public void SetCommand(double?engineTorque, double?brakePressue, double?steering, TransmissionGear?gear)
{
if (Settings.TestMode)
{
return;
}
if (steering.HasValue && Math.Abs(steering.Value) > TahoeParams.SW_max)
{
OperationalTrace.WriteWarning("steering out of range: received {0}, limit {1}", steering.Value, TahoeParams.SW_max);
}
//Console.WriteLine("command--steering: {0}, torque: {1}, brake: {2}, gear: {3}", steering, engineTorque, brakePressue, gear);
try {
dynamicsSim.SetSteeringBrakeThrottle(steering, engineTorque, brakePressue);
if (gear.HasValue)
{
dynamicsSim.SetTransmissionGear(gear.Value);
}
}
catch (SocketException) {
// get the DynamicsSimFacade
dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName);
throw;
}
}
public FullSimTransport()
{
// initialize the car mode to unknown so that we raised the changed event immediately
lastCarMode = CarMode.Unknown;
// get the DynamicsSimFacade
dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName);
// set the sim state channel
simStateChannel = CommBuilder.GetChannel(OperationalSimVehicleState.ChannelName);
obstacleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.UntrackedClusterChannelName);
vehicleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.TrackedClusterChannelName);
// add ourself as a listern
simStateChannel.Subscribe(this);
obstacleChannel.Subscribe(this);
vehicleChannel.Subscribe(this);
}
public FullSimTransport()
{
// initialize the car mode to unknown so that we raised the changed event immediately
lastCarMode = CarMode.Unknown;
// get the DynamicsSimFacade
dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName);
// set the sim state channel
simStateChannel = CommBuilder.GetChannel(OperationalSimVehicleState.ChannelName);
obstacleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.UntrackedClusterChannelName);
vehicleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.TrackedClusterChannelName);
// add ourself as a listern
simStateChannel.Subscribe(this);
obstacleChannel.Subscribe(this);
vehicleChannel.Subscribe(this);
}
public void SetCommand(double? engineTorque, double? brakePressue, double? steering, TransmissionGear? gear)
{
if (Settings.TestMode)
return;
if (steering.HasValue && Math.Abs(steering.Value) > TahoeParams.SW_max) {
OperationalTrace.WriteWarning("steering out of range: received {0}, limit {1}", steering.Value, TahoeParams.SW_max);
}
//Console.WriteLine("command--steering: {0}, torque: {1}, brake: {2}, gear: {3}", steering, engineTorque, brakePressue, gear);
try {
dynamicsSim.SetSteeringBrakeThrottle(steering, engineTorque, brakePressue);
if (gear.HasValue) {
dynamicsSim.SetTransmissionGear(gear.Value);
}
}
catch (SocketException) {
// get the DynamicsSimFacade
dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName);
throw;
}
}
