public AEB(VirtualFunctionBus virtualFunctionBus = null) : base(virtualFunctionBus)
{
this.virtualFunctionBus = virtualFunctionBus;
this.controlledCar = World.Instance.ControlledCar;
this.AEBActionPacket = new AEBAction();
virtualFunctionBus.AEBActionPacket = this.AEBActionPacket;
}
public MainWindow()
{
ViewModel = new MainWindowViewModel(world);
InitializeComponent();
keyboardHandler = new KeyboardHandler(tickInterval);
keyboardHandler.HoldableKeys.Add(new HoldableKey(Key.Left, (duration) => World.Instance.ControlledCar.X -= 5, null));
keyboardHandler.HoldableKeys.Add(new HoldableKey(Key.Right, (duration) => World.Instance.ControlledCar.X += 5, null));
keyboardHandler.HoldableKeys.Add(new HoldableKey(Key.Up, (duration) => World.Instance.ControlledCar.Y -= 5, null));
keyboardHandler.HoldableKeys.Add(new HoldableKey(Key.Down, (duration) => World.Instance.ControlledCar.Y += 5, null));
hmiDebug = new HMIDebug();
keyboardHandler.PressableKeys.Add(new PressableKey(Key.D1, () => hmiDebug.OnDebugAction(1)));
keyboardHandler.PressableKeys.Add(new PressableKey(Key.D2, () => hmiDebug.OnDebugAction(2)));
keyboardHandler.PressableKeys.Add(new PressableKey(Key.D3, () => hmiDebug.OnDebugAction(3)));
keyboardHandler.PressableKeys.Add(new PressableKey(Key.D4, () => hmiDebug.OnDebugAction(4)));
timer.Interval = TimeSpan.FromMilliseconds(tickInterval);
timer.Tick += logic;
timer.Start();
// make my dockpanel focus of this game
MainDockPanel.Focus();
world.Width = 2000;
world.Height = 1000;
var circle = new Circle(400, 200, "circle.png", 20);
circle.Width = 40;
circle.Height = 40;
circle.ZIndex = 2;
world.AddObject(circle);
var controlledCar = new Models.AutomatedCar(50, 50, "car_1_white.png");
controlledCar.Width = 108;
controlledCar.Height = 240;
// read the world object polygons, get the one for the car in a primitive way
// this is just a sample, the proecssing shold be much more general
string json_text = System.IO.File.ReadAllText($"Assets/worldobject_polygons.json");
dynamic stuff = JObject.Parse(json_text);
var geom = new Polyline();
// get the points from the json and add to the polyline
foreach (var i in stuff["objects"][0]["polys"][0]["points"])
{
geom.Points.Add(new Point(i[0].ToObject <int>(), i[1].ToObject <int>()));
}
// add polyline to the car
controlledCar.Geometry = geom;
world.AddObject(controlledCar);
world.ControlledCar = controlledCar;
controlledCar.Start();
}
public void BoardCameraSetSwitchBetweenOnAndOffWithNumerousInput()
{
World.Instance.ControlledCar = new AutomatedCar.Models.AutomatedCar(0, 0, "", 5, 5, new List <List <Avalonia.Point> >());
AutomatedCar.Models.AutomatedCar car = World.Instance.ControlledCar;
hmi.BoardCameraSet(true);
Assert.True(car.CameraVisible);
hmi.BoardCameraSet(false);
Assert.False(car.CameraVisible);
}
public void BoardCameraSetDoesNotChangeTheStateOfBoardCameraWithNoInput()
{
World.Instance.ControlledCar = new AutomatedCar.Models.AutomatedCar(0, 0, "", 5, 5, new List <List <Avalonia.Point> >());
AutomatedCar.Models.AutomatedCar car = World.Instance.ControlledCar;
var camera = car.CameraVisible;
hmi.BoardCameraSet(false);
Assert.Equal(camera, car.CameraVisible);
}
public void RadarSensorSetDoesNotChangeTheStateOfRadarSensorWithNoInput()
{
World.Instance.ControlledCar = new AutomatedCar.Models.AutomatedCar(0, 0, "", 5, 5, new List <List <Avalonia.Point> >());
AutomatedCar.Models.AutomatedCar car = World.Instance.ControlledCar;
var radar = car.RadarVisible;
hmi.RadarSensorSet(false);
Assert.Equal(radar, car.RadarVisible);
}
public void UtrasoundSensorSetDoesNotChangeTheStateOfUtrasoundSensorWithNoInput()
{
World.Instance.ControlledCar = new AutomatedCar.Models.AutomatedCar(0, 0, "", 5, 5, new List <List <Avalonia.Point> >());
AutomatedCar.Models.AutomatedCar car = World.Instance.ControlledCar;
var ultrasound = car.UltraSoundVisible;
hmi.UtrasoundSensorSet(false);
Assert.Equal(ultrasound, car.UltraSoundVisible);
}
public void PolygonSetDoesNotChangeTheStateOfPolygonWithNoInput()
{
World.Instance.ControlledCar = new AutomatedCar.Models.AutomatedCar(0, 0, "", 5, 5, new List <List <Avalonia.Point> >());
AutomatedCar.Models.AutomatedCar car = World.Instance.ControlledCar;
var polygon = car.PolygonVisible;
hmi.PolygonSet(false);
