private void InitializeNetwork() { addressProvider = new HardcodedAddressProvider(); camera = new UDPCamera(addressProvider.GetAddressByName("UDPCamera")); camera.ImageReceived += new EventHandler <Magic.Common.TimestampedEventArgs <Magic.Common.Sensors.RobotImage> >(camera_ImageReceived); camera.Start(); }
void InitializeNetwork() { addressProvider = new HardcodedAddressProvider(); targetListServer = new GenericMulticastServer <TargetListMessage>(addressProvider.GetAddressByName("TargetList"), new CSharpMulticastSerializer <TargetListMessage>(true)); targetNoImageClient = new GenericMulticastClient <TargetListNoImageMessage>(addressProvider.GetAddressByName("TargetListNoImg"), new CSharpMulticastSerializer <TargetListNoImageMessage>(true)); queryClient = new GenericMulticastClient <TargetQueryMessage>(addressProvider.GetAddressByName("TargetListQuery"), new CSharpMulticastSerializer <TargetQueryMessage>(true)); indivTargetClient = new GenericMulticastClient <TargetMessage>(addressProvider.GetAddressByName("TrackedTarget"), new CSharpMulticastSerializer <TargetMessage>(true)); targetToCentralServer = new GenericMulticastServer <TargetList2CentralNodeMessage>(addressProvider.GetAddressByName("TargetListToCentral"), new CSharpMulticastSerializer <TargetList2CentralNodeMessage>(true)); confirmOOIClient = new GenericMulticastClient <ConfirmOOIMessage>(addressProvider.GetAddressByName("ConfirmOOIMessage"), new CSharpMulticastSerializer <ConfirmOOIMessage>(true)); clearTargetListClient = new GenericMulticastClient <ClearTargetListMessage>(addressProvider.GetAddressByName("ClearTarget"), new CSharpMulticastSerializer <ClearTargetListMessage>(true)); unconfirmedTargetNoServer = new GenericMulticastServer <UnconfirmedTargetNumberMessage>(addressProvider.GetAddressByName("UnconfirmedTargetNumber"), new CSharpMulticastSerializer <UnconfirmedTargetNumberMessage>(true)); detectionStateScanServer = new GenericMulticastServer <LidarPoseTargetMessage>(addressProvider.GetAddressByName("TargetDetectionLaserScan"), new CSharpMulticastSerializer <LidarPoseTargetMessage>(true)); targetListServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); targetToCentralServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); targetNoImageClient.Start(); queryClient.Start(); indivTargetClient.Start(); confirmOOIClient.Start(); clearTargetListClient.Start(); unconfirmedTargetNoServer.Start(); detectionStateScanServer.Start(); targetNoImageClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <TargetListNoImageMessage> >(targetNoImageClient_MsgReceived); queryClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <TargetQueryMessage> >(queryClient_MsgReceived); indivTargetClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <TargetMessage> >(indivTargetClient_MsgReceived); confirmOOIClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <ConfirmOOIMessage> >(confirmOOIClient_MsgReceived); clearTargetListClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <ClearTargetListMessage> >(clearTargetListClient_MsgReceived); }
public LidarProxy() { lidarSensorPose = new SensorPose(0, 0, 0.5, 0, 0, 0, 0); addressProvider = new HardcodedAddressProvider(); lidar = new SickLMS(addressProvider.GetAddressByName("Sick"), lidarSensorPose); lidar.ScanReceived += new EventHandler <ILidarScanEventArgs <ILidarScan <ILidar2DPoint> > >(lidar_ScanReceived); }
public LocalMapRequestSender(int robotID) { this.robotID = robotID; addressProvider = new HardcodedAddressProvider(); localMapRequestServer = new GenericMulticastServer<LocalMapRequestMessage>(addressProvider.GetAddressByName("LocalMapRequest"), new CSharpMulticastSerializer<LocalMapRequestMessage>(true)); localMapRequestServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wireless)); }
public LidarProxy() { lidarSensorPose = new SensorPose(0, 0, 0.5, 0, 0, 0, 0); addressProvider = new HardcodedAddressProvider(); lidar = new SickLMS(addressProvider.GetAddressByName("Sick"), lidarSensorPose); lidar.ScanReceived += new EventHandler<ILidarScanEventArgs<ILidarScan<ILidar2DPoint>>>(lidar_ScanReceived); }
