/// <summary>
/// Sets the road network
/// </summary>
/// <param name="roads"></param>
private void SetRoadNetwork(ArbiterRoadNetwork roads)
{
// set network
RemoraCommon.RoadNetwork = roads;
// clean out display
this.roadDisplay1.RemoveDisplayObjectType(this.roadDisplay1.RoadNetworkFilter);
// add to display
this.roadDisplay1.AddDisplayObjectRange(roads.DisplayObjects);
// notify
RemoraOutput.WriteLine("Set Road Network", OutputType.Remora);
// test mission
if (RemoraCommon.Mission != null)
{
RemoraOutput.WriteLine("Testing Previously Loaded Mission aginst new Road Network, Removing and Reloading", OutputType.Remora);
ArbiterMissionDescription tmp = RemoraCommon.Mission;
RemoraCommon.Mission = null;
this.SetMission(tmp);
}
// redraw
this.roadDisplay1.Invalidate();
}
/// <summary>
/// Updates the ai with a new mission if can
/// </summary>
/// <param name="mission"></param>
/// <returns></returns>
public override bool UpdateMission(ArbiterMissionDescription mission)
{
try
{
ArbiterOutput.Output("Setting new mission");
CarMode carMode = CoreCommon.Communications.GetCarMode();
if (carMode == CarMode.Pause || carMode == CarMode.Human)
{
if (mission != null)
{
// create roads and mission
CoreCommon.RoadNetwork.SetSpeedLimits(mission.SpeedLimits);
this.arbiterMissionDescription = mission;
CoreCommon.Mission = mission;
return(true);
}
else
{
ArbiterOutput.Output("Mission must have value");
}
}
else
{
ArbiterOutput.Output("Cannot set mission when car is in CarMode: " + carMode.ToString());
}
}
catch (Exception ex)
{
ArbiterOutput.Output("UpdateMission(ArbiterMissionDescription mission) Failed", ex);
}
return(false);
}
/// <summary>
/// Sets the road network and mission for the car
/// </summary>
/// <param name="roadNetwork"></param>
/// <param name="mission"></param>
public override void SetRoadNetworkAndMission(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission)
{
this.roadNetwork = roadNetwork;
this.mission = mission;
this.roadNetwork.SetSpeedLimits(mission.SpeedLimits);
this.world = new WorldService(this.roadNetwork);
}
/// <summary>
/// Begin simulation
/// </summary>
public void BeginSimulation(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission)
{
try
{
// startup clients
foreach (KeyValuePair <SimVehicleId, SimVehicle> vhcs in this.Vehicles)
{
// set road and mission
SimulatorClientFacade scf = this.simulationMain.clientHandler.AvailableClients[this.simulationMain.clientHandler.VehicleToClientMap[vhcs.Key]];
// check if we need to randomize mission
if (vhcs.Value.RandomMission)
{
// create random mission
Queue <ArbiterCheckpoint> checks = new Queue <ArbiterCheckpoint>(60);
int num = mission.MissionCheckpoints.Count - 1;
ArbiterCheckpoint[] checkPointArray = mission.MissionCheckpoints.ToArray();
Random r = new Random();
for (int i = 0; i < 60; i++)
{
checks.Enqueue(checkPointArray[r.Next(num)]);
}
ArbiterMissionDescription amd = new ArbiterMissionDescription(checks, mission.SpeedLimits);
// set road , mission
scf.SetRoadNetworkAndMission(roadNetwork, amd);
}
// otherwise no random mission
else
{
// set road , mission
scf.SetRoadNetworkAndMission(roadNetwork, mission);
}
// startup ai
bool b = scf.StartupVehicle();
// check for false
if (!b)
{
Console.WriteLine("Error starting simulation for vehicle id: " + vhcs.Key.ToString());
return;
}
}
}
catch (Exception e)
{
Console.WriteLine("Error starting simulation: \n" + e.ToString());
return;
}
// run sim
this.RunSimulation();
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="arn"></param>
/// <param name="mission"></param>
/// <param name="currentCenter"></param>
public MissionToolbox(ArbiterRoadNetwork arn, ArbiterMissionDescription mission, Coordinates currentCenter)
{
InitializeComponent();
this.RoadNetwork = arn;
this.Mission = mission;
this.roadDisplay1.Center(currentCenter);
this.CreateMissionCheckpoints = new List <object>();
this.currentMissionComboBox.Click += new EventHandler(currentMissionComboBox_Click);
this.selectMissionCheckpointComboBox.Click += new EventHandler(selectMissionCheckpointComboBox_Click);
this.CreateMissionNonDefaultSpeeds = new Dictionary <string, ArbiterSpeedLimit>();
}
/// <summary>
/// Open a mission from a file
/// </summary>
/// <param name="p"></param>
private ArbiterMissionDescription OpenMissionFromFile(string p)
{
// create file
FileStream fs = new FileStream(p, FileMode.Open);
// serializer
BinaryFormatter bf = new BinaryFormatter();
// serialize
ArbiterMissionDescription amd = (ArbiterMissionDescription)bf.Deserialize(fs);
// release holds
fs.Dispose();
return(amd);
}
/// <summary>
/// Starts the vehicle
/// </summary>
/// <param name="arbiterRoadNetwork"></param>
/// <param name="arbiterMissionDescription"></param>
/// <returns></returns>
public bool StartupVehicle(ArbiterRoadNetwork arbiterRoadNetwork, ArbiterMissionDescription arbiterMissionDescription)
{
try
{
// get arbiter
this.client.ClientArbiter = (ArbiterAdvancedRemote)this.objectDirectory.Resolve("ArbiterAdvancedRemote_" + SimulatorClient.MachineName);
// set road and mission and spool up ai to wait for initial data stream
this.client.ClientArbiter.JumpstartArbiter(arbiterRoadNetwork, arbiterMissionDescription);
// success!
