/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// register the core as implementing the arbiter advanced remote facade
objectDirectory.Rebind(this.arbiterCore, "ArbiterAdvancedRemote" + this.RemotingSuffix);
// shutdown old channels
this.Shutdown();
// get vehicle state channel
vehicleStateChannel = channelFactory.GetChannel("ArbiterSceneEstimatorPositionChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
vehicleStateChannelToken = vehicleStateChannel.Subscribe(messagingListener);
// get observed obstacle channel
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
observedObstacleChannelToken = observedObstacleChannel.Subscribe(messagingListener);
// get observed vehicle channel
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
observedVehicleChannelToken = observedVehicleChannel.Subscribe(messagingListener);
// get vehicle speed channel
vehicleSpeedChannel = channelFactory.GetChannel("VehicleSpeedChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
vehicleSpeedChannelToken = vehicleSpeedChannel.Subscribe(messagingListener);
// get side obstacle channel
sideObstacleChannel = channelFactory.GetChannel("SideObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
sideObstacleChannelToken = sideObstacleChannel.Subscribe(messagingListener);
// get output channel
if (arbiterOutputChannel != null)
{
arbiterOutputChannel.Dispose();
}
arbiterOutputChannel = channelFactory.GetChannel("ArbiterOutputChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
// get information channel
if (arbiterInformationChannel != null)
{
arbiterInformationChannel.Dispose();
}
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
// get the operational layer
this.operationalFacade = (OperationalFacade)objectDirectory.Resolve("OperationalService" + this.RemotingSuffix);
this.operationalFacade.RegisterListener(this);
this.SendProjection();
// try connecting to the test facade
this.TryOperationalTestFacadeConnect();
}
/// <summary>
/// Initializes communications with the outside world by means of remoting
/// </summary>
private void InitializeRemotingCommunications()
{
// Read the configuration file.
RemotingConfiguration.Configure("..\\..\\App.config", false);
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Bind the operational test faceade
objectDirectory.Rebind(this, "OperationalTestFacade");
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
rndfChannel = channelFactory.GetChannel("RndfNetworkChannel", ChannelMode.Bytestream);
mdfChannel = channelFactory.GetChannel("MdfChannel", ChannelMode.Bytestream);
positionChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.Bytestream);
testStringChannel = channelFactory.GetChannel("TestStringChannel", ChannelMode.Vanilla);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
rndfToken = rndfChannel.Subscribe(channelListener);
mdfToken = mdfChannel.Subscribe(channelListener);
//positionToken = positionChannel.Subscribe(channelListener);
testStringToken = testStringChannel.Subscribe(new StringListener());
// Show that the navigation system is ready and waiting for input
Console.WriteLine(" > Remoting Communication Initialized");
}
/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
try
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to push to
simulationMessageChannel = channelFactory.GetChannel("SimulationMessageChannel", ChannelMode.UdpMulticast);
// Rebind the Simulator as the simulator remote facade server
objectDirectory.Rebind(this, "SimulationServer");
// Notify user of success
SimulatorOutput.WriteLine("Connection to Name Service and Registration of Simulation Server as Simulator Facade Successful");
// let clients know the sim is alive
simulationMessageChannel.PublishUnreliably(SimulationMessage.Alive);
}
catch (Exception e)
{
SimulatorOutput.WriteLine("Error Registering With Remoting Services: " + e.ToString());
}
}
/// <summary>
/// Attempts to register with the simulation
/// </summary>
public void AttemptSimulationConnection()
{
// notify
Console.WriteLine(DateTime.Now.ToString() + ": Attempting Connection To Simulation Server");
try
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Resolve the SimulationServer as the simulator remote facade server
this.client.SimulationServer = (SimulatorFacade)objectDirectory.Resolve("SimulationServer");
// create the dynamics sim facade
this.client.DynamicsVehicle = new DynamicsSimVehicle(new SimVehicleState(), this.objectDirectory);
// register ourselves
bool success = this.client.SimulationServer.Register(this.client.Name());
// notify
if (success)
{
Console.WriteLine(DateTime.Now.ToString() + ": Attempt Succeeded");
}
else
{
Console.WriteLine(DateTime.Now.ToString() + ": Registration Failed in Simulation");
}
}
catch (Exception e)
{
// notify
Console.WriteLine(DateTime.Now.ToString() + ": Attempt Failed" + "\n" + e.ToString());
}
}
/// <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 static bool Attach(string suffix, bool throwException)
{
operationalFacade = null;
operationalUIFacade = null;
if (suffix == null)
{
suffix = string.Empty;
}
try {
operationalFacade = (OperationalFacade)od.Resolve("OperationalService" + suffix);
operationalUIFacade = (OperationalUIFacade)od.Resolve("OperationalUIService" + suffix);
DatasetSourceFacade dsfacade = operationalUIFacade.DatasetFacade;
DataItemDescriptor[] dataItems = dsfacade.GetDataItems();
foreach (DataItemDescriptor item in dataItems)
{
if (!dataset.ContainsKey(item.Name))
{
dataset.Add(item);
}
}
dataset.AttachToSource(dsfacade);
}
catch (Exception) {
operationalFacade = null;
operationalUIFacade = null;
