public void test()
{
var mp = new MsgProcessor();
mp.AddHandler <HandlerA>(new HandlerA());
mp.AddHandler <HandlerB>(new HandlerB());
mp.AddHandler <HandlerC>(new HandlerC());
mp.ProcessMessage(new A());
mp.ProcessMessage(new B());
mp.ProcessMessage(new C());
}
static void Main(string[] args)
{
/// Enregistrement de la license SciChart en début de code
SciChartSurface.SetRuntimeLicenseKey("RJWA77RbaJDdCRJpg4Iunl5Or6/FPX1xT+Gzu495Eaa0ZahxWi3jkNFDjUb/w70cHXyv7viRTjiNRrYqnqGA+Dc/yzIIzTJlf1s4DJvmQc8TCSrH7MBeQ2ON5lMs/vO0p6rBlkaG+wwnJk7cp4PbOKCfEQ4NsMb8cT9nckfdcWmaKdOQNhHsrw+y1oMR7rIH+rGes0jGGttRDhTOBxwUJK2rBA9Z9PDz2pGOkPjy9fwQ4YY2V4WPeeqM+6eYxnDZ068mnSCPbEnBxpwAldwXTyeWdXv8sn3Dikkwt3yqphQxvs0h6a8Dd6K/9UYni3o8pRkTed6SWodQwICcewfHTyGKQowz3afARj07et2h+becxowq3cRHL+76RyukbIXMfAqLYoT2UzDJNsZqcPPq/kxeXujuhT4SrNF3444MU1GaZZ205KYEMFlz7x/aEnjM6p3BuM6ZuO3Fjf0A0Ki/NBfS6n20E07CTGRtI6AsM2m59orPpI8+24GFlJ9xGTjoRA==");
/// Initialisation des modules utilisés dans le robot
int robotId = 10; /// Ne pas changer cette variable !
int teamId = 0; /// Ne pas changer cette variable !
usbDriver = new USBVendor();
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new MsgGenerator();
robotMsgProcessor = new MsgProcessor(robotId, competition);
xBoxManette = new XBoxControllerNS.XBoxController(robotId);
strategyManager = new StrategyEurobot(robotId, teamId, "224.16.32.79");
localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false);
positioning2Wheels = new Positioning2Wheels(robotId);
trajectoryGenerator = new TrajectoryGeneratorNonHolonome(robotId);
/// Création des liens entre module, sauf depuis et vers l'interface graphique
usbDriver.OnUSBDataReceivedEvent += msgDecoder.DecodeMsgReceived; // Transmission des messages reçus par l'USB au Message Decoder
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage; // Transmission les messages décodés par le Message Decoder au Message Processor
//Events d'activation et configuration de l'asservissement en vitesse depuis le Strategy Manager
strategyManager.On2WheelsToPolarMatrixSetupEvent += robotMsgGenerator.GenerateMessage2WheelsToPolarMatrixSet; //Transmission des messages de set-up de la matrice de transformation moteurindepeandt -> polaire en embarqué
strategyManager.On2WheelsAngleSetupEvent += robotMsgGenerator.GenerateMessage2WheelsAngleSet; //Transmission des messages de set-up de la config angulaire des roues en embarqué
strategyManager.OnOdometryPointToMeterSetupEvent += robotMsgGenerator.GenerateMessageOdometryPointToMeter; //Transmission des messages de set-up du coeff pointToMeter en embarqué
strategyManager.On2WheelsIndependantSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage2WheelsIndependantSpeedPIDSetup; //Setup du PID independant
strategyManager.OnSetAsservissementModeEvent += robotMsgGenerator.GenerateMessageSetAsservissementMode;
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot; // Envoi des messages du générateur de message à l'encoder
msgEncoder.OnMessageEncodedEvent += usbDriver.SendUSBMessage; // Envoi des messages en USB depuis le message encoder
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += positioning2Wheels.OnOdometryRobotSpeedReceived; //Envoi des vitesses reçues de l'embarqué au module de calcul de positionnement
positioning2Wheels.OnCalculatedLocationEvent += trajectoryGenerator.OnPhysicalPositionReceived; //Envoi du positionnement calculé au module de génération de trajectoire
trajectoryGenerator.OnGhostLocationEvent += localWorldMapManager.OnGhostLocationReceived;
trajectoryGenerator.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot; //Transmission des commande de vitesse aux moteurs de déplacement
strategyManager.OnSetSpeedConsigneToMotorEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor; //Transmission des commande de vitesse (aux moteurs annexes)
positioning2Wheels.OnCalculatedLocationEvent += localWorldMapManager.OnPhysicalPositionReceived;
strategyManager.InitStrategy(); //à faire après avoir abonné les events !
