private static void Main(string[] args)
{
// Here we create an endpoint settings object that defines where the fleet manager service is currently running
// For this demo we are assuming it is running on localhost, using the default TCP port of 41917.
EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917);
// Now we create a fleet manager client using the client factory;
IFleetManagerClient fleetManagerClient = ClientFactory.CreateTcpFleetManagerClient(endpointSettings);
Console.WriteLine("Press <any> key to create a virtual vehicle 192.168.0.1 at 0,0,0");
Console.ReadKey(true);
IPAddress virtualVehicle = IPAddress.Parse("192.168.0.1");
IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(virtualVehicle, 0, 0, 0);
if (!result.IsSuccessful())
{
Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}");
}
// Now we can update the vehicles pose
Console.WriteLine("Press <any> key to set the pose of the vehicle to 1,1,1.57");
Console.ReadKey(true);
result = fleetManagerClient.SetPose(virtualVehicle, 1, 1, 1.57);
if (!result.IsSuccessful())
{
Console.WriteLine($"Failed to set pose serviceCode:{result.ServiceCode}");
}
Console.WriteLine("Press <any> key to quit");
Console.ReadKey(true);
// The fleet manager client has its own thread which must be disposed.
fleetManagerClient.Dispose();
}
protected override IServiceCallResult HandleExecution(IJobStateClient client)
{
IServiceCallResult <JobSummaryDto> result = client.GetCurrentJobSummaryForAgentId(Id);
Console.WriteLine($"Getting job summary for agent:{Id}");
if (result.IsSuccessful())
{
if (result.Value != null)
{
Console.WriteLine($"JobId:{result.Value.JobId}");
}
else
{
Console.WriteLine($"No active job");
}
}
else
{
Console.WriteLine(result.ExceptionMessage);
}
return(result);
}
private static void Main(string[] args)
{
// Here we create an endpoint settings object that defines where the fleet manager service is currently running
// For this demo we are assuming it is running on localhost, using the default TCP port of 41917.
EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917);
IEnumerable <int> nodeIds = Enumerable.Empty <int>(); // Create an array to store node ids in
NodeDto startNode = null;
// Using the map manager client, get the ids of all nodes in the map
using (IMapClient mapClient = SchedulingClients.Core.ClientFactory.CreateTcpMapClient(endpointSettings))
{
IServiceCallResult <NodeDto[]> nodeResults = mapClient.GetAllNodes();
if (!nodeResults.IsSuccessful())
{
Console.WriteLine($"Failed to get nodes, serviceCode:{nodeResults.ServiceCode}");
}
else
{
nodeIds = nodeResults.Value.Select(e => e.Id);
}
startNode = nodeResults.Value.First();
}
// Now we create a fleet manager client using the client factory, and create a virtual vehicle at pose at the first node.
// see: https://github.com/GuidanceAutomation/FleetClients
using (IFleetManagerClient fleetManagerClient = FleetClients.Core.ClientFactory.CreateTcpFleetManagerClient(endpointSettings))
{
IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(IPAddress.Parse("192.168.0.1"), startNode.Pose.X, startNode.Pose.Y, startNode.Pose.Heading);
if (!result.IsSuccessful())
{
Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}");
}
}
Random random = new Random(); // Random number generator
bool continueFlag = true;
while (continueFlag)
{
Console.WriteLine("Press <any> key to create a random GoTo job, 'q' to quit");
switch (Console.ReadKey(true).Key)
{
case ConsoleKey.Q:
{
continueFlag = false;
break;
}
default:
{
// Use the job builder client to create a new goto job.
using (IJobBuilderClient jobBuilder = SchedulingClients.Core.ClientFactory.CreateTcpJobBuilderClient(endpointSettings))
{
// Boiler plate code to pick a random node from the array of nodes.
int index = random.Next(0, nodeIds.Count());
int nodeId = nodeIds.ElementAt(index);
Console.WriteLine($"Sending to node:{nodeId}");
IServiceCallResult <JobDto> createResult = jobBuilder.CreateJob();
if (!createResult.IsSuccessful())
{
Console.WriteLine($"Failed to create job, serviceCode:{createResult.ServiceCode}");
}
IServiceCallResult <int> gotoResult = jobBuilder.CreateGoToNodeTask(createResult.Value.RootOrderedListTaskId, nodeId);
if (!gotoResult.IsSuccessful())
{
Console.WriteLine($"Failed to create goto task, serviceCode:{gotoResult.ServiceCode}");
}
IServiceCallResult commitResult = jobBuilder.CommitJob(createResult.Value.JobId);
if (!commitResult.IsSuccessful())
{
Console.WriteLine($"Failed to commit job, serviceCode:{commitResult.ServiceCode}");
}
}
break;
}
}
}
}
