/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
int i;
// The state might already have been created using
// the Initial State Partner above. If so, then we
// don't want to create a new one!
if (_state == null)
{
_state = new SoarMazeSimulatorState();
// Do any other initialization here for the default
// settings that you might want ...
}
// TT Feb-2007 - Shock! Horror! Setting the maze in the config
// file did not work because it was initialized in the constructor
// for the State!
// The maze here is one with lots of different objects including some balls
// Note the path - It is relative to where dsshost is started from
// Other samples are:
// ModelSmall.gif -- A smaller model than the one above
// office.bmp -- A black and white image of an "office" maze
// Jul-2007:
// Changed the location of the files
if (_state.Maze == null || _state.Maze == "")
_state.Maze = "Apps/Soar/SoarMazeSimulator/ModelLarge.bmp";
// Make sure that there is a floor texture
// Plenty of others to try, e.g. concrete.jpg.
if (_state.GroundTexture == null || _state.GroundTexture == "")
_state.GroundTexture = "cellfloor.jpg";
// TT Dec-2006 - This is a fudge to support upgrading from
// prior versions where the RobotType did not exist. When
// MSRS loades the config file, it does not populate any
// of the fields that are missing. Therefore the RobotType
// is null and this causes the code to crash later on.
if (_state.RobotType == null)
_state.RobotType = "Pioneer3DX";
// Now initialize our internal copies of state info
// This is a little bit of insurance against a bad
// config file ...
// Copy as many textures as available up to the max
for (i = 0; (i < 16) && (i < _state.WallTextures.Length); i++)
{
_WallTextures[i] = _state.WallTextures[i];
}
// Fill any remaining textures with empty string
for ( ; i < 16; i++)
_WallTextures[i] = "";
// Copy as many colors as specified
// NOTE: The constructor for the State sets all of the
// colors to the standard ones, so any that are not
// specified will default to them.
for (i = 0; (i < 16) && (i < _state.WallColors.Length); i++)
{
_WallColors[i] = _state.WallColors[i];
}
// Fill any remaining colors with the defaults
for (; i < 16; i++)
_WallColors[i] = SoarMazeSimulatorState.DefaultColors[i];
// Copy as many heights as specified
for (i = 0; (i < 16) && (i < _state.HeightMap.Length); i++)
{
_WallHeights[i] = _state.HeightMap[i];
}
// Fill any remaining heights with the defaults
for (; i < 16; i++)
_WallHeights[i] = 5.0f;
// Copy as many weights as specified
for (i = 0; (i < 16) && (i < _state.MassMap.Length); i++)
{
_WallMasses[i] = _state.MassMap[i];
}
// Fill any remaining weights with the defaults
for (; i < 16; i++)
_WallMasses[i] = 0.0f;
// Copy as many sphere flags as specified
for (i = 0; (i < 16) && (i < _state.UseSphere.Length); i++)
{
_UseSphere[i] = _state.UseSphere[i];
}
// Fill any remaining flags with false
for (; i < 16; i++)
_UseSphere[i] = false;
if (_state.SphereScale <= 0.0f)
_state.SphereScale = 1.0f;
if (_state.HeightScale <= 0.0f)
_state.HeightScale = 1.0f;
// Copy back our private versions which might have the
// effect of extending the state
_state.WallColors = _WallColors;
_state.WallTextures = _WallTextures;
_state.HeightMap = _WallHeights;
_state.MassMap = _WallMasses;
_state.UseSphere = _UseSphere;
// Now save the State
// This creates a new file the first time it is run
// Later, it re-reads the existing file, but by then
// the file has been populated with the defaults
SaveState(_state);
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
// Cache references to simulation/rendering and physics
_physicsEngine = PhysicsEngine.GlobalInstance;
_simEnginePort = SimulationEngine.GlobalInstancePort;
// TT Dec-2006 - Set up the initial camera view
SetupCamera();
// Add objects (entities) in our simulated world
PopulateWorld();
}
public virtual IEnumerator<ITask> ReplaceHandler(Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