StartRobotInterface();
while (!exitSystem)
{
Thread.Sleep(500);
}
}
static void Main(string[] args)
{
/// We add an event handler to detect the closing of the application
_handler += new EventHandler(Handler);
SetConsoleCtrlHandler(_handler, true);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
msgGenerator = new MsgGenerator();
msgProcessor = new MsgProcessor();
serialPort = new SerialAutoConnect();
/// Creation of links between modules, except from and to the graphical interface
Console.WriteLine("[MAIN] Begin Booting Sequence");
/// Creation of link between projects
msgDecoder.OnMessageDecodedEvent += msgProcessor.ProcessRobotDecodedMessage;
/// Management of messages sent by the robot
msgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
msgEncoder.OnMessageEncodedEvent += serialPort.SendMessageToRobot;
/// Management of messages received by the robot
serialPort.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += msgProcessor.ProcessRobotDecodedMessage;
/// management of messages to be displayed in the console
serialPort.OnSerialConnectedEvent += ConsolePrint.OnPrintEvent;
RegisterConsolePrintEvents();
/// Launching GUI
if (usingRobotInterface)
{
StartRobotInterface();
}
Console.Write("[MAIN] End Booting Sequence");
while (!exitSystem)
{
Thread.Sleep(500);
}
}
[STAThread] //à ajouter au projet initial
static void Main(string[] args)
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>University of Toulon</Customer>
<OrderId>EDUCATIONAL-USE-0109</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>11/04/2019 00:00:00</SupportExpires>
<ProductCode>SC-WPF-SDK-PRO-SITE</ProductCode>
<KeyCode>lwABAQEAAABZVzOfQ0zVAQEAewBDdXN0b21lcj1Vbml2ZXJzaXR5IG9mICBUb3Vsb247T3JkZXJJZD1FRFVDQVRJT05BTC1VU0UtMDEwOTtTdWJzY3JpcHRpb25WYWxpZFRvPTA0LU5vdi0yMDE5O1Byb2R1Y3RDb2RlPVNDLVdQRi1TREstUFJPLVNJVEWDf0QgB8GnCQXI6yAqNM2njjnGbUt2KsujTDzeE+k69K1XYVF1s1x1Hb/i/E3GHaU=</KeyCode>
</LicenseContract>");
serialPort1 = new ReliableSerialPort("COM19", 115200, Parity.None, 8, StopBits.One);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
msgGenerator = new MsgGenerator();
msgProcessor = new MsgProcessor();
//Gestion des messages envoyé par le respirateur
msgGenerator.OnMessageToRespirateurGeneratedEvent += msgEncoder.EncodeMessageToRespirateur;
msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
//Gestion des messages reçu par le respirateur
serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += msgProcessor.ProcessDecodedMessage;
StartInterface();
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
System.Threading.Monitor.Wait(ExitLock);
}
}
public Router(IMsgProcessor msgProcessor, int processorNum = 10)
{
_lockObj = new object();
if (processorNum <= 0)
{
processorNum = 10;
}
_key_processorID = new Dictionary <object, int>();
_processorID_processorObj = new Dictionary <int, MsgProcessor>();
_processorID_HandledKeysCount = new Dictionary <int, int>();
_routerQueue = new CustomizedQueue();
_processors = new List <MsgProcessor>();
_incomingMsgsReader = new Task(() => { RecievingMsgs(); });
_incomingMsgsReader.Start();
for (int i = 0; i < processorNum; i++)
{
MsgProcessor q = new MsgProcessor((IMsgProcessor)Activator.CreateInstance(msgProcessor.GetType()));
_processorID_processorObj.Add(q.ID, q);
_processorID_HandledKeysCount.Add(q.ID, 0);
_processors.Add(q);
}
_nextprocessorID = _processors[0].ID;
}
internal Client(OrtcClient ortcClient)
{
context = ortcClient;
_gotOnOpenCount = 0;
_permissions = new List <KeyValuePair <string, string> >();
_subscribedChannels = new RealtimeDictionary <string, ChannelSubscription>();
_multiPartMessagesBuffer = new RealtimeDictionary <string, RealtimeDictionary <int, BufferedMessage> >();
_heartbeatTimer = new Timer(_heartbeatTimer_Elapsed, context.HeartbeatTime * 1000);
_connectionTimer = new Timer(_connectionTimer_Elapsed, Constants.SERVER_HB_COUNT * 1000);
_reconnectTimer = new Timer(_reconnectTimer_Elapsed, context.ConnectionTimeout * 1000);
_balancer = DependencyService.Get <IBalancer> ();
if (_balancer == null)
{
throw new OrtcGenericException(
"DependencyService Failed, please include the platform plugins. This may be caused linker stripping.");
}
_webSocketConnection = DependencyService.Get <IWebsocketConnection>();
if (_webSocketConnection == null)
{
throw new OrtcGenericException(
"DependencyService Failed, please include the platform plugins. This may be caused linker stripping.");
}
_webSocketConnection.OnOpened += _webSocketConnection_OnOpened;
_webSocketConnection.OnClosed += _webSocketConnection_OnClosed;
_webSocketConnection.OnError += _webSocketConnection_OnError;
_webSocketConnection.OnMessageReceived += _webSocketConnection_OnMessageReceived;
_msgProcessor = new MsgProcessor(this);
}
public Router(Type processorTyp, int processorsNum = 10, IEventLogger logger = null)
{
_lockObj = new object();
_routerQueue = new ProcessQueue();
_logger = logger;
if (processorsNum <= 0)
{
processorsNum = 10;
}
_key_processorID = new Dictionary <object, int>();
_processorID_processorObj = new Dictionary <int, MsgProcessor>();
_processorID_HandledKeysCount = new Dictionary <int, int>();
_processors = new List <MsgProcessor>();
_incomingMsgsReader = new Task(() => { RecievingMsgs(); });
_incomingMsgsReader.Start();
for (int i = 0; i < processorsNum; i++)
{
MsgProcessor q = new MsgProcessor((IMsgProcessor)Activator.CreateInstance(processorTyp), logger);
_processorID_processorObj.Add(q.ID, q);
_processorID_HandledKeysCount.Add(q.ID, 0);
_processors.Add(q);
}
_nextprocessorID = _processors[0].ID;
}
/// <summary>
/// Метод остановки сервера
/// </summary>
