[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>");
switch (robotMode)
{
case RobotMode.Standard:
usingLidar = true;
usingLogging = false;
usingLogReplay = false;
break;
case RobotMode.LidarAcquisition:
usingLidar = true;
usingLogging = true;
usingLogReplay = false;
break;
case RobotMode.LidarReplay:
usingLidar = false;
usingLogging = false;
usingLogReplay = true;
break;
case RobotMode.Nolidar:
usingLidar = false;
usingLogging = false;
usingLogReplay = false;
break;
}
ethernetTeamNetworkAdapter = new EthernetTeamNetworkAdapter();
serialPort1 = new ReliableSerialPort("COM1", 115200, Parity.None, 8, StopBits.One);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new RobotMsgGenerator();
robotMsgProcessor = new RobotMsgProcessor();
physicalSimulator = new PhysicalSimulator.PhysicalSimulator();
int robotId = (int)TeamId.Team1 + (int)RobotId.Robot1;
int teamId = (int)TeamId.Team1;
physicalSimulator.RegisterRobot(robotId, 0, 0);
robotPilot = new RobotPilot.RobotPilot(robotId);
refBoxAdapter = new RefereeBoxAdapter.RefereeBoxAdapter();
trajectoryPlanner = new TrajectoryPlanner(robotId);
waypointGenerator = new WaypointGenerator(robotId);
strategyManager = new StrategyManager.StrategyManager(robotId);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId);
lidarSimulator = new LidarSimulator.LidarSimulator(robotId);
perceptionSimulator = new PerceptionSimulator(robotId);
if (usingLidar)
{
lidar_OMD60M = new Lidar_OMD60M(robotId);
lidarProcessor = new LidarProcessor.LidarProcessor(robotId);
}
xBoxManette = new XBoxController.XBoxController(robotId);
if (!usingSimulatedCamera)
{
omniCamera = new BaslerCameraAdapter();
}
else
{
omniCameraSimulator = new SimulatedCamera.SimulatedCamera();
}
imageProcessingPositionFromOmniCamera = new ImageProcessingPositionFromOmniCamera();
//Démarrage des interface de visualisation
StartInterfaces();
//Démarrage du logging
if (usingLogging)
{
logRecorder = new LogRecorder.LogRecorder();
}
if (usingLogReplay)
{
logReplay = new LogReplay.LogReplay();
lidarProcessor = new LidarProcessor.LidarProcessor(robotId);
}
//Liens entre modules
strategyManager.OnDestinationEvent += waypointGenerator.OnDestinationReceived;
strategyManager.OnHeatMapEvent += waypointGenerator.OnStrategyHeatMapReceived;
waypointGenerator.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
if (!usingXBoxController)
{
trajectoryPlanner.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
robotPilot.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
}
else
{
//Sur evenement xx -->> Action a effectuer
xBoxManette.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
xBoxManette.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
xBoxManette.OnPriseBalleEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor;
xBoxManette.OnMoveTirUpEvent += robotMsgGenerator.GenerateMessageMoveTirUp;
xBoxManette.OnMoveTirDownEvent += robotMsgGenerator.GenerateMessageMoveTirDown;
xBoxManette.OnTirEvent += robotMsgGenerator.GenerateMessageTir;
}
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
physicalSimulator.OnPhysicalRobotPositionEvent += trajectoryPlanner.OnPhysicalPositionReceived;
physicalSimulator.OnPhysicicalObjectListLocationEvent += perceptionSimulator.OnPhysicalObjectListLocationReceived;
physicalSimulator.OnPhysicalRobotPositionEvent += perceptionSimulator.OnPhysicalRobotPositionReceived;
physicalSimulator.OnPhysicalBallPositionEvent += perceptionSimulator.OnPhysicalBallPositionReceived;
perceptionSimulator.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
//lidarSimulator.OnSimulatedLidarEvent += localWorldMapManager.OnRawLidarDataReceived;
strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.OnHeatMapEvent += localWorldMapManager.OnHeatMapReceived;
//waypointGenerator.OnHeatMapEvent += localWorldMapManager.OnHeatMapReceived;
if (usingLidar)
{
lidar_OMD60M.OnLidarEvent += lidarProcessor.OnRawLidarDataReceived;
lidarProcessor.OnLidarProcessedEvent += localWorldMapManager.OnRawLidarDataReceived;
}
//Event de recording
if (usingLogging)
{
lidar_OMD60M.OnLidarEvent += logRecorder.OnRawLidarDataReceived;
}
//Event de replay
if (usingLogReplay)
{
logReplay.OnLidarEvent += lidarProcessor.OnRawLidarDataReceived;
lidarProcessor.OnLidarProcessedEvent += localWorldMapManager.OnRawLidarDataReceived;
lidarProcessor.OnLidarObjectProcessedEvent += localWorldMapManager.OnLidarObjectsReceived;
}
//Timer de stratégie
timerStrategie = new HighFreqTimer(0.5);
timerStrategie.Tick += TimerStrategie_Tick;
timerStrategie.Start();
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}
[STAThread] //à ajouter au projet initial
static void Main(string[] args)
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>Universite De Toulon</Customer>
<OrderId>EDUCATIONAL-USE-0128</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>02/17/2020 00:00:00</SupportExpires>
<ProductCode>SC-WPF-2D-PRO-SITE</ProductCode>
<KeyCode>lwAAAQEAAACS9FAFUqnVAXkAQ3VzdG9tZXI9VW5pdmVyc2l0ZSBEZSBUb3Vsb247T3JkZXJJZD1FRFVDQVRJT05BTC1VU0UtMDEyODtTdWJzY3JpcHRpb25WYWxpZFRvPTE3LUZlYi0yMDIwO1Byb2R1Y3RDb2RlPVNDLVdQRi0yRC1QUk8tU0lURYcbnXYui4rna7TqbkEmUz1V7oD1EwrO3FhU179M9GNhkL/nkD/SUjwJ/46hJZ31CQ==</KeyCode>
</LicenseContract>");
//TODO : Créer un projet World...
