public OperationalService(ICommandTransport transport, bool forwardPackets, bool listenPackets)
{
if (transport == null)
{
throw new ArgumentNullException("transport");
}
if (forwardPackets || listenPackets)
{
InitializePacketForwarding(listenPackets, forwardPackets);
}
// don't really need to initialize anything
if (Settings.TestMode)
{
helper = new TestHelper();
CommBuilder.BindObject(OperationalTestComponentFacade.ServiceName, helper);
}
else
{
CommBuilder.BindObject(OperationalFacade.ServiceName, this);
}
// set up the car mode channel
carModeChannel = CommBuilder.GetChannel(CarModeChannelName);
// register to receive run mode events
transport.CarModeChanged += new EventHandler <CarModeChangedEventArgs>(transport_CarModeChanged);
// mark that we haven't started yet
started = false;
}
public SceneEstimatorListener()
{
// get the local road estimate channel
this.localRoadChannel = CommBuilder.GetChannel(UrbanChallenge.Common.Sensors.LocalRoadEstimate.LocalRoadEstimate.ChannelName);
this.localRoadChannel2 = CommBuilder.GetChannel(UrbanChallenge.Common.Sensors.LocalRoadModelChannelNames.LocalRoadModelChannelName);
this.posteriorPoseChannel = CommBuilder.GetChannel(VehicleState.ChannelName);
this.clusterChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.AnyClusterChannelName);
this.sideObstacleChannel = CommBuilder.GetChannel("SideObstacleChannel");
this.sideRoadEdgeChannel = CommBuilder.GetChannel("SideRoadEdgeChannel");
this.roadBearingChannel = CommBuilder.GetChannel("RoadBearingChannel");
// add ourselves as a listener
this.localRoadChannel.Subscribe(this);
this.localRoadChannel2.Subscribe(this);
this.posteriorPoseChannel.Subscribe(this);
this.clusterChannel.Subscribe(this);
this.sideObstacleChannel.Subscribe(this);
this.sideRoadEdgeChannel.Subscribe(this);
this.roadBearingChannel.Subscribe(this);
}