public static void Stop()
{
lock (SyncLock)
{
WriteLog("Stop CometServer:->" + Connections.Count);
Connections.ForEach(delegate(CometAsyncState cas)
{
PushMessage(
new CometMessage
{
Message =
"Внимание! Соединение с приложением потеряно. Через 5 сек. соединение будет восстановлено и Вы сможете продолжить работу.",
UserName = "", Status = 2, ClientGuid = cas.ClientGuid, Reload = 1
}, cas.ClientGuid);
cas.CompleteRequest();
WriteLog("STOP APPLICATION -> " + cas.ClientGuid);
});
Connections.Clear();
}
MsgProcessor.Stop();
_procesor.Join();
WriteLog("End Stop CometServer");
}
internal Client(OrtcClient ortcClient)
{
this.context = ortcClient;
_isConnecting = false;
_alreadyConnectedFirstTime = false;
_stopReconnecting = false;
_callDisconnectedCallback = false;
_waitingServerResponse = false;
_gotOnOpenCount = 0;
_permissions = new List <KeyValuePair <string, string> >();
_lastKeepAlive = null;
_reconnectStartedAt = null;
_reconnectTimer = new Reconnector();//= null;
_subscribedChannels = new ConcurrentDictionary <string, ChannelSubscription>();
_multiPartMessagesBuffer = new ConcurrentDictionary <string, ConcurrentDictionary <int, BufferedMessage> >();
TimerCallback hbCb = this._heartbeatTimer_Elapsed;
_heartbeatTimer = new Timer(hbCb, null, Timeout.Infinite, context.HeartbeatTime);
TimerCallback cnCB = this._connectionTimer_Elapsed;
_connectionTimer = new Timer(cnCB, null, System.Threading.Timeout.Infinite, Constants.SERVER_HB_COUNT);
_connectionTimerIsDisposed = false;
//_webSocketConnection = new Connection(_reconnectTimer);
//_webSocketConnection.OnOpened += new Connection.onOpenedDelegate(_webSocketConnection_OnOpened);
//_webSocketConnection.OnClosed += new Connection.onClosedDelegate(_webSocketConnection_OnClosed);
//_webSocketConnection.OnError += new Connection.onErrorDelegate(_webSocketConnection_OnError);
//_webSocketConnection.OnMessageReceived += new Connection.onMessageReceivedDelegate(_webSocketConnection_OnMessageReceived);
_msgProcessor = new MsgProcessor(this);
}
static void Main(string[] args)
{
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("RJWA77RbaJDdCRJpg4Iunl5Or6/FPX1xT+Gzu495Eaa0ZahxWi3jkNFDjUb/w70cHXyv7viRTjiNRrYqnqGA+Dc/yzIIzTJlf1s4DJvmQc8TCSrH7MBeQ2ON5lMs/vO0p6rBlkaG+wwnJk7cp4PbOKCfEQ4NsMb8cT9nckfdcWmaKdOQNhHsrw+y1oMR7rIH+rGes0jGGttRDhTOBxwUJK2rBA9Z9PDz2pGOkPjy9fwQ4YY2V4WPeeqM+6eYxnDZ068mnSCPbEnBxpwAldwXTyeWdXv8sn3Dikkwt3yqphQxvs0h6a8Dd6K/9UYni3o8pRkTed6SWodQwICcewfHTyGKQowz3afARj07et2h+becxowq3cRHL+76RyukbIXMfAqLYoT2UzDJNsZqcPPq/kxeXujuhT4SrNF3444MU1GaZZ205KYEMFlz7x/aEnjM6p3BuM6ZuO3Fjf0A0Ki/NBfS6n20E07CTGRtI6AsM2m59orPpI8+24GFlJ9xGTjoRA==");
//On ajoute un gestionnaire d'évènement pour détecter la fermeture de l'application
_handler += new EventHandler(Handler);
SetConsoleCtrlHandler(_handler, true);
//serialPort1 = new ReliableSerialPort(cfgSerialPort.CommName, cfgSerialPort.ComBaudrate, cfgSerialPort.Parity, cfgSerialPort.DataByte, cfgSerialPort.StopByte);
//serialPort1 = new ReliableSerialPort("COM1", 115200, Parity.None, 8, StopBits.One);
int teamId = (int)TeamId.Team1;
int robotId = (int)RobotId.Robot1 + teamId;
usbDriver = new USBVendorNS.USBVendor();
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new MsgGenerator();
robotMsgProcessor = new MsgProcessor(robotId, competition);
imuProcessor = new ImuProcessor.ImuProcessor(robotId);
lidar_OMD60M_TCP = new LidaRxR2000(50, R2000SamplingRate._72kHz);
perceptionManager = new PerceptionManager(robotId, competition);
kalmanPositioning = new KalmanPositioning.KalmanPositioning(robotId, 50, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.02);
trajectoryPlanner = new TrajectoryGeneratorHolonome(robotId, competition);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false);
globalWorldMapManager = new GlobalWorldMapManager(robotId, teamId);
switch (competition)
{
case GameMode.RoboCup:
strategyManager = new StrategyRoboCup(robotId, teamId, "224.16.32.79");
break;
case GameMode.Eurobot:
strategyManager = new StrategyEurobot2021(robotId, teamId, "224.16.32.79");
break;
case GameMode.Demo:
break;
}
//strategyManager = new StrategyManagerNS.StrategyManager(robotId, teamId, "224.16.32.79", competition);
robotUdpMulticastSender = new UDPMulticastSender(robotId, "224.16.32.79");
robotUdpMulticastReceiver = new UDPMulticastReceiver(robotId, "224.16.32.79");
robotUdpMulticastInterpreter = new UDPMulticastInterpreter(robotId);
herkulexManager = new HerkulexManager();
herkulexManager.AddServo(ServoId.BrasCentral, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.BrasDroit, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.BrasGauche, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.PorteDrapeau, HerkulexDescription.JOG_MODE.positionControlJOG);
xBoxManette = new XBoxControllerNS.XBoxController(robotId);
//Démarrage des interface de visualisation
if (usingRobotInterface)
{
StartRobotInterface();
}
//if (usingLogReplay)
// StartReplayNavigatorInterface();
//Initialisation du logger
logRecorder = new LogRecorder.LogRecorder();
//Démarrage du log replay si l'interface est utilisée et existe ou si elle n'est pas utilisée, sinon on bloque
logReplay = new LogReplay.LogReplay();
//Liens entre modules
//strategyManager.strategy.OnRefereeBoxCommandEvent += globalWorldMapManager.OnRefereeBoxCommandReceived;
strategyManager.OnGameStateChangedEvent += trajectoryPlanner.OnGameStateChangeReceived;
strategyManager.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
//Kalman
perceptionManager.OnAbsolutePositionEvent += kalmanPositioning.OnAbsolutePositionCalculatedEvent;
