIterator(this.ReadKinectLoop);
}
private IEnumerator<ITask> Initialize()
{
// create WPF adapter
_wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = _wpfServicePort.RunWindow(() => new PololuMaestroUI{ ViewModel = new MainViewModel(this)});
yield return (Choice) runWindow;
var exception = (Exception) runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
_userInterface = (Window) runWindow as PololuMaestroUI;
// subscribe to Pololu Maestro
var subscribe = _pololuMaestroServicePort.Subscribe(_pololuMaestroServiceNotify);
yield return (Choice)subscribe;
var fault = (Fault)subscribe;
if (fault != null)
{
LogError(fault);
StartFailed();
yield break;
}
// register
base.Start();
// activate a handler for viseme notifications
MainPortInterleave.CombineWith(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive<pololumaestro.Replace>(true, _pololuMaestroServiceNotify, ReplaceNotifyHandler),
Arbiter.Receive<pololumaestro.ChannelChange>(true, _pololuMaestroServiceNotify, ServoChangeNotifyHandler)
),
new ConcurrentReceiverGroup()
)
);
SpawnIterator(StartCompleted);
}
private IEnumerator<ITask> Initialize()
{
// create WPF adapter
_wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = _wpfServicePort.RunWindow(() => new ControlWindow(new MainWindowViewModel(this)));
yield return (Choice)runWindow;
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
_userInterface = (Window)runWindow as ControlWindow;
}
/// <summary>
/// ITask enumerator interface for processing loaded log files
/// </summary>
/// <param name="logFilesLoaded">Which log files have been loaded</param>
/// <returns>
/// ITask enumerator
/// </returns>
public IEnumerator <ITask> LogFilesLoaded(loganalyzer.LogFilesLoaded logFilesLoaded)
{
if (this.wpfServicePort == null)
{
this.wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = this.wpfServicePort.RunWindow(() => new RawViewerPluginUi(this));
yield return((Choice)runWindow);
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
this.userInterface = (RawViewerPluginUi)runWindow;
}
var get = new loganalyzer.Get();
this.logAnalyzer.Post(get);
loganalyzer.DssLogAnalyzerState logAnalyzerState = null;
yield return(get.ResponsePort.Choice(
state => logAnalyzerState = state,
fault => LogError(fault)));
if (logAnalyzerState == null)
{
yield break;
}
var listOfEnvelopes = logAnalyzerState.Envelopes;
yield return(new IterativeTask(() => this.UpdateUiFromListsOfEnvelopes(listOfEnvelopes)));
yield break;
}
IEnumerator <ITask> Initialize()
{
#region Subscribe to TTS
// subscribe to TTS service to receive viseme notifications
var subscribe = _ttsPort.Subscribe(_ttsNotifications, typeof(texttospeech.VisemeNotify));
yield return((Choice)subscribe);
var fault = (Fault)subscribe;
if (fault != null)
{
LogError(fault);
StartFailed();
yield break;
}
#endregion
#region Create UI
// create WPF adapter
_wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = _wpfServicePort.RunWindow(() => new TextToSpeechUI(this));
yield return((Choice)runWindow);
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
_userInterface = (Window)runWindow as TextToSpeechUI;
#endregion
StartComplete();
}
private IEnumerator<ITask> InitializeGui()
{
// create WPF adapter
this._wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
var runWindow = this._wpfServicePort.RunWindow(() => new libguiwpf.MainWindow());
yield return (Choice)runWindow;
var exception = (Exception)runWindow;
if (exception != null)
{
LogError(exception);
StartFailed();
yield break;
}
// need double cast because WPF adapter doesn't know about derived window types
var userInterface = ((Window)runWindow) as libguiwpf.MainWindow;
if (userInterface == null)
{
var e = new ApplicationException("User interface was expected to be libguiwpf.MainWindow");
LogError(e);
throw e;
}
_mainWindow = userInterface;
_mainWindow.Closing += new CancelEventHandler(_mainWindow_Closing);
// for convenience mark the initial robot position:
DetectedObstacle dobst1 = new DetectedObstacle()
{
geoPosition = (GeoPosition)_mapperVicinity.robotPosition.Clone(),
firstSeen = DateTime.Now.Ticks,
lastSeen = DateTime.Now.Ticks,
color = Colors.Green,
detectorType = DetectorType.NONE,
objectType = DetectedObjectType.Mark,
timeToLiveSeconds = 3600
};
lock (_mapperVicinity)
{
_mapperVicinity.Add(dobst1);
}
_mainWindow.setMapper(_mapperVicinity, _routePlanner);
}
protected override void Start()
{
LogInfo("DriveBehaviorServiceBase:Start() _doUnitTest=" + _doUnitTest + " _doSimulatedLaser=" + _doSimulatedLaser + " _testBumpMode=" + _testBumpMode);
base.Start(); // start MainPortInterleave; wireup [ServiceHandler] methods
InitGunTurrets();
// HeadlightsOff(); -- this will be done by SafePositions in PololuMaestroService
if (_state == null)
{
// no partner-supplied initial state found - create default one:
LogInfo("DriveBehaviorServiceBase:: initial _state null");
_state = new TrackRoamerBehaviorsState();
SaveState(_state);
}
else
{
LogInfo("DriveBehaviorServiceBase:: initial _state supplied by partner");
_state.Init(); // clear and re-create some members that should not be taken from the saved state
}
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
if (_doUnitTest)
{
Talker.Say(9, "unit test mode");
}
if (_testBumpMode)
{
Talker.Say(9, "bumper test mode");
}
if (_doSimulatedLaser)
{
Talker.Say(9, "laser will be simulated");
WatchdogInterval = _simulatedLaserWatchdogInterval; // about the time ultrasonic sensor makes a sweep
}
if (!_doUnitTest || _unitTestSensorsOn)
{
// 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.