Assert.Equal(polygon, car.PolygonVisible);
}
public MainWindow()
{
ViewModel = new MainWindowViewModel(world);
InitializeComponent();
timer.Interval = TimeSpan.FromMilliseconds(20);
timer.Tick += logic;
timer.Start();
// make my dockpanel focus of this game
MainDockPanel.Focus();
world.Width = 2000;
world.Height = 1000;
var circle = new Circle(400, 200, "circle.png", 20);
circle.Width = 40;
circle.Height = 40;
circle.ZIndex = 2;
world.AddObject(circle);
var controlledCar = new Models.AutomatedCar(50, 50, "car_1_white.png");
controlledCar.Width = 108;
controlledCar.Height = 240;
// read the world object polygons, get the one for the car in a primitive way
// this is just a sample, the proecssing shold be much more general
string json_text = System.IO.File.ReadAllText($"src/AutomatedCar/Assets/worldobject_polygons.json");
dynamic stuff = JObject.Parse(json_text);
var geom = new Polyline();
// get the points from the json and add to the polyline
foreach (var i in stuff["objects"][0]["polys"][0]["points"])
{
geom.Points.Add(new Point(i[0].ToObject <int>(), i[1].ToObject <int>()));
}
// add polyline to the car
controlledCar.Geometry = geom;
world.AddObject(controlledCar);
world.ControlledCar = controlledCar;
controlledCar.Start();
}
public override void Process()
{
this.controlledCar = World.Instance.ControlledCar;
Run();
}
public AEB()
{
this.controlledCar = World.Instance.ControlledCar;
}
public PositionComputeObject(AutomatedCar.Models.AutomatedCar centerCar)
{
this.centerCar = centerCar;
}
public override void OnFrameworkInitializationCompleted()
{
if (this.ApplicationLifetime is IClassicDesktopStyleApplicationLifetime desktop)
{
JsonParser parser = new JsonParser();
parser.populateWorldObjects(World.Instance, $"AutomatedCar.Assets.test_world.json");
var world = World.Instance;
StreamReader reader = new StreamReader(Assembly.GetExecutingAssembly()
.GetManifestResourceStream($"AutomatedCar.Assets.worldobject_polygons.json"));
string json_text = reader.ReadToEnd();
dynamic stuff = JObject.Parse(json_text);
List <Avalonia.Point> points = new List <Avalonia.Point>();
foreach (var i in stuff["objects"][0]["polys"][0]["points"])
{
points.Add(new Avalonia.Point(i[0].ToObject <int>(), i[1].ToObject <int>()));
}
PolylineGeometry geom = new PolylineGeometry(points, false);
int W = 108;
int H = 240;
List <List <Point> > polyList = new List <List <Point> >();
polyList.Add(points);
AutomatedCar controlledCar = new Models.AutomatedCar(0, 0, "car_1_white", W, H, polyList);
controlledCar.RadarBrush = new SolidColorBrush(Color.Parse("blue"));
controlledCar.CameraBrush = new SolidColorBrush(Color.Parse("red"));
List <Avalonia.Point> sensorPoints = new List <Avalonia.Point>();
sensorPoints.Add(new Avalonia.Point(51, 239));
sensorPoints.Add(new Avalonia.Point(200, 100));
sensorPoints.Add(new Avalonia.Point(100, 300));
List <Avalonia.Point> cameraSensorPoints = new List <Avalonia.Point>();
cameraSensorPoints.Add(new Avalonia.Point(100, 200));
cameraSensorPoints.Add(new Avalonia.Point(300, 200));
cameraSensorPoints.Add(new Avalonia.Point(150, 300));
controlledCar.RadarGeometry = new PolylineGeometry(sensorPoints, false);
controlledCar.Geometry = geom;
controlledCar.RadarVisible = true;
controlledCar.UltraSoundVisible = true;
controlledCar.CameraGeometry = new PolylineGeometry(cameraSensorPoints, false);
controlledCar.CameraVisible = true;
world.AddObject(controlledCar);
world.ControlledCar = controlledCar;
controlledCar.Start();
NpcCar npcCar = new NpcCar("car_1_red", W, H, polyList, $"AutomatedCar.Assets.npcCarRoute.json");
npcCar.SetStartPosition();
world.AddObject(npcCar);
NpcPedestrian npcPedMan = new NpcPedestrian("man", W / 3, H / 3, polyList, $"AutomatedCar.Assets.npcPedRoute1.json");
npcPedMan.SetStartPosition();
world.AddObject(npcPedMan);
NpcPedestrian npcPedWoman = new NpcPedestrian("woman", W / 3, H / 3, polyList, $"AutomatedCar.Assets.npcPedRoute2.json");
npcPedWoman.SetStartPosition();
world.AddObject(npcPedWoman);
world.OnTick += npcCar.Move;
world.OnTick += npcPedMan.Move;
world.OnTick += npcPedWoman.Move;
Game game = new Game(world);
game.Start();
desktop.MainWindow = new MainWindow {
DataContext = new MainWindowViewModel(world)
};
}
base.OnFrameworkInitializationCompleted();
}