imuProcessor.OnGyroSpeedEvent += kalmanPositioning.OnGyroRobotSpeedReceived;
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += kalmanPositioning.OnOdometryRobotSpeedReceived;
kalmanPositioning.OnKalmanLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += perceptionManager.OnPhysicalRobotPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += strategyManager.OnPositionRobotReceived;
//Update des données de la localWorldMap
perceptionManager.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
strategyManager.OnRoleEvent += localWorldMapManager.OnRoleReceived; //Utile pour l'affichage
strategyManager.OnMessageDisplayEvent += localWorldMapManager.OnMessageDisplayReceived; //Utile pour l'affichage
strategyManager.OnHeatMapStrategyEvent += localWorldMapManager.OnHeatMapStrategyReceived;
strategyManager.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.OnHeatMapWayPointEvent += localWorldMapManager.OnHeatMapWaypointReceived;
trajectoryPlanner.OnGhostLocationEvent += localWorldMapManager.OnGhostLocationReceived;
//Gestion des events liés à une détection de collision soft
trajectoryPlanner.OnCollisionEvent += kalmanPositioning.OnCollisionReceived;
//trajectoryPlanner.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
strategyManager.OnMessageEvent += lidar_OMD60M_TCP.OnMessageReceivedEvent;
strategyManager.On4WheelsPolarSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage4WheelsPolarSpeedPIDSetup;
strategyManager.On4WheelsIndependantSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage4WheelsIndependantSpeedPIDSetup;
strategyManager.On2WheelsPolarSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage2WheelsPolarSpeedPIDSetup;
strategyManager.On2WheelsIndependantSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage2WheelsIndependantSpeedPIDSetup;
strategyManager.OnSetAsservissementModeEvent += robotMsgGenerator.GenerateMessageSetAsservissementMode;
strategyManager.OnSetSpeedConsigneToMotor += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor;
strategyManager.OnEnableDisableMotorCurrentDataEvent += robotMsgGenerator.GenerateMessageEnableMotorCurrentData;
strategyManager.OnOdometryPointToMeterEvent += robotMsgGenerator.GenerateMessageOdometryPointToMeter;
strategyManager.On4WheelsAngleSetEvent += robotMsgGenerator.GenerateMessage4WheelsAngleSet;
strategyManager.On4WheelsToPolarSetEvent += robotMsgGenerator.GenerateMessage4WheelsToPolarMatrixSet;
strategyManager.On2WheelsAngleSetEvent += robotMsgGenerator.GenerateMessage2WheelsAngleSet;
strategyManager.On2WheelsToPolarSetEvent += robotMsgGenerator.GenerateMessage2WheelsToPolarMatrixSet;
herkulexManager.OnHerkulexSendToSerialEvent += robotMsgGenerator.GenerateMessageForwardHerkulex;
lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += perceptionManager.OnRawLidarDataReceived;
perceptionManager.OnLidarRawDataEvent += localWorldMapManager.OnRawLidarDataReceived;
perceptionManager.OnLidarProcessedDataEvent += localWorldMapManager.OnLidarDataReceived;
perceptionManager.OnLidarProcessedLandmarksEvent += localWorldMapManager.OnLidarDataReceived;
perceptionManager.OnLidarProcessedSegmentsEvent += localWorldMapManager.OnLidarProcessedSegmentsReceived;
//L'envoi des commandes dépend du fait qu'on soit en mode manette ou pas.
//Il faut donc enregistrer les évènement ou pas en fonction de l'activation
//C'est fait plus bas dans le code avec la fonction que l'on appelle
ConfigControlEvents(usingXBoxController);
//Gestion des messages envoyé par le robot
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
//msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
msgEncoder.OnMessageEncodedEvent += usbDriver.SendUSBMessage;
//Gestion des messages reçu par le robot
//serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
usbDriver.OnUSBDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += imuProcessor.OnIMURawDataReceived;
robotMsgProcessor.OnIOValuesFromRobotGeneratedEvent += strategyManager.OnIOValuesFromRobot;
robotMsgProcessor.OnIOValuesFromRobotGeneratedEvent += perceptionManager.OnIOValuesFromRobotEvent;
landmarksExtractor = new LandmarksExtractor();
landmarksExtractor.OnLinesLandmarksExtractedEvent += perceptionManager.OnLandmarksReceived;
perceptionManager.OnLidarRawDataEvent += landmarksExtractor.OnRobotLidarReceived;
perceptionManager.OnAbsolutePositionEvent += landmarksExtractor.OnRobotPositionReceived;
// robotMsgProcessor.OnMotorsCurrentsFromRobotGeneratedEvent += strategyManager.OnMotorCurrentReceive;
//Le local Manager n'est là que pour assurer le stockage de ma local world map avant affichage et transmission des infos, il ne doit pas calculer quoique ce soit,
//c'est le perception manager qui le fait.
trajectoryPlanner.OnPidSpeedResetEvent += robotMsgGenerator.GenerateMessageResetSpeedPid;
////Event d'interprétation d'une globalWorldMap à sa réception dans le robot
robotUdpMulticastInterpreter.OnRefBoxMessageEvent += strategyManager.OnRefBoxMsgReceived;
/// Event de Transmission des Local World Map du robot vers le multicast
/// Disparaitra quand on voudra jouer sans liaison multicast
localWorldMapManager.OnMulticastSendLocalWorldMapEvent += robotUdpMulticastSender.OnMulticastMessageToSendReceived;
/// Events de réception des localWorldMap
/// Soit en direct si on se transmet à nous même, soit via le Multicast pour transmettre aux autres robots
localWorldMapManager.OnLocalWorldMapToGlobalWorldMapGeneratorEvent += globalWorldMapManager.OnLocalWorldMapReceived;
robotUdpMulticastInterpreter.OnLocalWorldMapEvent += globalWorldMapManager.OnLocalWorldMapReceived;
/// Event généré lorsque la Global World Map a été calculée.