#region request handler setup
MainPortInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive<LaserRangeFinderResetUpdate>(true, _mainPort, LaserRangeFinderResetUpdateHandler),
Arbiter.Receive<LaserRangeFinderUpdate>(true, _mainPort, LaserRangeFinderUpdateHandler),
Arbiter.Receive<BumpersArrayUpdate>(true, _mainPort, BumpersArrayUpdateHandler),
Arbiter.Receive<BumperUpdate>(true, _mainPort, BumperUpdateHandler),
Arbiter.Receive<DriveUpdate>(true, _mainPort, DriveUpdateHandler),
//Arbiter.Receive<EncoderUpdate>(true, _mainPort, EncoderUpdateHandler),
Arbiter.Receive<WatchDogUpdate>(true, _mainPort, WatchDogUpdateHandler)
),
new ConcurrentReceiverGroup(
Arbiter.Receive<Get>(true, _mainPort, GetHandler),
//Arbiter.Receive<HttpGet>(true, _mainPort, HttpGetHandler),
Arbiter.Receive<dssp.DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler)
)
)
);
#endregion
#region notification handler setup
MainPortInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup(
Arbiter.Receive<sicklrf.Reset>(true, _laserNotify, LaserResetNotification),
Arbiter.Receive<proxibrick.UpdateAccelerometerData>(true, _trackRoamerBrickProximityBoardServiceNotify, trpbUpdateAccelerometerNotification),
Arbiter.Receive<proxibrick.UpdateDirectionData>(true, _trackRoamerBrickProximityBoardServiceNotify, trpbUpdateDirectionNotification),
Arbiter.Receive<proxibrick.UpdateProximityData>(true, _trackRoamerBrickProximityBoardServiceNotify, trpbUpdateProximityNotification),
Arbiter.Receive<proxibrick.UpdateParkingSensorData>(true, _trackRoamerBrickProximityBoardServiceNotify, trpbUpdateParkingSensorNotification),
Arbiter.Receive<proxibrick.UpdateAnalogData>(true, _trackRoamerBrickProximityBoardServiceNotify, trpbUpdateAnalogNotification),
Arbiter.Receive<drive.Update>(true, _driveNotify, DriveUpdateNotification),
Arbiter.ReceiveWithIterator<drive.DriveDistance>(true, _driveNotify, DriveDistanceUpdateHandler),
Arbiter.ReceiveWithIterator<drive.RotateDegrees>(true, _driveNotify, RotateDegreesUpdateHandler),
//Arbiter.Receive<encoder.UpdateTickCount>(true, _encoderNotifyLeft, EncoderUpdateTickCountNotificationLeft),
//Arbiter.Receive<encoder.UpdateTickCount>(true, _encoderNotifyRight, EncoderUpdateTickCountNotificationRight),
Arbiter.Receive<powerbrick.UpdateMotorEncoder>(true, notificationPortEncoder, EncoderNotificationHandler),
Arbiter.Receive<powerbrick.UpdateMotorEncoderSpeed>(true, notificationPortEncoderSpeed, EncoderSpeedNotificationHandler),
Arbiter.Receive<bumper.Replace>(true, _bumperNotify, BumperReplaceNotification),
Arbiter.Receive<bumper.Update>(true, _bumperNotify, BumperUpdateNotification)
)
)
);
#endregion
// We cannot replicate the activation of laser notifications because the
// handler uses Test() to skip old laser notifications.