private void InitializeNetwork() { addressProvider = new HardcodedAddressProvider(); gaussMixMapClient = new GenericMulticastClient <GlobalMapCell>(addressProvider.GetAddressByName("GlobalGaussianMixMap"), new CSharpMulticastSerializer <GlobalMapCell>(true)); gaussMixMapClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); gaussMixMapClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <GlobalMapCell> >(gaussMixMapClient_MsgReceived); }
public Messaging() { addressProvider = new HardcodedAddressProvider(); // targetServer = new GenericMulticastServer<TargetMessage>(addressProvider.GetAddressByName("TrackedTarget"), new CSharpMulticastSerializer<TargetMessage>(true)); clearTargetClient = new GenericMulticastClient <ClearTargetListMessage>(addressProvider.GetAddressByName("ClearTarget"), new CSharpMulticastSerializer <ClearTargetListMessage>(true)); // targetServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wireless)); clearTargetClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wireless)); }
public Messaging() { addressProvider = new HardcodedAddressProvider(); // targetServer = new GenericMulticastServer<TargetMessage>(addressProvider.GetAddressByName("TrackedTarget"), new CSharpMulticastSerializer<TargetMessage>(true)); clearTargetClient = new GenericMulticastClient<ClearTargetListMessage>(addressProvider.GetAddressByName("ClearTarget"), new CSharpMulticastSerializer<ClearTargetListMessage>(true)); // targetServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wireless)); clearTargetClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wireless)); }
public GlobalGaussianMixMap(OccupancyGrid2D globalOcGrid) { addressProvider = new HardcodedAddressProvider(); //robotPoseClient = new GenericMulticastClient<RobotPoseMessage>(addressProvider.GetAddressByName("RobotPose"), new CSharpMulticastSerializer<RobotPoseMessage>(true)); //lidarScanClient = new GenericMulticastClient<LidarScanMessage>(addressProvider.GetAddressByName("LidarScan"), new CSharpMulticastSerializer<LidarScanMessage>(true)); //sensorPoseClient = new GenericMulticastClient<SensorPoseMessage>(addressProvider.GetAddressByName("SensorPose"), new CSharpMulticastSerializer<SensorPoseMessage>(true)); lidarPosePackageClient = new GenericMulticastClient<LidarPosePackageMessage>(addressProvider.GetAddressByName("LidarPosePackage"), new CSharpMulticastSerializer<LidarPosePackageMessage>(true)); simLidarPosePackageClient = new GenericMulticastClient<SimMessage<LidarPosePackageMessage>>(addressProvider.GetAddressByName("SimLidarPosePackage"), new CSharpMulticastSerializer<SimMessage<LidarPosePackageMessage>>(true)); globalGaussianMixMapServer = new GenericMulticastServer<GlobalMapCell>(addressProvider.GetAddressByName("GlobalGaussianMixMap"), new CSharpMulticastSerializer<GlobalMapCell>(true)); globalGaussianMixMapServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); robotIDToPose = new Dictionary<int, RobotPose>(); robotIDToScan = new Dictionary<int, ILidarScan<ILidar2DPoint>>(); robotIDToSensorPose = new Dictionary<int, SensorPose>(); robotIDToTimestamp = new Dictionary<int, double>(); robotIDToPastTimestamp = new Dictionary<int, double>(); globalOcGridByEachRobot = new Dictionary<int, OccupancyGrid2D>(); robotIDToDynamicObstacles = new Dictionary<int, List<Polygon>>(); this.globalOcGrid = new OccupancyGrid2D(globalOcGrid); laserToRobot = new SensorPose(0, 0, 0.5, 0, 0 / 180.0, 0, 0); gaussianMixMapAlgorithm = new GaussianMixMapping(globalOcGrid, laserToRobot); globalOcGridByEachRobotAlgorithm = new Dictionary<int, GaussianMixMapping>(); lidarPosePackageClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); simLidarPosePackageClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); lidarPosePackageClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<LidarPosePackageMessage>>(lidarPosePackageClient_MsgReceived); simLidarPosePackageClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<SimMessage<LidarPosePackageMessage>>>(simLidarPosePackageClient_MsgReceived); // local map request from robots localMapRequestClient = new GenericMulticastClient<LocalMapRequestMessage>(addressProvider.GetAddressByName("LocalMapRequest"), new