/// Elle n'a pas vocation à être renvoyée à tous les robots puisqu'on la génère dans chaque robot en parallèle
globalWorldMapManager.OnGlobalWorldMapEvent += strategyManager.OnGlobalWorldMapReceived;
/// Event de Réception de data Multicast sur le robot
robotUdpMulticastReceiver.OnDataReceivedEvent += robotUdpMulticastInterpreter.OnMulticastDataReceived;
/// LOGGER related events
perceptionManager.OnLidarRawDataEvent += logRecorder.OnRawLidarDataReceived;
robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += logRecorder.OnIMURawDataReceived;
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
//omniCamera.OpenCvMatImageEvent += logRecorder.OnOpenCVMatImageReceived;
//strategyManagerDictionary.Add(robotId, strategyManager);
trajectoryPlanner.InitRobotPosition(0, 0, 0);
strategyManager.InitStrategy(robotId, teamId);
while (!exitSystem)
{
Thread.Sleep(500);
}
}
static void Main(string[] args)
{
ConsoleFormat.InitMainConsole();
/// Enregistrement de la license SciChart en début de code
SciChartSurface.SetRuntimeLicenseKey(ConstVar.SCICHART_RUNTIME_KEY);
ConsoleFormat.SetupScichartLicenceKey();
/// Initialisation des modules utilisés dans le robot
int robotId = (int)RobotId.Robot1;
int teamId = (int)TeamId.Team1;
usbDriver = new USBVendor();
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
msgGenerator = new MsgGenerator();
msgProcessor = new MsgProcessor(robotId, competition);
ConsoleFormat.SetupAllCommunication();
xBoxManette = new XBoxController(robotId);
ConsoleFormat.SetupXboxController();
logRecorder = new LogRecorder();
logReplay = new LogReplay();
strategyManager = new StrategyEurobot(robotId, teamId, "224.16.32.79");
#region Communication to Low Lvl
/// Création des liens entre module, sauf depuis et vers l'interface graphique
usbDriver.OnUSBuffReceivedEvent += msgDecoder.BuffReceived; // Transmission des messages reçus par l'USB au Message Decoder
msgDecoder.OnCorrectMessageReceivedEvent += msgProcessor.ProcessRobotDecodedMessage; // Transmission les messages décodés par le Message Decoder au Message Processor
msgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeAndSendMessage; // Envoi des messages du générateur de message à l'encoder
msgEncoder.OnSendMessageEvent += usbDriver.SendUSBMessage; // Envoi des messages en USB depuis le message encoder
#endregion
#region Console
// Control:
bool hex_viewer = false;
bool hex_sender = false;
bool hex_viewer_error = true;
bool hex_sender_error = true;
bool hex_processor = false;
bool hex_generator = false;
#region USB Vendor
usbDriver.OnDeviceAddedEvent += ConsoleFormat.PrintNewDeviceAdded;
usbDriver.OnDeviceRemovedEvent += ConsoleFormat.PrintDeviceRemoved;
usbDriver.OnUsbVendorExeptionEvent += ConsoleFormat.PrintUsbErrorExeption;
#endregion
#region Hex Viewer
if (hex_viewer)
{
msgDecoder.OnUnknowByteEvent += ConsoleFormat.PrintUnknowByte;
msgDecoder.OnSOFByteReceivedEvent += ConsoleFormat.PrintSOF;
msgDecoder.OnFunctionMSBByteReceivedEvent += ConsoleFormat.PrintFunctionMSB;
msgDecoder.OnFunctionLSBByteReceivedEvent += ConsoleFormat.PrintFunctionLSB;
msgDecoder.OnPayloadLenghtMSBByteReceivedEvent += ConsoleFormat.PrintLenghtMSB;
msgDecoder.OnPayloadLenghtLSBByteReceivedEvent += ConsoleFormat.PrintLenghtLSB;
msgDecoder.OnPayloadByteReceivedEvent += ConsoleFormat.PrintPayloadByte;
msgDecoder.OnCorrectMessageReceivedEvent += ConsoleFormat.PrintCorrectChecksum;
msgDecoder.OnErrorMessageReceivedEvent += ConsoleFormat.PrintWrongChecksum;
}
#endregion
#region Hex Viewer Error
if (hex_viewer_error)
{
msgDecoder.OnOverLenghtMessageEvent += ConsoleFormat.PrintOverLenghtWarning;
msgDecoder.OnUnknowFunctionEvent += ConsoleFormat.PrintUnknowFunctionReceived;
msgDecoder.OnWrongLenghtFunctionEvent += ConsoleFormat.PrintWrongFonctionLenghtReceived;
}
#endregion
#region Hex Sender
if (hex_sender)
{
msgEncoder.OnSendMessageByteEvent += ConsoleFormat.PrintSendMsg;
}
#endregion
#region Hex Sender Error
if (hex_sender_error)
{
msgEncoder.OnSerialDisconnectedEvent += ConsoleFormat.PrintOnSerialDisconnectedError;
msgEncoder.OnUnknownFunctionSentEvent += ConsoleFormat.PrintUnknowFunctionSent;
msgEncoder.OnWrongPayloadSentEvent += ConsoleFormat.PrintWrongFunctionLenghtSent;
}
#endregion
#endregion
#region Lidar
lidar = new SickLidar(17422959); // 18110177
lidarProcess = new LidarProcess(robotId, teamId);
lidar.OnLidarDeviceConnectedEvent += lidarProcess.OnNewLidarConnected;
lidar.OnLidarDeviceConnectedEvent += ConsoleFormat.NewLidarDeviceConnected;
lidar.PointsAvailable += lidarProcess.OnRawPointAvailable;
lidar.Start();
#endregion