ethernetTeamNetworkAdapter = new EthernetTeamNetworkAdapter();
serialPort1 = new ReliableSerialPort("FTDI", 230400 /*115200*/, Parity.None, 8, StopBits.One);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new RobotMsgGenerator();
robotMsgProcessor = new RobotMsgProcessor();
physicalSimulator = new PhysicalSimulator.PhysicalSimulator();
int robotId = (int)TeamId.Team1 + (int)RobotId.Robot1;
int teamId = (int)TeamId.Team1;
physicalSimulator.RegisterRobot(robotId, 0, 0);
robotPilot = new RobotPilot.RobotPilot(robotId);
refBoxAdapter = new RefereeBoxAdapter.RefereeBoxAdapter();
trajectoryPlanner = new TrajectoryPlanner(robotId);
waypointGenerator = new WaypointGenerator(robotId);
strategyManager = new StrategyManager.StrategyManager(robotId);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId);
lidarSimulator = new LidarSimulator.LidarSimulator(robotId);
perceptionSimulator = new PerceptionSimulator(robotId);
if (usingLidar)
{
lidar_OMD60M = new Lidar_OMD60M(robotId);
}
xBoxManette = new XBoxController.XBoxController(robotId);
if (!usingSimulatedCamera)
{
omniCamera = new BaslerCameraAdapter();
}
else
{
omniCameraSimulator = new SimulatedCamera.SimulatedCamera();
}
imageProcessingPositionFromOmniCamera = new ImageProcessingPositionFromOmniCamera();
StartInterfaces();
//Liens entre modules
strategyManager.OnDestinationEvent += waypointGenerator.OnDestinationReceived;
strategyManager.OnHeatMapEvent += waypointGenerator.OnStrategyHeatMapReceived;
waypointGenerator.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
if (!usingXBoxController)
{
trajectoryPlanner.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
robotPilot.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
}
else
{
//Sur evenement xx -->> Action a effectuer
xBoxManette.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
xBoxManette.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
xBoxManette.OnPriseBalleEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor;
xBoxManette.OnMoveTirUpEvent += robotMsgGenerator.GenerateMessageMoveTirUp;
xBoxManette.OnMoveTirDownEvent += robotMsgGenerator.GenerateMessageMoveTirDown;
xBoxManette.OnTirEvent += robotMsgGenerator.GenerateMessageTir;
}
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
physicalSimulator.OnPhysicalRobotPositionEvent += trajectoryPlanner.OnPhysicalPositionReceived;
physicalSimulator.OnPhysicicalObjectListLocationEvent += perceptionSimulator.OnPhysicalObjectListLocationReceived;
physicalSimulator.OnPhysicalRobotPositionEvent += perceptionSimulator.OnPhysicalRobotPositionReceived;
physicalSimulator.OnPhysicalBallPositionEvent += perceptionSimulator.OnPhysicalBallPositionReceived;
perceptionSimulator.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
//lidarSimulator.OnSimulatedLidarEvent += localWorldMapManager.OnRawLidarDataReceived;
strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.OnHeatMapEvent += localWorldMapManager.OnHeatMapReceived;
//waypointGenerator.OnHeatMapEvent += localWorldMapManager.OnHeatMapReceived;
if (usingLidar)
{
lidar_OMD60M.OnLidarEvent += localWorldMapManager.OnRawLidarDataReceived;
}
//Timer de stratégie
timerStrategie = new HighFreqTimer(0.5);
timerStrategie.Tick += TimerStrategie_Tick;
timerStrategie.Start();
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}