public void MessageReceived(LCM.LCM.LCM lcm, string channel, LCM.LCM.LCMDataInputStream dins)
{
Utils.lcmReceiverMessage("RECV: " + channel);
if (channel == props.Lcm.Channels.neuralDecoder)
{
mavlcm.MDF_NEURAL_DECODER_OUTPUT lcmIn = new mavlcm.MDF_NEURAL_DECODER_OUTPUT(dins);
Utils.lcmReceiverMessage("Received message of the type MDF_NEURAL_DECODER_OUTPUT:");
Utils.lcmReceiverMessage(" header = {0}", lcmIn.header);
Utils.lcmReceiverMessage(" timestamp = {0:D}", lcmIn.timestamp);
Utils.lcmReceiverMessage(" position = ({0:N}, {1:N}, {2:N}, {3:N})",
lcmIn.decoderoutput[0], lcmIn.decoderoutput[1], lcmIn.decoderoutput[2], lcmIn.decoderoutput[3]);
MDF.NEURAL_DECODER_OUTPUT rtmaOut = new MDF.NEURAL_DECODER_OUTPUT();
rtmaOut.decoderoutput = lcmIn.decoderoutput;
rtmaOut.timestamp = (int)lcmIn.timestamp;
rtmaTransmitter.transmit(MT.NEURAL_DECODER_OUTPUT, rtmaOut);
}
}
public static void Main(string[] args)
{
ApplicationProperties props;
Console.WriteLine("LCMRTMA Connector Started");
using (var input = File.OpenText("Properties/props.yaml"))
{
var deserializer = new DeserializerBuilder()
.WithNamingConvention(new CamelCaseNamingConvention())
.Build();
props = deserializer.Deserialize <ApplicationProperties>(input);
}
var appLCM = new LCM.LCM.LCM();
string rtmaServer = props.Rtma.Host + ":" + props.Rtma.Port;
RTMATransmitter rtmaTransmitter = new RTMATransmitter(rtmaServer);
LCMReceiver lcmReceiver = new LCMReceiver();
lcmReceiver.receive(props.Lcm.ParseRate, props, rtmaTransmitter);
LCMTransmitter lcmTransmitter = new LCMTransmitter();
RTMAReceiver rtmaReceiver = new RTMAReceiver(rtmaServer, lcmTransmitter);
while (true)
{
rtmaReceiver.receive();
}
;
rtmaReceiver.disconnect();
rtmaTransmitter.disconnect();
}
public LCMReceiver()
{
this.lCM = new LCM.LCM.LCM();
}