lidarProcess.OnRawLidarDataEvent += logRecorder.OnRawLidarDataReceived;
msgProcessor.OnSpeedPolarOdometryFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
#region Local World Map
localWorldMap = new LocalWorldMap(robotId, teamId);
localWorldMap.OnUpdateRobotLocationEvent += lidarProcess.OnRobotLocation;
lidarProcess.OnRawLidarPointPolarEvent += localWorldMap.OnLidarRawPointReceived;
lidarProcess.OnProcessLidarPolarDataEvent += localWorldMap.OnLidarProcessedPointReceived;
lidarProcess.OnProcessLidarLineDataEvent += localWorldMap.OnLidarProcessedLineReceived;
lidarProcess.OnProcessLidarCupDataEvent += localWorldMap.OnLidarProcessedCupReceived;
lidarProcess.OnLidarSetupRobotLocationEvent += localWorldMap.OnRobotLocation;
//lidarProcess.OnProcessLidarObjectsDataEvent += localWorldMap.OnLidarProcesObjectsReceived;
localWorldMap.OnLocalWorldMapEvent += strategyManager.OnLocalWorldMapReceived;
localWorldMap.Init();
#endregion
#region Position2Wheels
positioning2Wheels = new Positioning2Wheels(robotId);
msgProcessor.OnSpeedPolarOdometryFromRobotEvent += positioning2Wheels.OnOdometryRobotSpeedReceived;
positioning2Wheels.OnCalculatedLocationEvent += localWorldMap.OnRobotLocationArgs;
#endregion
#region TrajectoryPlanner
trajectoryPlanner = new TrajectoryPlanner(robotId);
trajectoryPlanner.OnNewGhostLocationEvent += localWorldMap.OnGhostLocation;
trajectoryPlanner.OnNewRobotLocationEvent += localWorldMap.OnRobotLocation;
trajectoryPlanner.OnDestinationReachedEvent += strategyManager.OnGhostLocationReached;
#endregion
#region Strategy /!\Need to be Last /! \
strategyManager.On2WheelsToPolarMatrixSetupEvent += msgGenerator.GenerateMessage2WheelsToPolarMatrixSet; //Transmission des messages de set-up de la matrice de transformation moteurindepeandt -> polaire en embarqué
strategyManager.On2WheelsAngleSetupEvent += msgGenerator.GenerateMessage2WheelsAngleSet; //Transmission des messages de set-up de la config angulaire des roues en embarqué
strategyManager.OnOdometryPointToMeterSetupEvent += msgGenerator.GenerateMessageOdometryPointToMeter; //Transmission des messages de set-up du coeff pointToMeter en embarqué
strategyManager.OnSetAsservissementModeEvent += msgGenerator.GenerateMessageSetAsservissementMode;
strategyManager.OnDestinationReachedEvent += localWorldMap.OnDestinationReached;
strategyManager.OnWaypointsReachedEvent += localWorldMap.OnWaypointReached;
strategyManager.OnSetActualLocationEvent += trajectoryPlanner.OnUpdateActualLocation;
strategyManager.OnSetWantedLocationEvent += trajectoryPlanner.OnUpdateWantedDestination;
strategyManager.OnGhostCalculationBeginEvent += trajectoryPlanner.OnLaunchCalculation;
strategyManager.OnSetNewWaypointEvent += localWorldMap.AddNewWaypointsEvent;
strategyManager.OnSetNewDestinationEvent += localWorldMap.SetDestinationLocationEvent;
strategyManager.OnUpdateGhostCalculationOrderEvent += trajectoryPlanner.OnCalculateGhostMovement;
ConsoleFormat.PrintStrategyBoot();
strategyManager.InitStrategy(); //à faire après avoir abonné les events !
#endregion
if (usingMatchDisplay)
{
StartMatchInterface();
}
else
{
StartRobotInterface();
}
ConsoleFormat.EndMainBootSequence();
while (!exitSystem)
{
Thread.Sleep(500);
}
}
/// <summary>
/// Метод запуска сервера
/// </summary>
public static void Process()
{
MsgProcessor.TryNow();
}
/// <summary>
/// Отправка сообщения
/// </summary>
/// <param name="message">Сообщение</param>
/// <param name="filter">Фильтр клиентов</param>
public static void PushMessage(CometMessage message, Predicate <CometAsyncState> filter)
{
WriteLog($"Start PushMessage -> message: {message.Message}");
MsgProcessor.AddMessage(message, filter);
WriteLog("End PushMessage");
}
// Возвращаем сообщение каждому подключенному клиенту
/*
* public static void PushMessage(CometMessage pushMessage, string clientGuid = "")
* {
* lock (_lock)
* {
* // Пробегаем по списку всех подключенных клиентов
* foreach (var clientState in _clientStateList)
* {
* if (clientState.CurrentContext.Session != null)
* {
* if (clientGuid != "" && clientState.ClientGuid != clientGuid) continue;
* // И пишем в выходной поток текущее сообщение
* clientState.CurrentContext.Response.Write(pushMessage.IsV4Script
* ? pushMessage.Message
* : pushMessage.Serialize());
* // После чего завершаем запрос - вот именно после этого результаты
* // запроса пойдут ко всем подключенным клиентам
* clientState.CompleteRequest();
* }
* }
* }
* }*/
/// <summary>
/// Отправка сообщения
/// </summary>
/// <param name="message">Сообщение</param>
/// <param name="clientGuid">Идентификатор страницы</param>
