示例#1
0
        /// <summary>
        /// Sets the ai mode
        /// </summary>
        /// <param name="mode"></param>
        public override void SetAiMode(ArbiterMode mode)
        {
            try
            {
                ArbiterOutput.Output("Setting ai mode to ArbiterMode: " + mode.ToString());

                switch (mode)
                {
                case ArbiterMode.Run:
                    this.intelligenceCore.RunIntelligence();
                    break;

                case ArbiterMode.Pause:
                    this.intelligenceCore.PauseIntelligence();
                    break;

                case ArbiterMode.Stop:
                    this.intelligenceCore.DestroyIntelligence();
                    break;
                }
            }
            catch (Exception ex)
            {
                ArbiterOutput.Output("SetAiMode(ArbiterMode mode) Failed", ex);
            }
        }
示例#2
0
        /// <summary>
        /// Shuts down the old ai thread
        /// </summary>
        public void DestroyIntelligence()
        {
            // notify
            ArbiterOutput.Output("Attemptimg to Destroy Old Core Intelligence, Please Wait");

            int count = 0;

            // destroy old arbiter intelligence
            while (this.CoreIntelligenceThread != null && this.CoreIntelligenceThread.IsAlive)
            {
                this.arbiterMode = ArbiterMode.Stop;
                Thread.Sleep(100);
                count++;

                if (count > 50)
                {
                    try
                    {
                        ArbiterOutput.Output("Cold not normally shutdown old intelligence, Aborting the core intelligence thread");
                        this.CoreIntelligenceThread.Abort();
                    }
                    catch (Exception)
                    {
                    }

                    // chill and wait for intelligence to exit
                    Thread.Sleep(1000);
                }
            }

            // notify
            ArbiterOutput.Output("No Intelligence Running, Destruction Successful");
        }
示例#3
0
        /// <summary>
        /// Jumpstarts the intelligence core
        /// </summary>
        public void Jumpstart()
        {
            // make sure to remove old
            this.DestroyIntelligence();

            // start new
            ArbiterOutput.Output("Starting New Core Intelligence Thread");
            this.arbiterMode = ArbiterMode.Run;

            // start intelligence thread
            CoreIntelligenceThread              = new Thread(CoreIntelligence);
            CoreIntelligenceThread.Priority     = ThreadPriority.AboveNormal;
            CoreIntelligenceThread.IsBackground = true;
            CoreIntelligenceThread.Start();

            // notify
            ArbiterOutput.Output("Core Intelligence Thread Jumpstarted");
        }
示例#4
0
        /// <summary>
        /// Runs intelligence
        /// </summary>
        public void RunIntelligence()
        {
            ArbiterOutput.Output("Attempting to switch Core Intelligence to run mode");

            if (this.CoreIntelligenceThread != null)
            {
                if (this.CoreIntelligenceThread.ThreadState != System.Threading.ThreadState.Running)
                {
                    ArbiterOutput.Output("Core Intelligence set to run mode");
                    this.arbiterMode = ArbiterMode.Run;
                }
                else
                {
                    ArbiterOutput.Output("Intelligence already running");
                }
            }
            else
            {
                ArbiterOutput.Output("Intelligence Not Initialized");
            }
        }
 public abstract void Restart(RndfNetwork rndf, Mdf mdf, ArbiterMode mode);
 public abstract void Restart(RndfNetwork rndf, Mdf mdf, ArbiterMode mode);
 public abstract void SetAiMode(ArbiterMode mode);
示例#8
0
        /// <summary>
        /// Intelligence thread
        /// </summary>
        public void CoreIntelligence()
        {
            // wait for entry data
            this.WaitForEntryData();

            // jumpstart behavioral
            this.Behavioral.Jumpstart();

            // timer, run at 10Hz
            MMWaitableTimer cycleTimer = new MMWaitableTimer(100);

            // stopwatch
            Stopwatch stopwatch  = new Stopwatch();
            Stopwatch stopwatch2 = new Stopwatch();

            // set initial state
            CoreCommon.CorePlanningState = new StartUpState();

            // send the projection to the operational components
            CoreCommon.Communications.TrySendProjection();
            CoreCommon.Communications.TryOperationalTestFacadeConnect();