CSharpMulticastSerializer<LocalMapRequestMessage>(true)); localMapRequestClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); localMapRequestClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<LocalMapRequestMessage>>(localMapRequestClient_MsgReceived); // local map update sender localMapReponseServer = new GenericMulticastServer<UpdateMapDataMessage>(addressProvider.GetAddressByName("LocalMapResponse"), new CSharpMulticastSerializer<UpdateMapDataMessage>(true)); localMapReponseServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); Thread t = new Thread(new ParameterizedThreadStart(UpdateGlobalMap)); t.Start(); //Thread t2 = new Thread(new ParameterizedThreadStart(SendGlobalUpdate)); //t2.Start(); }
//public LocalMapReceiver(ref OccupancyGrid2D heightMap, ref OccupancyGrid2D covMap, ref OccupancyGrid2D pijMap) //public LocalMapReceiver(ref GaussianMixtureMapping.GaussianMixMappingQ gaussMapper) public LocalMapReceiver() { //this.heightMap = gaussMapper.UhatGM; //this.covMap = gaussMapper.SigSqrCov; //this.pijMap = gaussMapper.Pij_sum; addressProvider = new HardcodedAddressProvider(); localMapUpdateClient = new GenericMulticastClient <UpdateMapDataMessage>(addressProvider.GetAddressByName("LocalMapResponse"), new CSharpMulticastSerializer <UpdateMapDataMessage>(true)); localMapUpdateClient.Start(); //localMapUpdateClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<UpdateMapDataMessage>>(localMapUpdateClient_MsgReceived); }
//public LocalMapReceiver(ref OccupancyGrid2D heightMap, ref OccupancyGrid2D covMap, ref OccupancyGrid2D pijMap) //public LocalMapReceiver(ref GaussianMixtureMapping.GaussianMixMappingQ gaussMapper) public LocalMapReceiver() { //this.heightMap = gaussMapper.UhatGM; //this.covMap = gaussMapper.SigSqrCov; //this.pijMap = gaussMapper.Pij_sum; addressProvider = new HardcodedAddressProvider(); localMapUpdateClient = new GenericMulticastClient<UpdateMapDataMessage>(addressProvider.GetAddressByName("LocalMapResponse"), new CSharpMulticastSerializer<UpdateMapDataMessage>(true)); localMapUpdateClient.Start(); //localMapUpdateClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<UpdateMapDataMessage>>(localMapUpdateClient_MsgReceived); }
static void StartNetwork() { addressProvider = new HardcodedAddressProvider(); poseClient = new GenericMulticastClient <RobotPoseMessage>(addressProvider.GetAddressByName("RobotPoseTRUTH"), new CSharpMulticastSerializer <RobotPoseMessage>(true)); poseClient.Start(); poseClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <RobotPoseMessage> >(poseClient_MsgReceived); protoPoseServer = new GenericMulticastServer <Magic.Proto.Pose>(new NetworkAddress("RobotPosePROTO", IPAddress.Parse("239.132.1.198"), 30198, NetworkAddressProtocol.UDP_MULTI), new ProtoBuffSerializer <Magic.Proto.Pose>()); protoPoseServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); }
static void StartNetwork() { addressProvider = new HardcodedAddressProvider(); poseClient = new GenericMulticastClient<RobotPoseMessage>(addressProvider.GetAddressByName("RobotPoseTRUTH"), new CSharpMulticastSerializer<RobotPoseMessage>(true)); poseClient.Start(); poseClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<RobotPoseMessage>>(poseClient_MsgReceived); protoPoseServer = new GenericMulticastServer<Magic.Proto.Pose>(new NetworkAddress("RobotPosePROTO", IPAddress.Parse("239.132.1.198"), 30198, NetworkAddressProtocol.UDP_MULTI), new ProtoBuffSerializer<Magic.Proto.Pose>()); protoPoseServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); }
