public void receive(int lCMReceiveRate, ApplicationProperties props, RTMATransmitter rtmaTransmitter)
{
try
{
lCM.SubscribeAll(new SimpleSubscriber(props, rtmaTransmitter));
}
catch (Exception e)
{
Console.Error.WriteLine("Ex: " + e);
Environment.Exit(1);
}
}
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 SimpleSubscriber(ApplicationProperties props, RTMATransmitter rtmaTransmitter) : base()
{
this.props = props;
this.rtmaTransmitter = rtmaTransmitter;
}