            // always run
            while (this.arbiterMode == ArbiterMode.Run || this.arbiterMode == ArbiterMode.Pause)
            {
                try
                {
                    // make sure we run at 10Hz
                    cycleTimer.WaitEvent.WaitOne();

                    if (this.arbiterMode == ArbiterMode.Run)
                    {
                        // start stopwatch
                        stopwatch.Reset();
                        stopwatch.Start();

                        // reset ai information
                        CoreCommon.CurrentInformation = new ArbiterInformation();

                        // check for null current state
                        if (CoreCommon.CorePlanningState == null)
                        {
                            CoreCommon.CorePlanningState = new StartUpState();
                            throw new Exception("CoreCommon.CorePlanningState == null, returning to startup state");
                        }

                        // get goal
                        INavigableNode goal = StateReasoning.FilterGoal(CoreCommon.Communications.GetVehicleState());

                        // filter the state for needed changes
                        CoreCommon.CorePlanningState = StateReasoning.FilterStates(CoreCommon.Communications.GetCarMode(), Behavioral);

                        // set current state
                        CoreCommon.CurrentInformation.CurrentState     = CoreCommon.CorePlanningState.ShortDescription();
                        CoreCommon.CurrentInformation.CurrentStateInfo = CoreCommon.CorePlanningState.StateInformation();

                        // plan the maneuver
                        Maneuver m = Behavioral.Plan(
                            CoreCommon.Communications.GetVehicleState(),
                            CoreCommon.Communications.GetVehicleSpeed().Value,
                            CoreCommon.Communications.GetObservedVehicles(),
                            CoreCommon.Communications.GetObservedObstacles(),
                            CoreCommon.Communications.GetCarMode(),
                            goal);

                        // set next state
                        CoreCommon.CorePlanningState                = m.PrimaryState;
                        CoreCommon.CurrentInformation.NextState     = CoreCommon.CorePlanningState.ShortDescription();
                        CoreCommon.CurrentInformation.NextStateInfo = CoreCommon.CorePlanningState.StateInformation();

                        // get ignorable
                        List <int> toIgnore = new List <int>();
                        if (m.PrimaryBehavior is StayInLaneBehavior)
                        {
                            StayInLaneBehavior silb = (StayInLaneBehavior)m.PrimaryBehavior;

                            if (silb.IgnorableObstacles != null)
                            {
                                toIgnore.AddRange(silb.IgnorableObstacles);
                            }
                            else
                            {
                                ArbiterOutput.Output("stay in lane ignorable obstacles null");
                            }
                        }
                        else if (m.PrimaryBehavior is SupraLaneBehavior)
                        {
                            SupraLaneBehavior slb = (SupraLaneBehavior)m.PrimaryBehavior;

                            if (slb.IgnorableObstacles != null)
                            {
                                toIgnore.AddRange(slb.IgnorableObstacles);
                            }
                            else
                            {
                                ArbiterOutput.Output("Supra lane ignorable obstacles null");
                            }
                        }
                        CoreCommon.CurrentInformation.FVTIgnorable = toIgnore.ToArray();

                        // reset the execution stopwatch
                        this.executionStopwatch.Stop();
                        this.executionStopwatch.Reset();
                        this.executionStopwatch.Start();

                        // send behavior to communications
                        CoreCommon.Communications.Execute(m.PrimaryBehavior);
                        CoreCommon.CurrentInformation.NextBehavior          = m.PrimaryBehavior.ToShortString();
                        CoreCommon.CurrentInformation.NextBehaviorInfo      = m.PrimaryBehavior.ShortBehaviorInformation();
                        CoreCommon.CurrentInformation.NextSpeedCommand      = m.PrimaryBehavior.SpeedCommandString();
                        CoreCommon.CurrentInformation.NextBehaviorTimestamp = m.PrimaryBehavior.TimeStamp.ToString("F6");
                        #region Turn Decorators
                        // set turn signal decorators
                        if (m.PrimaryBehavior.Decorators != null)
                        {
                            bool foundDec = false;

                            foreach (BehaviorDecorator bd in m.PrimaryBehavior.Decorators)
                            {
                                if (bd is TurnSignalDecorator)
                                {
                                    if (!foundDec)
                                    {
                                        TurnSignalDecorator tsd = (TurnSignalDecorator)bd;
                                        foundDec = true;
                                        CoreCommon.CurrentInformation.NextBehaviorTurnSignals = tsd.Signal.ToString();
                                    }
                                    else
                                    {
                                        CoreCommon.CurrentInformation.NextBehaviorTurnSignals = "Multiple!";
                                    }
                                }
                            }
                        }
                        #endregion