public GlobalGaussianMixMap(OccupancyGrid2D globalOcGrid) { addressProvider = new HardcodedAddressProvider(); //robotPoseClient = new GenericMulticastClient<RobotPoseMessage>(addressProvider.GetAddressByName("RobotPose"), new CSharpMulticastSerializer<RobotPoseMessage>(true)); //lidarScanClient = new GenericMulticastClient<LidarScanMessage>(addressProvider.GetAddressByName("LidarScan"), new CSharpMulticastSerializer<LidarScanMessage>(true)); //sensorPoseClient = new GenericMulticastClient<SensorPoseMessage>(addressProvider.GetAddressByName("SensorPose"), new CSharpMulticastSerializer<SensorPoseMessage>(true)); lidarPosePackageClient = new GenericMulticastClient <LidarPosePackageMessage>(addressProvider.GetAddressByName("LidarPosePackage"), new CSharpMulticastSerializer <LidarPosePackageMessage>(true)); simLidarPosePackageClient = new GenericMulticastClient <SimMessage <LidarPosePackageMessage> >(addressProvider.GetAddressByName("SimLidarPosePackage"), new CSharpMulticastSerializer <SimMessage <LidarPosePackageMessage> >(true)); globalGaussianMixMapServer = new GenericMulticastServer <GlobalMapCell>(addressProvider.GetAddressByName("GlobalGaussianMixMap"), new CSharpMulticastSerializer <GlobalMapCell>(true)); globalGaussianMixMapServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); robotIDToPose = new Dictionary <int, RobotPose>(); robotIDToScan = new Dictionary <int, ILidarScan <ILidar2DPoint> >(); robotIDToSensorPose = new Dictionary <int, SensorPose>(); robotIDToTimestamp = new Dictionary <int, double>(); robotIDToPastTimestamp = new Dictionary <int, double>(); globalOcGridByEachRobot = new Dictionary <int, OccupancyGrid2D>(); robotIDToDynamicObstacles = new Dictionary <int, List <Polygon> >(); this.globalOcGrid = new OccupancyGrid2D(globalOcGrid); laserToRobot = new SensorPose(0, 0, 0.5, 0, 0 / 180.0, 0, 0); gaussianMixMapAlgorithm = new GaussianMixMapping(globalOcGrid, laserToRobot); globalOcGridByEachRobotAlgorithm = new Dictionary <int, GaussianMixMapping>(); lidarPosePackageClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); simLidarPosePackageClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); lidarPosePackageClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <LidarPosePackageMessage> >(lidarPosePackageClient_MsgReceived); simLidarPosePackageClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <SimMessage <LidarPosePackageMessage> > >(simLidarPosePackageClient_MsgReceived); // local map request from robots localMapRequestClient = new GenericMulticastClient <LocalMapRequestMessage>(addressProvider.GetAddressByName("LocalMapRequest"), new CSharpMulticastSerializer <LocalMapRequestMessage>(true)); localMapRequestClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); localMapRequestClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <LocalMapRequestMessage> >(localMapRequestClient_MsgReceived); // local map update sender localMapReponseServer = new GenericMulticastServer <UpdateMapDataMessage>(addressProvider.GetAddressByName("LocalMapResponse"), new CSharpMulticastSerializer <UpdateMapDataMessage>(true)); localMapReponseServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); Thread t = new Thread(new ParameterizedThreadStart(UpdateGlobalMap)); t.Start(); //Thread t2 = new Thread(new ParameterizedThreadStart(SendGlobalUpdate)); //t2.Start(); }
private void InitializeNetwork() { addressProvider = new HardcodedAddressProvider(); gaussMixMapClient = new GenericMulticastClient<GlobalMapCell>(addressProvider.GetAddressByName("GlobalGaussianMixMap"), new CSharpMulticastSerializer<GlobalMapCell>(true)); gaussMixMapClient.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); gaussMixMapClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<GlobalMapCell>>(gaussMixMapClient_MsgReceived); }
public GlobalObstaclesMap(GenericMulticastClient <LidarFilterPackageMessage> filterLidarClient, double extent, double resolution) { this.ocGrid = new OccupancyGrid2D(resolution, resolution, extent, extent); ocGridLogOdd = new OccupancyGrid2DLogOdds(this.ocGrid); ocGrid4Poly = new OccupancyGrid2D(this.ocGrid); ocGrid2Poly = new Sensors.OcGrid2Poly.OcGrid2Poly(this.ocGrid4Poly, 0.1); // network stuff addressProvider = new HardcodedAddressProvider(); globalObstacleServer = new GenericMulticastServer <GlobalObstaclesMessage>(addressProvider.GetAddressByName("GlobalObstacles"), new CSharpMulticastSerializer <GlobalObstaclesMessage>(true)); globalObstacleServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); filterLidarClient.MsgReceived += new EventHandler <MsgReceivedEventArgs <LidarFilterPackageMessage> >(filterLidarClient_MsgReceived); ocGridLogOdd.NewGridAvailable += new EventHandler <Magic.Common.Sensors.NewOccupancyGrid2DAvailableEventArgs>(ocGridLogOdd_NewGridAvailable); }
