public static void Init(string manifestFile, int httpPort, int dsspPort)
{
if (bank == null)
{
Robot.httpPort = httpPort;
Robot.dsspPort = dsspPort;
FileAttributes att = File.GetAttributes(manifestFile);
if ((att & (FileAttributes.Device | FileAttributes.Directory | FileAttributes.Offline)) != 0)
{
throw new IOException("Manifest file is not a normal file");
}
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(httpPort, dsspPort, "file://" + manifestFile);
Console.WriteLine("Done");
bank = new AdapterBank(new List <IAdapterFactory>()
{
new Myro.Adapters.DriveAdapterFactory(),
new Myro.Adapters.VectorAdapterFactory(),
new Myro.Adapters.WebcamAdapterFactory(),
new Myro.Adapters.CamControlAdapterFactory()
});
driveAdapter = bank.GetAdapterSpec <DriveAdapter>("drive");
soundAdapter = bank.GetAdapterSpec <VectorAdapter>("tonegen");
webcamAdapter = bank.GetAdapterSpec <WebcamAdapter>("webcam");
camcontrolAdapter = bank.GetAdapterSpec <CamControlAdapter>("camcontrol");
}
else
{
throw new Exception("Myro is already initialized");
}
}
private void ConductorSvr_Load(object sender, EventArgs e)
{
if (IsPortInUse(ProtocolType.Tcp, 50000) || IsPortInUse(ProtocolType.Tcp, 50001))
{
System.Windows.Forms.MessageBox.Show("Tcp port 50000 or 50001 is in use, please check it.", "URWPGSim2D Server");
System.Diagnostics.Process.GetCurrentProcess().Kill(); // 没有数据需要保存直接结束当前进程
}
// 调试时在同一节点上启动Server服务和Client服务
string[] strArrManifestFileNames = new string[2] {
Application.StartupPath + "\\Sim2DSvr.manifest.xml",
Application.StartupPath + "\\Sim2DClt.manifest.xml",
};
//DssEnvironment.Initialize(50000, 50001, strArrManifestFileNames);
// 在50000/50001这组端口上启动一个DSS Node并初始化Server服务实例
string strServerManifestFileName = Application.StartupPath + "\\Sim2DSvr.manifest.xml";
DssEnvironment.Initialize(50000, 50001, strServerManifestFileName);
// 等待当前Dss Node上的某Dss Service发生Drop事件执行DssEnvironment.Shutdown命令
DssEnvironment.WaitForShutdown();
// 退出客户端启动引导程序界面不再显示
Application.Exit();
}
private void Initialize()
{
// Initialize Dss using the Scribbler base manifest
DssEnvironment.Initialize(50000, 50001,
@"C:\\Microsoft Robotics Studio (1.5)\\samples\\IPRE\\Scribbler\\Scribbler\\Batch Files\\IPRE.Scribbler.standard.manifest.xml"
);
Arbiter.Receive <DateTime>(true, _timerPort, ConnectToScribbler);
_timerPort.Post(DateTime.Now);
autolock.WaitOne();
}
public Robot(string manifestFile)
{
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(50000, 50001, "file://" + Path.GetFullPath(manifestFile));
Console.WriteLine("Done");
bank = new AdapterBank(new List <IAdapterFactory>()
{
new Myro.Adapters.DriveAdapterFactory(),
new Myro.Adapters.VectorAdapterFactory()
});
Sensors = new MyroSensors(bank);
Movement = new MyroMovement(bank);
Sound = new MyroSound(bank);
}
private void ConductorClt_Load(object sender, EventArgs e)
{
DssRuntimeConfiguration dssConfig = new DssRuntimeConfiguration();
dssConfig.PublicHttpPort = 0;
dssConfig.PublicTcpPort = 0;
int port = 40000;
do // 从TCP端口40000起查找尚未被占用的端口
{
while (IsPortInUse(ProtocolType.Tcp, port))
{
port++;
}
if (dssConfig.PublicHttpPort == 0)
{
dssConfig.PublicHttpPort = port;
port++;
}
else
{
dssConfig.PublicTcpPort = port;
}
} while (dssConfig.PublicHttpPort == 0 || dssConfig.PublicTcpPort == 0);
// 调试时在同一节点上启动Server服务和Client服务
string[] strArrManifestFileNames = new string[2] {