return(true);
}
catch (Exception e)
{
Console.WriteLine("Error spooling up ai: \n" + e.ToString());
return(false);
}
}
/// <summary>
/// Jumpstarts the ai with a new road network and mission if we can
/// </summary>
/// <param name="roadNetwork"></param>
/// <param name="mission"></param>
public override void JumpstartArbiter(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission)
{
try
{
ArbiterOutput.Output("Jumpstarting Arbiter");
// warn if carmode not correct
CarMode carMode = CoreCommon.Communications.GetCarMode();
if (carMode != CarMode.Pause && carMode != CarMode.Human)
{
ArbiterOutput.Output("Warning: Vehicle is in CarMode: " + carMode.ToString());
}
if (roadNetwork != null && mission != null)
{
// destroy intelligence if exists
this.intelligenceCore.DestroyIntelligence();
// create roads and mission
roadNetwork.SetSpeedLimits(mission.SpeedLimits);
roadNetwork.GenerateVehicleAreas();
this.arbiterRoadNetwork = roadNetwork;
this.arbiterMissionDescription = mission;
CoreCommon.RoadNetwork = roadNetwork;
CoreCommon.Mission = mission;
// startup ai
this.intelligenceCore.Jumpstart();
}
else
{
ArbiterOutput.Output("RoadNetwork and Mission must both have value");
}
}
catch (Exception ex)
{
ArbiterOutput.Output("JumpstartArbiter(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission) Failed", ex);
}
}
/// <summary>
/// Sets mission
/// </summary>
/// <param name="mission"></param>
private void SetMission(ArbiterMissionDescription mission)
{
// set mission
RemoraCommon.Mission = mission;
// set speeds if can
if (RemoraCommon.RoadNetwork != null)
{
try
{
RemoraCommon.RoadNetwork.SetSpeedLimits(mission.SpeedLimits);
}
catch (Exception e)
{
RemoraOutput.WriteLine("Error setting road network speed limits from inputted mission: " + e.ToString(), OutputType.Remora);
}
RemoraOutput.WriteLine("Successfully loaded mission, passed speed limit set check", OutputType.Remora);
int numAreas = RemoraCommon.RoadNetwork.ArbiterSegments.Count + RemoraCommon.RoadNetwork.ArbiterZones.Count;
int numSpeeds = RemoraCommon.Mission.SpeedLimits.Count;
if (numAreas != numSpeeds)
{
RemoraOutput.WriteLine("Warning: Number of Speed Limits: " + numSpeeds.ToString() + " not equal to number of network Areas: " + numAreas.ToString(), OutputType.Remora);
}
else
{
RemoraOutput.WriteLine("Number of Speed Limits: " + numSpeeds.ToString() + " equal to number of network Areas: " + numAreas.ToString(), OutputType.Remora);
}
}
else
{
RemoraOutput.WriteLine("Cannot load Mission before Road Network", OutputType.Remora);
}
}
/// <summary> /// Sets the road network and mission for the car /// </summary> /// <param name="roadNetwork"></param> /// <param name="mission"></param> public abstract void SetRoadNetworkAndMission(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission);
/// <summary> /// Udpates teh ai's mission /// </summary> /// <param name="mission"></param> /// <returns></returns> /// <remarks>Vehicle needs to be in pause</remarks> public abstract bool UpdateMission(ArbiterMissionDescription mission);
public abstract void JumpstartArbiter(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission);