public static void PushMessage(CometMessage message, string clientGuid = "")
{
MsgProcessor.AddMessage(message, clientGuid);
}
void ProcessMsg(object msgKey, object msgObj, MsgProcessor processor)
{
processor.Push(msgObj);
}
static void Main(string[] args)
{
SetConsoleCtrlHandler(new HandlerRoutine(ConsoleCtrlCheck), true);
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("wsCOsvBlAs2dax4o8qBefxMi4Qe5BVWax7TGOMLcwzWFYRNCa/f1rA5VA1ITvLHSULvhDMKVTc+niao6URAUXmGZ9W8jv/4jtziBzFZ6Z15ek6SLU49eIqJxGoQEFWvjANJqzp0asw+zvLV0HMirjannvDRj4i/WoELfYDubEGO1O+oAToiJlgD/e2lVqg3F8JREvC0iqBbNrmfeUCQdhHt6SKS2QpdmOoGbvtCossAezGNxv92oUbog6YIhtpSyGikCEwwKSDrlKlAab6302LLyFsITqogZychLYrVXJTFvFVnDfnkQ9cDi7017vT5flesZwIzeH497lzGp3B8fKWFQyZemD2RzlQkvj5GUWBwxiKAHrYMnQjJ/PsfojF1idPEEconVsh1LoYofNk2v/Up8AzXEAvxWUEcgzANeQggaUNy+OFet8b/yACa/bgYG7QYzFQZzgdng8IK4vCPdtg4/x7g5EdovN2PI9vB76coMuKnNVPnZN60kSjtd/24N8A==");
switch (robotMode)
{
case RobotMode.Standard:
usingLidar = true;
usingCamera = true;
usingLogging = false;
usingLogReplay = false;
break;
case RobotMode.Acquisition:
usingLidar = true;
usingCamera = true;
usingLogging = true;
usingLogReplay = false;
break;
case RobotMode.Replay:
usingLidar = false;
usingCamera = false;
usingLogging = false;
usingLogReplay = true;
break;
case RobotMode.Nolidar:
usingLidar = false;
usingCamera = true;
usingLogging = false;
usingLogReplay = false;
break;
case RobotMode.NoCamera:
usingLidar = true;
usingCamera = false;
usingLogging = false;
usingLogReplay = false;
break;
}
int robotId = (int)TeamId.Team1 + (int)RobotId.Robot1;
int teamId = (int)TeamId.Team1;
serialPort1 = new ReliableSerialPort("COM1", 115200, Parity.None, 8, StopBits.One);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new MsgGenerator();
robotMsgProcessor = new MsgProcessor(robotId, GameMode.RoboCup);
robotPilot = new RobotPilot.RobotPilot(robotId);
strategyManager = new StrategyRoboCup(robotId, teamId, "224.16.32.79");
waypointGenerator = new WaypointGenerator(robotId, GameMode.RoboCup);
trajectoryPlanner = new TrajectoryGeneratorHolonome(robotId, GameMode.RoboCup);
kalmanPositioning = new KalmanPositioning.KalmanPositioning(robotId, 50, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.02);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false);
perceptionManager = new PerceptionManager(robotId, GameMode.RoboCup);
imuProcessor = new ImuProcessor.ImuProcessor(robotId);
if (usingYolo)
{
yoloDetector = new YoloObjectDetector.YoloObjectDetector(false); //Instancie un detecteur avec un Wrappeur Yolo utilisant le GPU
}
if (usingLidar)
{
lidar_OMD60M_TCP = new LidaRxR2000();
}
if (usingLidar || usingLogReplay)
{
lidarProcessor = new LidarProcessor.LidarProcessor(robotId, GameMode.RoboCup);
}
xBoxManette = new XBoxControllerNS.XBoxController(robotId);
if (usingCamera || usingLogReplay)
{
imageProcessingPositionFromOmniCamera = new ImageProcessingPositionFromOmniCamera();
absolutePositionEstimator = new AbsolutePositionEstimator(robotId);
}
if (usingCamera)
{
omniCamera = new BaslerCameraAdapter();
omniCamera.CameraInit();
//omniCamera.BitmapPanoramaImageEvent += absolutePositionEstimator.AbsolutePositionEvaluation;
}
if (usingImageExtractor && usingCamera)
{
imgSaver = new ImageSaver.ImageSaver();
omniCamera.BitmapPanoramaImageEvent += imgSaver.OnSaveBitmapImage;
}
//Démarrage des interface de visualisation
if (usingRobotInterface)
{
StartRobotInterface();
}
if (usingCameraInterface)
{
StartCameraInterface();
}
//Démarrage du logger si besoin
if (usingLogging)
{
logRecorder = new LogRecorder.LogRecorder();
}
//Démarrage du log replay si l'interface est utilisée et existe ou si elle n'est pas utilisée, sinon on bloque
if (usingLogReplay)
{
logReplay = new LogReplay.LogReplay();
}
//Liens entre modules
strategyManager.OnDestinationEvent += waypointGenerator.OnDestinationReceived;
strategyManager.OnHeatMapStrategyEvent += waypointGenerator.OnStrategyHeatMapReceived;
waypointGenerator.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
//Filtre de Kalman perceptionManager.OnAbsolutePositionEvent += kalmanPositioning.OnAbsolutePositionCalculatedEvent;
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += kalmanPositioning.OnOdometryRobotSpeedReceived;
imuProcessor.OnGyroSpeedEvent += kalmanPositioning.OnGyroRobotSpeedReceived;
kalmanPositioning.OnKalmanLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += perceptionManager.OnPhysicalRobotPositionReceived;
//kalmanPositioning.OnKalmanLocationEvent += strategyManager.OnPositionRobotReceived;
//L'envoi des commandes dépend du fait qu'on soit en mode manette ou pas.