Application.StartupPath + "\\Sim2DSvr.manifest.xml",
Application.StartupPath + "\\Sim2DClt.manifest.xml",
};
//DssEnvironment.Initialize(dssConfig, strArrManifestFileNames);
// 在50000/50001这组端口上启动一个DSS Node并初始化Server服务实例
string strServerManifestFileName = Application.StartupPath + "\\Sim2DSvr.manifest.xml";
//DssEnvironment.Initialize(dssConfig, strServerManifestFileName);
// 在40000/40001这组端口上启动一个DSS Node并初始化Client服务实例
string strClientManifestFileName = Application.StartupPath + "\\Sim2DClt.manifest.xml";
DssEnvironment.Initialize(dssConfig, strClientManifestFileName);
// 等待当前Dss Node上的某Dss Service发生Drop事件执行DssEnvironment.Shutdown命令
DssEnvironment.WaitForShutdown();
// 退出客户端启动引导程序界面不再显示
Application.Exit();
}
/// <summary>
/// This is an internal helper method that starts the DSS environment,
/// using the manifest file specified in the MyroConfigFiles argument.
/// </summary>
/// <param name="config"></param>
private static void startDSS(MyroConfigFiles config)
{
string manifestFile = Path.Combine(Path.Combine(Params.ConfigPath, config.BaseName + ".manifest"), config.BaseName + ".manifest.xml");
Robot.httpPort = config.MyroConfiguration.HttpPort;
Robot.dsspPort = config.MyroConfiguration.DsspPort;
FileAttributes att = File.GetAttributes(manifestFile);
if ((att & (FileAttributes.Device | FileAttributes.Directory | FileAttributes.Offline)) != 0)
{
throw new IOException("Manifest file is not a normal file");
}
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(httpPort, dsspPort, "file://" + manifestFile);
Console.WriteLine("Done");
}
/// <summary>
/// Intialization Routine. Called by constructor.
/// </summary>
protected virtual void Initialize()
{
XPathDocument xpdoc = new XPathDocument(configFile);
XPathNavigator xpnav = xpdoc.CreateNavigator();
manifestFile = xpnav.SelectSingleNode("//ManifestFile/URI").Value;
httpPort = int.Parse(xpnav.SelectSingleNode("//DssEnvironment/HttpPort").Value);
soapPort = int.Parse(xpnav.SelectSingleNode("//DssEnvironment/SoapPort").Value);
verbosity = int.Parse(xpnav.SelectSingleNode("//Verbosity/Level").Value);
// Initialize Dss manifest
DssEnvironment.Initialize(httpPort, soapPort, manifestFile);
// Wait for 30 seconds for the DssEnvironment to completely load all services
// TODO: utilize config file to remove the sleep
Thread.Sleep(10000);
}
/// <summary>
/// Intialization Routine. Called by constructor.
/// </summary>
protected virtual void Initialize()
{
XPathDocument xpdoc = new XPathDocument(configFile);
XPathNavigator xpnav = xpdoc.CreateNavigator();
manifestFile = xpnav.SelectSingleNode("//ManifestFile/URI").Value;
httpPort = int.Parse(xpnav.SelectSingleNode("//DssEnvironment/HttpPort").Value);
soapPort = int.Parse(xpnav.SelectSingleNode("//DssEnvironment/SoapPort").Value);
verbosity = int.Parse(xpnav.SelectSingleNode("//Verbosity/Level").Value);
// Initialize Dss manifest
String manifestFileFull = Path.Combine(Path.GetDirectoryName(Path.GetFullPath(configFile)), manifestFile);
Console.WriteLine("Starting DSS environment with manifest: " + manifestFileFull);
DssEnvironment.Initialize(httpPort, soapPort, manifestFileFull);
//Console.WriteLine("Done");
// Wait for 30 seconds for the DssEnvironment to completely load all services
// TODO: utilize config file to remove the sleep
Thread.Sleep(10000);
}