static Messaging() { addressProvider = new HardcodedAddressProvider(); robotID = NetworkAddress.GetRobotIDByHostname(); lidarScanServer = new GenericMulticastServer<LidarScanMessage>(addressProvider.GetAddressByName("LidarScan"), new CSharpMulticastSerializer<LidarScanMessage>(true)); }
public LocalMapRequestSender(int robotID) { this.robotID = robotID; addressProvider = new HardcodedAddressProvider(); localMapRequestServer = new GenericMulticastServer <LocalMapRequestMessage>(addressProvider.GetAddressByName("LocalMapRequest"), new CSharpMulticastSerializer <LocalMapRequestMessage>(true)); localMapRequestServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wireless)); }
void InitializeNetwork() { addressProvider = new HardcodedAddressProvider(); targetListServer = new GenericMulticastServer<TargetListMessage>(addressProvider.GetAddressByName("TargetList"), new CSharpMulticastSerializer<TargetListMessage>(true)); targetNoImageClient = new GenericMulticastClient<TargetListNoImageMessage>(addressProvider.GetAddressByName("TargetListNoImg"), new CSharpMulticastSerializer<TargetListNoImageMessage>(true)); queryClient = new GenericMulticastClient<TargetQueryMessage>(addressProvider.GetAddressByName("TargetListQuery"), new CSharpMulticastSerializer<TargetQueryMessage>(true)); indivTargetClient = new GenericMulticastClient<TargetMessage>(addressProvider.GetAddressByName("TrackedTarget"), new CSharpMulticastSerializer<TargetMessage>(true)); targetToCentralServer = new GenericMulticastServer<TargetList2CentralNodeMessage>(addressProvider.GetAddressByName("TargetListToCentral"), new CSharpMulticastSerializer<TargetList2CentralNodeMessage>(true)); confirmOOIClient = new GenericMulticastClient<ConfirmOOIMessage>(addressProvider.GetAddressByName("ConfirmOOIMessage"), new CSharpMulticastSerializer<ConfirmOOIMessage>(true)); clearTargetListClient = new GenericMulticastClient<ClearTargetListMessage>(addressProvider.GetAddressByName("ClearTarget"), new CSharpMulticastSerializer<ClearTargetListMessage>(true)); unconfirmedTargetNoServer = new GenericMulticastServer<UnconfirmedTargetNumberMessage>(addressProvider.GetAddressByName("UnconfirmedTargetNumber"), new CSharpMulticastSerializer<UnconfirmedTargetNumberMessage>(true)); detectionStateScanServer = new GenericMulticastServer<LidarPoseTargetMessage>(addressProvider.GetAddressByName("TargetDetectionLaserScan"), new CSharpMulticastSerializer<LidarPoseTargetMessage>(true)); targetListServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); targetToCentralServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); targetNoImageClient.Start(); queryClient.Start(); indivTargetClient.Start(); confirmOOIClient.Start(); clearTargetListClient.Start(); unconfirmedTargetNoServer.Start(); detectionStateScanServer.Start(); targetNoImageClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<TargetListNoImageMessage>>(targetNoImageClient_MsgReceived); queryClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<TargetQueryMessage>>(queryClient_MsgReceived); indivTargetClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<TargetMessage>>(indivTargetClient_MsgReceived); confirmOOIClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<ConfirmOOIMessage>>(confirmOOIClient_MsgReceived); clearTargetListClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<ClearTargetListMessage>>(clearTargetListClient_MsgReceived); }
static Messaging() { addressProvider = new HardcodedAddressProvider(); robotID = NetworkAddress.GetRobotIDByHostname(); lidarScanServer = new GenericMulticastServer <LidarScanMessage>(addressProvider.GetAddressByName("LidarScan"), new CSharpMulticastSerializer <LidarScanMessage>(true)); }
private void InitializeNetwork() { addressProvider = new HardcodedAddressProvider(); camera = new UDPCamera(addressProvider.GetAddressByName("UDPCamera")); camera.ImageReceived += new EventHandler<Magic.Common.TimestampedEventArgs<Magic.Common.Sensors.RobotImage>>(camera_ImageReceived); camera.Start(); }