if (throwException)
{
throw;
}
else
{
return(false);
}
}
if (Attached != null)
{
Attached(null, new AttachEventArgs(string.IsNullOrEmpty(suffix) ? string.Empty : suffix.Substring(1)));
}
return(true);
}
public void ResgisterWithClient()
{
try
{
// get vehicle state channel
vehicleStateChannel = channelFactory.GetChannel("ArbiterSceneEstimatorPositionChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
vehicleStateChannelToken = vehicleStateChannel.Subscribe(messagingListener);
// get observed obstacle channel
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
observedObstacleChannelToken = observedObstacleChannel.Subscribe(messagingListener);
// get observed vehicle channel
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
observedVehicleChannelToken = observedVehicleChannel.Subscribe(messagingListener);
// get vehicle speed channel
vehicleSpeedChannel = channelFactory.GetChannel("VehicleSpeedChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
vehicleSpeedChannelToken = vehicleSpeedChannel.Subscribe(messagingListener);
// get output channel
arbiterOutputChannel = channelFactory.GetChannel("ArbiterOutputChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
arbiterOutputChannelToken = arbiterOutputChannel.Subscribe(messagingListener);
// get information channel
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(messagingListener);
// get side obstacle channel
sideObstacleChannel = channelFactory.GetChannel("SideObstacleChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
sideObstacleChannelToken = sideObstacleChannel.Subscribe(messagingListener);
// get ai
this.arbiterRemote = (ArbiterAdvancedRemote)objectDirectory.Resolve("ArbiterAdvancedRemote" + this.RemotingSuffix);
// get the operational layer
this.operationalFacade = (OperationalFacade)objectDirectory.Resolve("OperationalService" + this.RemotingSuffix);
// register
RemoraOutput.WriteLine("Resgistered To Client with suffix: " + this.RemotingSuffix, OutputType.Remora);
}
catch (Exception e)
{
RemoraOutput.WriteLine("Error registering with client: " + e.ToString(), OutputType.Remora);
}
}
private void Connect(ObjectDirectory od)
{
// get the channel for the sim state
IChannelFactory channelFactory = (IChannelFactory)od.Resolve("ChannelFactory");
operationalStateChannel = channelFactory.GetChannel("OperationalSimState_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// publish ourself to the object directory
od.Rebind(this, "DynamicsSim_" + SimulatorClient.MachineName);
}
/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Notify user of success
RemoraOutput.WriteLine("Connection to Name Service Successful", OutputType.Remora);
// get simulation if supposed to
if (global::RemoraAdvanced.Properties.Settings.Default.SimMode)
{
this.simulatorFacade = (SimulatorFacade)objectDirectory.Resolve("SimulationServer");
// Notify user of success
RemoraOutput.WriteLine("Connection to Simulation Service Successful", OutputType.Remora);
}
}
/// <summary>
/// Connects to the Arbiter and Sets it up for Remote Control
/// </summary>
public void ConnectToArbiter()
{
RemoraOutput.WriteLine("Connecting to Arbiter");
try
{
this.arbiterRemote = (ArbiterRemote)objectDirectory.Resolve("ArbiterRemote");
RemoraOutput.WriteLine("Bind Successful...");
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString() + "\n\n" + "Error Binding Arbiter");
}
}
public static void InitComm()
{
// set the machine name from the config
machineName = Properties.Settings.Default.MachineName.Trim().ToUpper();
// configure remoting
RemotingConfiguration.Configure("net.xml", false);
// get the name service
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// get the channel factory
channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
}
/// <summary>
/// Configures remoting
/// </summary>
public void Configure()
{
// configure
RemotingConfiguration.Configure("VehicleSeparationDisplay.exe.config", false);
wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Notify user of success
Console.WriteLine("Connection to Name Service Successful");
// get information channel
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel" + this.RemotingSuffix, ChannelMode.UdpMulticast);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(messagingListener);
}
/// <summary>
/// Try to connect to the operational facade
/// </summary>
public void TryOperationalTestFacadeConnect()
{
if (global::UrbanChallenge.Arbiter.Core.ArbiterSettings.Default.UseTestOperational)
{
try
{
// check if test facade ok
bool testFacadeGood = this.operationalTestFacade != null;
if (this.operationalTestFacade != null)
{
try
{
this.operationalTestFacade.Ping();
this.testComponentExists = true;
}
catch (Exception)
{
testFacadeGood = false;
}
}
// set the operational test facade if not ok
if (!testFacadeGood)
{
// get the operational layer
this.operationalTestFacade = (OperationalTestComponentFacade)objectDirectory.Resolve("OperationalTestComponentService" + this.RemotingSuffix);
this.testComponentExists = true;
}
// try to send road network
if (CoreCommon.RoadNetwork != null)
{
this.operationalTestFacade.SetRoadNetwork(CoreCommon.RoadNetwork);
this.testComponentNeedsRoadNetwork = false;
}
}
catch (Exception ex)
{
ArbiterOutput.OutputNoLog("Error registering with operational test service: " + ex.ToString());
}
}
}
/// <summary>
/// Initializes communications with the outside world by means of remoting
/// </summary>
public void InitializeRemotingCommunications()
{
// try to shut down in case we have already been active
this.ShutDown();
try
{
// Read the configuration file.
