コード例 #1
0
        public FullSimTransport()
        {
            // initialize the car mode to unknown so that we raised the changed event immediately
            lastCarMode = CarMode.Unknown;

            // get the DynamicsSimFacade
            dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName);

            // set the sim state channel
            simStateChannel = CommBuilder.GetChannel(OperationalSimVehicleState.ChannelName);
            obstacleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.UntrackedClusterChannelName);
            vehicleChannel  = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.TrackedClusterChannelName);
            // add ourself as a listern
            simStateChannel.Subscribe(this);
            obstacleChannel.Subscribe(this);
            vehicleChannel.Subscribe(this);
        }