// Activate the handler once, it will re-activate itself:
Activate(
Arbiter.ReceiveWithIterator<sicklrf.Replace>(false, _laserNotify, LaserReplaceNotificationHandler)
);
if (USE_ORIENTATION_UM6 || USE_DIRECTION_UM6_QUATERNION || USE_DIRECTION_UM6_EULER)
{
// Start listening to CH Robotics UM6 Orientation Sensor:
SubscribeToChrUm6OrientationSensor();
}
// Start listening to GPS:
SubscribeToGps();
// Start watchdog timer - we need it to detect that the laser does not return current picture and stop:
_mainPort.Post(new WatchDogUpdate(new WatchDogUpdateRequest(DateTime.Now)));
}
else
{
// for unit tests - drive only operation:
#region request handler setup
MainPortInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive<BumpersArrayUpdate>(true, _mainPort, BumpersArrayUpdateHandler),
Arbiter.Receive<BumperUpdate>(true, _mainPort, BumperUpdateHandler),
//Arbiter.Receive<EncoderUpdate>(true, _mainPort, EncoderUpdateHandler),
Arbiter.Receive<DriveUpdate>(true, _mainPort, DriveUpdateHandler)
),
new ConcurrentReceiverGroup(
Arbiter.Receive<Get>(true, _mainPort, GetHandler),
//Arbiter.Receive<HttpGet>(true, _mainPort, HttpGetHandler),
Arbiter.Receive<dssp.DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler)
)
)
);
#endregion
#region notification handler setup
MainPortInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup(
Arbiter.Receive<drive.Update>(true, _driveNotify, DriveUpdateNotification),
Arbiter.ReceiveWithIterator<drive.DriveDistance>(true, _driveNotify, DriveDistanceUpdateHandler),
Arbiter.ReceiveWithIterator<drive.RotateDegrees>(true, _driveNotify, RotateDegreesUpdateHandler),
//Arbiter.Receive<encoder.UpdateTickCount>(true, _encoderNotifyLeft, EncoderUpdateTickCountNotificationLeft),
//Arbiter.Receive<encoder.UpdateTickCount>(true, _encoderNotifyRight, EncoderUpdateTickCountNotificationRight),
Arbiter.Receive<powerbrick.UpdateMotorEncoder>(true, notificationPortEncoder, EncoderNotificationHandler),
Arbiter.Receive<powerbrick.UpdateMotorEncoderSpeed>(true, notificationPortEncoderSpeed, EncoderSpeedNotificationHandler),
Arbiter.Receive<bumper.Replace>(true, _bumperNotify, BumperReplaceNotification),
Arbiter.Receive<bumper.Update>(true, _bumperNotify, BumperUpdateNotification)
)
)
);
#endregion
}
// Subscribe to the direct drive for notification messages:
_drivePort.Subscribe(_driveNotify);
//_encoderPortLeft.Subscribe(_encoderNotifyLeft);
//_encoderPortRight.Subscribe(_encoderNotifyRight);
SubscribeToPowerBrick(); // for Encoders distance and speed
_bumperPort.Subscribe(_bumperNotify);
SpawnIterator(this.AhrsZeroGyrosAndAccelerometer);
SpawnIterator(this.InitializeSpeechRecognizer);
// create WPF adapter
this.wpfServicePort = ccrwpf.WpfAdapter.Create(TaskQueue);
SpawnIterator(InitializeGui);
if (!_doUnitTest || _unitTestSensorsOn)
{
Tracer.Trace("DriveBehaviorServiceBase:Start(): calling Subscribe() for laser range, proximity, accelerometer, compass partners");
_laserPort.Subscribe(_laserNotify);
Type[] notifyMeOf = new Type[] {
typeof(proxibrick.UpdateAccelerometerData),
typeof(proxibrick.UpdateDirectionData),
typeof(proxibrick.UpdateProximityData),
typeof(proxibrick.UpdateParkingSensorData),
typeof(proxibrick.UpdateAnalogData)
};
_trackRoamerBrickProximityBoardServicePort.Subscribe(_trackRoamerBrickProximityBoardServiceNotify, notifyMeOf);
SpawnIterator(this.InitializeKinectUI);
}
SafePosture();
SetLightsTest(); // SetLightsNormal() is called at the end of CalibrateKinectPlatform iteration
SpawnIterator(this.LightsControlLoop);
SpawnIterator(this.ConnectObstacleAvoidanceDrive);
SpawnIterator(this.CalibrateKinectPlatform);
SpawnIterator(this.TestAnimatedHead);
if (_doUnitTest)
{
performUnitTest();
}
else
{
SpawnIterator(this.InitializeDecisionMainLoop);
}
// we will need this later:
robotCornerDistanceMeters = Math.Sqrt(_mapperVicinity.robotState.robotLengthMeters * _mapperVicinity.robotState.robotLengthMeters + _mapperVicinity.robotState.robotWidthMeters * _mapperVicinity.robotState.robotWidthMeters) / 2.0d;
}