RemotingConfiguration.Configure("Remora.exe.config", false);
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e)
{
RemoraOutput.WriteLine(e.ToString() + "\n\n" + "Could not initialize communications, attempting to reconnect");
try
{
WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e1)
{
RemoraOutput.WriteLine(e1.ToString() + "\n\n" + "Could not reinitialize nameservice communications");
try
{
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to listen to
vehicleStateChannel = channelFactory.GetChannel("PositionChannel", ChannelMode.UdpMulticast);
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel", ChannelMode.UdpMulticast);
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel", ChannelMode.UdpMulticast);
arbiterInformationChannel = channelFactory.GetChannel("ArbiterInformationChannel", ChannelMode.UdpMulticast);
carModeChannel = channelFactory.GetChannel("CarMode", ChannelMode.UdpMulticast);
fakeVehicleChannel = channelFactory.GetChannel("FakeVehicleChannel", ChannelMode.UdpMulticast);
// Create a channel listeners and listen on wanted channels
channelListener = new MessagingListener();
vehicleStateChannelToken = vehicleStateChannel.Subscribe(channelListener);
observedObstacleChannel.Subscribe(channelListener);
observedVehicleChannel.Subscribe(channelListener);
arbiterInformationChannelToken = arbiterInformationChannel.Subscribe(channelListener);
carModeChannelToken = carModeChannel.Subscribe(channelListener);
fakeVehicleChannelToken = fakeVehicleChannel.Subscribe(channelListener);
// set that remoting has been successfully initialize
this.RemotingInitialized = true;
RemoraOutput.WriteLine("Successfully initialized communications");
}
catch (Exception e2)
{
RemoraOutput.WriteLine(e2.ToString() + "\n\n" + "Could not reinitialize messaging communications");
}
}
}
}
/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
try
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to interact with
if (simulationMessageChannel != null)
{
simulationMessageChannel.Dispose();
}
simulationMessageChannel = channelFactory.GetChannel("SimulationMessageChannel", ChannelMode.UdpMulticast);
// Listen to channels we wish to listen to
simulationMessageChannelToken = simulationMessageChannel.Subscribe(this.messagingListener);
// Rebind the Simulator as the simulator remote facade server
objectDirectory.Rebind(this.client, this.client.Name());
// get vehicle state channel
if (vehicleStateChannel != null)
{
vehicleStateChannel.Dispose();
}
vehicleStateChannel = channelFactory.GetChannel("ArbiterSceneEstimatorPositionChannel_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// get observed obstacle channel
if (observedObstacleChannel != null)
{
observedObstacleChannel.Dispose();
}
observedObstacleChannel = channelFactory.GetChannel("ObservedObstacleChannel_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// get observed vehicle channel
if (observedVehicleChannel != null)
{
observedVehicleChannel.Dispose();
}
observedVehicleChannel = channelFactory.GetChannel("ObservedVehicleChannel_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// get vehicle speed channel
if (vehicleSpeedChannel != null)
{
vehicleSpeedChannel.Dispose();
}
vehicleSpeedChannel = channelFactory.GetChannel("VehicleSpeedChannel_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// get the local road estimate channel
if (localRoadChannel != null)
{
localRoadChannel.Dispose();
}
localRoadChannel = channelFactory.GetChannel(LocalRoadEstimate.ChannelName + "_" + SimulatorClient.MachineName, ChannelMode.Bytestream);
// Notify user of success
Console.WriteLine(DateTime.Now.ToString() + ": Connection to Name Service and Registration of Simulation Client Successful");
}
catch (Exception e)
{
// notify
Console.WriteLine(DateTime.Now.ToString() + ": Error Registering With Remoting Services: " + e.ToString());
}
}
public static MarshalByRefObject GetObject(string baseName)
{
return(objectDirectory.Resolve(BuildServiceName(baseName)));
}