/// <summary>
/// Register a client with the simulation
/// </summary>
/// <param name="clientName"></param>
/// <returns></returns>
public override bool Register(string clientName)
{
try
{
// resolve the client
SimulatorClientFacade scf = (SimulatorClientFacade)objectDirectory.Resolve(clientName);
// client name
string name = scf.Name();
// invoke changes
this.simulation.BeginInvoke(new MethodInvoker(delegate()
{
// notify
this.simulation.clientHandler.AddClient(name, scf, this.simulation.simEngine.Vehicles);
this.simulation.OnClientsChanged();
}));
// return success
return(true);
}
catch (Exception e)
{
this.simulation.BeginInvoke(new MethodInvoker(delegate()
{
// notify
SimulatorOutput.WriteLine("Error Registering Client: " + clientName + ". \n" + e.ToString());
}));
// return error
return(false);
}
}
public DebuggingService(bool registerWithSim)
{
SetupSequencerEvents();
if (registerWithSim)
{
SimulatorClientFacade simClient = (SimulatorClientFacade)CommBuilder.GetObject("SimulationClient");
simClient.RegisterSteppableClient(this, ClientRunControlFacade.OperationalStepOrder);
}
}
/// <summary>
/// Begin simulation
/// </summary>
public void BeginSimulation(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission)
{
try
{
// startup clients
foreach (KeyValuePair <SimVehicleId, SimVehicle> vhcs in this.Vehicles)
{
// set road and mission
SimulatorClientFacade scf = this.simulationMain.clientHandler.AvailableClients[this.simulationMain.clientHandler.VehicleToClientMap[vhcs.Key]];
// check if we need to randomize mission
if (vhcs.Value.RandomMission)
{
// create random mission
Queue <ArbiterCheckpoint> checks = new Queue <ArbiterCheckpoint>(60);
int num = mission.MissionCheckpoints.Count - 1;
ArbiterCheckpoint[] checkPointArray = mission.MissionCheckpoints.ToArray();
Random r = new Random();
for (int i = 0; i < 60; i++)
{
checks.Enqueue(checkPointArray[r.Next(num)]);
}
ArbiterMissionDescription amd = new ArbiterMissionDescription(checks, mission.SpeedLimits);
// set road , mission
scf.SetRoadNetworkAndMission(roadNetwork, amd);
}
// otherwise no random mission
else
{
// set road , mission
scf.SetRoadNetworkAndMission(roadNetwork, mission);
}
// startup ai
bool b = scf.StartupVehicle();
// check for false
if (!b)
{
Console.WriteLine("Error starting simulation for vehicle id: " + vhcs.Key.ToString());
return;
}
}
}
catch (Exception e)
{
Console.WriteLine("Error starting simulation: \n" + e.ToString());
return;
}
// run sim
this.RunSimulation();
}
/// <summary>
/// Add a client to the simulation
/// </summary>
/// <param name="client"></param>
/// <param name="scf"></param>
/// <param name="vehicles"></param>
/// <returns></returns>
public bool AddClient(string client, SimulatorClientFacade scf, Dictionary <SimVehicleId, SimVehicle> vehicles)
{
try
{
// check if already a client
if (this.AvailableClients.ContainsKey(client))
{
// remove if already bound for some reason
this.Remove(client);
}
// lock
lock (((ICollection)this.AvailableClients).SyncRoot)
{
// add to available clients
this.AvailableClients.Add(client, scf);
}
// notify success
SimulatorOutput.WriteLine("Successfully added client: " + client);
// attempt to rebind the vehicles
this.ReBindAll(vehicles);
// return success
return(true);
}
catch (Exception e)
{
// notify failure
SimulatorOutput.WriteLine("Error adding client: " + client + ": \n" + e.ToString());
// return false
return(false);
}
}
/// <summary>
/// Associate the vehicle with a enw client
/// </summary>
/// <param name="vehicleId"></param>
/// <returns></returns>
public bool ReBind(SimVehicleId vehicleId)
{
// make sure that the vehicle is not already associated with a client
if (!VehicleToClientMap.ContainsKey(vehicleId))
{
// loop over all clients looking for an open client
foreach (string s in this.AvailableClients.Keys)
{
// make sure the client is not associated with a vehicle
if (!ClientToVehicleMap.ContainsKey(s))
{
try
{
// get the client
SimulatorClientFacade scf = this.AvailableClients[s];
// set the vehicle in the client
scf.SetVehicle(vehicleId);
// set vehicle as having client
VehicleToClientMap.Add(vehicleId, s);
// set client as having vehicle
ClientToVehicleMap.Add(s, vehicleId);
// success
SimulatorOutput.WriteLine("Vehicle: " + vehicleId.ToString() + " Bound to client: " + s);
// return that the rebind was successful
return(true);
}
catch (Exception e)
{
// there was an error
SimulatorOutput.WriteLine("Error binding vehicle: " + vehicleId.ToString() + " to client: " + s + "\n" + e.ToString());
// cleanup vehicle to client map
if (this.VehicleToClientMap.ContainsKey(vehicleId))
{
this.VehicleToClientMap.Remove(vehicleId);
}
// cleanup client to vehicle map
if (this.ClientToVehicleMap.ContainsKey(s))
{
this.ClientToVehicleMap.Remove(s);
}
// return that the attempt was unsuccessful
return(false);
}
}
}
// success
SimulatorOutput.WriteLine("Vehicle: " + vehicleId.ToString() + " Could not be bound to any clients, lack of availability");
// notify that we never got to this point
return(false);
}
else
{
return(true);
}
}
