public EventController(IClubClient _club, IEventClient _repo,IEventRegistration _reg, UserManager<ApplicationUser> _user, IMapClient _rContext)
{
_context = _repo;
_routeContext = _rContext;
_userManager = _user;
_clubContext = _club;
_evntReg = _reg;
}
public static void Activate()
{
EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback);
IMapClient mapClient = ClientFactory.CreateTcpMapClient(endpointSettings);
ViewModelLocator.MapViewModel.Model = mapClient;
}
public EventController(IClubClient _club, IEventClient _repo, IEventRegistration _reg, UserManager <ApplicationUser> _user, IMapClient _rContext)
{
_context = _repo;
_routeContext = _rContext;
_userManager = _user;
_clubContext = _club;
_evntReg = _reg;
}
public HomeController(IEventClient _repo, UserManager <ApplicationUser> _user, IMapClient _rContext, ILoggerFactory factory)
{
if (_logger == null)
{
_logger = factory.CreateLogger("Unhandled Error");
}
_context = _repo;
_routeContext = _rContext;
_userManager = _user;
}
public HomeController(IEventClient _repo, UserManager<ApplicationUser> _user, IMapClient _rContext, ILoggerFactory factory)
{
if (_logger == null)
{
_logger = factory.CreateLogger("Unhandled Error");
}
_context = _repo;
_routeContext = _rContext;
_userManager = _user;
}
public static IEnumerable <MoveData> GetAllMoveData(this IMapClient mapClient)
{
IEnumerable <MoveData> moveDataSet;
ServiceOperationResult result = mapClient.TryGetAllMoveData(out moveDataSet);
if (result.IsSuccessfull)
{
return(moveDataSet);
}
else
{
throw Tools.GetException(result);
}
}
private static void HandleCreateJob(EndpointSettings endpointSettings)
{
IEnumerable <NodeDto> nodes = null;
// Using the map manager client, get the ids of all nodes in the map
using (IMapClient mapClient = SchedulingClients.Core.ClientFactory.CreateTcpMapClient(endpointSettings))
{
IServiceCallResult <NodeDto[]> nodeResults = mapClient.GetAllNodes();
if (!nodeResults.IsSuccessful())
{
Console.WriteLine($"Failed to get nodes, serviceCode:{nodeResults.ServiceCode}");
}
else
{
nodes = nodeResults.Value;
}
}
// Create a multijob
using (IJobBuilderClient jobBuilder = SchedulingClients.Core.ClientFactory.CreateTcpJobBuilderClient(endpointSettings))
{
IServiceCallResult <JobDto> createResult = jobBuilder.CreateJob();
if (!createResult.IsSuccessful())
{
Console.WriteLine($"Failed to create job, serviceCode:{createResult.ServiceCode}");
}
IServiceCallResult <int> createUnorderedListTaskResult = jobBuilder.CreateUnorderedListTask(createResult.Value.RootOrderedListTaskId);
if (!createUnorderedListTaskResult.IsSuccessful())
{
Console.WriteLine($"Failed to create unordered list task, serviceCode:{createResult.ServiceCode}");
}
string[] targets = new string[] { "A0", "B0", "C0", "A1", "B1", "C1" };
foreach (string target in targets)
{
AddGoToTask(jobBuilder, createUnorderedListTaskResult.Value, nodes, target);
}
IServiceCallResult commitResult = jobBuilder.CommitJob(createResult.Value.JobId);
if (!commitResult.IsSuccessful())
{
Console.WriteLine($"Failed to commit job, serviceCode:{commitResult.ServiceCode}");
}
}
}
private static void Main(string[] args)
{
// Here we create an endpoint settings object that defines where the fleet manager service is currently running
// For this demo we are assuming it is running on localhost, using the default TCP port of 41917.
EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917);
IEnumerable <int> nodeIds = Enumerable.Empty <int>(); // Create an array to store node ids in
NodeDto startNode = null;
// Using the map manager client, get the ids of all nodes in the map
using (IMapClient mapClient = SchedulingClients.Core.ClientFactory.CreateTcpMapClient(endpointSettings))
{
IServiceCallResult <NodeDto[]> nodeResults = mapClient.GetAllNodes();
if (!nodeResults.IsSuccessful())
{
Console.WriteLine($"Failed to get nodes, serviceCode:{nodeResults.ServiceCode}");
}
else
{
nodeIds = nodeResults.Value.Select(e => e.Id);
}
startNode = nodeResults.Value.First();
}
// Now we create a fleet manager client using the client factory, and create a virtual vehicle at pose at the first node.
// see: https://github.com/GuidanceAutomation/FleetClients
using (IFleetManagerClient fleetManagerClient = FleetClients.Core.ClientFactory.CreateTcpFleetManagerClient(endpointSettings))
{
IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(IPAddress.Parse("192.168.0.1"), startNode.Pose.X, startNode.Pose.Y, startNode.Pose.Heading);
if (!result.IsSuccessful())
{
Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}");
}
}
Random random = new Random(); // Random number generator
bool continueFlag = true;
while (continueFlag)
{
Console.WriteLine("Press <any> key to create a random GoTo job, 'q' to quit");
switch (Console.ReadKey(true).Key)
{
case ConsoleKey.Q:
{
continueFlag = false;
break;
}
default:
{
// Use the job builder client to create a new goto job.
using (IJobBuilderClient jobBuilder = SchedulingClients.Core.ClientFactory.CreateTcpJobBuilderClient(endpointSettings))
{
// Boiler plate code to pick a random node from the array of nodes.
int index = random.Next(0, nodeIds.Count());
int nodeId = nodeIds.ElementAt(index);
Console.WriteLine($"Sending to node:{nodeId}");
IServiceCallResult <JobDto> createResult = jobBuilder.CreateJob();
if (!createResult.IsSuccessful())
{
Console.WriteLine($"Failed to create job, serviceCode:{createResult.ServiceCode}");
}
IServiceCallResult <int> gotoResult = jobBuilder.CreateGoToNodeTask(createResult.Value.RootOrderedListTaskId, nodeId);
if (!gotoResult.IsSuccessful())
{
Console.WriteLine($"Failed to create goto task, serviceCode:{gotoResult.ServiceCode}");
}
IServiceCallResult commitResult = jobBuilder.CommitJob(createResult.Value.JobId);
if (!commitResult.IsSuccessful())
{
Console.WriteLine($"Failed to commit job, serviceCode:{commitResult.ServiceCode}");
}
}
break;
}
}
}
}
public MapController(IMapClient _repo, UserManager<ApplicationUser> userManger)
{
_userManager = userManger;
_context = _repo;
}
public MapController(IMapClient _repo, UserManager <ApplicationUser> userManger)
{
_userManager = userManger;
_context = _repo;
}
