private double throttle; // throttle (between 0 and 1), the fraction of maximum torque commanded #endregion Fields #region Constructors public DynamicsSimVehicle(SimVehicleState vehicleState, ObjectDirectory od) { this.simVehicleState = vehicleState; InitializeState(); Connect(od); }
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> /// 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> /// 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> /// 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> /// 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> /// 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()); } }
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> /// 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"); } } } }
public static void ConfigureRemoting(string server) { RemotingConfiguration.Configure("net.xml", false); if (!string.IsNullOrEmpty(server)) { string uri = "tcp://" + server + ":12345/ObjectDirectory"; od = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), uri); } else { WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes(); // "Activate" the NameService singleton. od = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri); } }
/// <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); }