//Il faut donc enregistrer les évènement ou pas en fonction de l'activation
//C'est fait plus bas dans le code avec la fonction que l'on appelle
ConfigControlEvents(useXBoxController: true);
//Gestion des messages envoyé par le robot
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
//Gestion des messages reçu par le robot
serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += imuProcessor.OnIMURawDataReceived;
//physicalSimulator.OnPhysicalRobotLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
//physicalSimulator.OnPhysicicalObjectListLocationEvent += perceptionSimulator.OnPhysicalObjectListLocationReceived;
//physicalSimulator.OnPhysicalRobotLocationEvent += perceptionSimulator.OnPhysicalRobotPositionReceived;
//physicalSimulator.OnPhysicalBallPositionEvent += perceptionSimulator.OnPhysicalBallPositionReceived;
perceptionManager.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.OnHeatMapStrategyEvent += localWorldMapManager.OnHeatMapStrategyReceived;
//if (usingLidar)
//{
// lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += lidarProcessor.OnRawLidarDataReceived;
// //lidar_OMD60M.OnLidarDecodedFrameEvent += absolutePositionEstimator.OnRawLidarDataReceived;
// lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += localWorldMapManager.OnRawLidarDataReceived;
// lidarProcessor.OnLidarObjectProcessedEvent += localWorldMapManager.OnLidarObjectsReceived;
//}
if (usingLidar)
{
lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += perceptionManager.OnRawLidarDataReceived;
//lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += localWorldMapManager.OnLidarDataReceived;
lidarProcessor.OnLidarProcessedEvent += localWorldMapManager.OnLidarDataReceived;
}
//Events de recording
if (usingLogging)
{
//lidar_OMD60M_UDP.OnLidarDecodedFrameEvent += logRecorder.OnRawLidarDataReceived;
lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += logRecorder.OnRawLidarDataReceived;
omniCamera.BitmapFishEyeImageEvent += logRecorder.OnBitmapImageReceived;
imuProcessor.OnIMUProcessedDataGeneratedEvent += logRecorder.OnIMURawDataReceived;
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
//omniCamera.OpenCvMatImageEvent += logRecorder.OnOpenCVMatImageReceived;
}
if (usingLogReplay)
{
logReplay.OnLidarEvent += perceptionManager.OnRawLidarDataReceived;
//logReplay.OnCameraImageEvent += imageProcessingPositionFromOmniCamera.ProcessOpenCvMatImage;
//logReplay.OnCameraImageEvent += absolutePositionEstimator.AbsolutePositionEvaluation;
//lidarProcessor.OnLidarObjectProcessedEvent += localWorldMapManager.OnLidarObjectsReceived;
}
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}
private async Task ConnectAsync(ReceiveMsgDelegate mp, SocketSettings socSet, WaitHandle connwh = null)
{
AppDomain.CurrentDomain.ProcessExit += CurrentDomainOnProcessExit;
Logger.Info("====================================");
Logger.Info($" STARTING WEBSOCKET {socSet.name} ");
Logger.Info(" Manager API Client ");
Logger.Info("====================================");
var factory = new Func <ClientWebSocket>(() => new ClientWebSocket
{
Options =
{
KeepAliveInterval = TimeSpan.FromSeconds(socSet.keepalive),
// Proxy = ...
// ClientCertificates = ...
}
});
if (!bRunning)
{
try
{
bRunning = true;
addconn(this);
var URL = new Uri("ws://" + socSet.url + ":" + socSet.port);
using (IWebsocketClient client = new WebsocketClient(URL, factory))
{
string received = null;
oclient = client;
client.Name = name;
client.ReconnectTimeoutMs = (int)TimeSpan.FromSeconds(socSet.recontimeout).TotalMilliseconds;
client.ErrorReconnectTimeoutMs = (int)TimeSpan.FromSeconds(socSet.errrecontimeout).TotalMilliseconds;
client.ReconnectionHappened.Subscribe((Action <ReconnectionType>)((type) =>
{
Logger.Info($"Reconnecting Manager API Client to type: {type} , url: {client.Url} , name: {name} {client.Name}");
}));
client.DisconnectionHappened.Subscribe((Action <DisconnectionType>)((type) =>
{
Logger.Info($"Disconnection Manager API Client to type: {type} , url: {client.Url}, name {name} {client.Name}");
}));
client.MessageReceived.Subscribe((msg) =>
{
try
{
if (msg.Text != null)
{
received = msg.Text;
Logger.Debug($"Message To Manager API Client From : {received}, name {name} {client.Name}");
}
else if (msg.Binary != null)
{
isaCommand cmd = MsgProcessor.CommandFactory(msg.Binary);
if (cmd.command == eCommand.Ping)
{
Logger.Debug($"Ping To Manager API Client, Reply Pong to {name} {client.Name}");
client.Send(new Command()
{
command = eCommand.Pong
}.ToArray());
}
else if (cmd.command == eCommand.Pong)
{
Logger.Debug($"Manager API Received Pong from {name} {client.Name}");
}
else
{
Logger.Info($"Manager API Received msg from {name} {client.Name}");
mp(cmd);
}
}
}
catch (Exception ex)
{
//isaCommand cmd = MsgProcessor.CommandFactory(msg.Binary);
Logger.Error($"Message Received Manager API: " + ex.Message + Environment.NewLine + msg.ToString());
}
});
await client.Start();
//new Thread(() => StartSendingPing(client)).Start();
ExitEvent.WaitOne();
}
}
catch (Exception e) { }
finally {
rmconn(this);
if (connwh != null)
{
((AutoResetEvent)connwh).Set();
}
}
}
Logger.Info("====================================");
Logger.Info($" STOPPING WebSocketClient {name} ");
Logger.Info(" Manager API Client ");
Logger.Info("====================================");
}
public void HandleReceive(ByteBuf bb)
{
MsgProcessor.ProcessMsg(bb);
}
void ProcessMsg(object msgKey, object msgObj, MsgProcessor processor)
{
lock (_lockObj)
processor.Push(msgObj);
}