                        // filter the lane state
                        if (CoreCommon.CorePlanningState.UseLaneAgent)
                        {
                            this.coreLaneAgent.UpdateInternal(CoreCommon.CorePlanningState.InternalLaneState, CoreCommon.CorePlanningState.ResetLaneAgent);
                            this.coreLaneAgent.UpdateEvidence(CoreCommon.Communications.GetVehicleState().Area);
                            CoreCommon.CorePlanningState = this.coreLaneAgent.UpdateFilter();
                        }

                        // log and send information to remote listeners
                        CoreCommon.Communications.UpdateInformation(CoreCommon.CurrentInformation);

                        // check cycle time
                        stopwatch.Stop();
                        if (stopwatch.ElapsedMilliseconds > 100 || global::UrbanChallenge.Arbiter.Core.ArbiterSettings.Default.PrintCycleTimesAlways)
                        {
                            ArbiterOutput.Output("Cycle t: " + stopwatch.ElapsedMilliseconds.ToString());
                        }
                    }
                }
                catch (Exception e)
                {
                    // notify exception made its way up to the core thread
                    ArbiterOutput.Output("\n\n");
                    ArbiterOutput.Output("Core Intelligence Thread caught exception!! \n");
                    ArbiterOutput.Output(" Exception type: " + e.GetType().ToString());
                    ArbiterOutput.Output(" Exception thrown by: " + e.TargetSite + "\n");
                    ArbiterOutput.Output(" Stack Trace: " + e.StackTrace + "\n");

                    if (e is NullReferenceException)
                    {
                        NullReferenceException nre = (NullReferenceException)e;
                        ArbiterOutput.Output("Null reference exception from: " + nre.Source);
                    }

                    ArbiterOutput.Output("\n");

                    if (this.executionStopwatch.ElapsedMilliseconds / 1000.0 > 3.0)
                    {
                        ArbiterOutput.Output(" Time since last execution more then 3 seconds");
                        ArbiterOutput.Output(" Resetting and Restarting Intelligence");
                        try
                        {
                            Thread tmp = new Thread(ResetThread);
                            tmp.IsBackground = true;
                            this.arbiterMode = ArbiterMode.Stop;
                            tmp.Start();
                        }
                        catch (Exception ex)
                        {
                            ArbiterOutput.Output("\n\n");
                            ArbiterOutput.Output("Core Intelligence Thread caught exception attempting to restart itself1!!!!HOLYCRAP!! \n");
                            ArbiterOutput.Output(" Exception thrown by: " + ex.TargetSite + "\n");
                            ArbiterOutput.Output(" Stack Trace: " + ex.StackTrace + "\n");
                            ArbiterOutput.Output(" Resetting planning state to startup");
                            ArbiterOutput.Output("\n");
                            CoreCommon.CorePlanningState = new StartUpState();
                        }
                    }
                }
            }
        }
示例#9
0
 /// <summary>
 /// Pause intelligence
 /// </summary>
 public void PauseIntelligence()
 {
     ArbiterOutput.Output("Paused Intelligence");
     this.arbiterMode = ArbiterMode.Pause;
 }
        /// <summary>
        /// Intelligence thread
        /// </summary>
        public void CoreIntelligence()
        {
            // wait for entry data
            this.WaitForEntryData();

            // jumpstart behavioral
            this.Behavioral.Jumpstart();

            // timer, run at 10Hz
            MMWaitableTimer cycleTimer = new MMWaitableTimer(100);

            // stopwatch
            Stopwatch stopwatch = new Stopwatch();
            Stopwatch stopwatch2 = new Stopwatch();

            // set initial state
            CoreCommon.CorePlanningState = new StartUpState();

            // send the projection to the operational components
            CoreCommon.Communications.TrySendProjection();
            CoreCommon.Communications.TryOperationalTestFacadeConnect();

            // always run
            while (this.arbiterMode == ArbiterMode.Run || this.arbiterMode == ArbiterMode.Pause)
            {
                try
                {
                    // make sure we run at 10Hz
                    cycleTimer.WaitEvent.WaitOne();

                    if (this.arbiterMode == ArbiterMode.Run)
                    {
                        // start stopwatch
                        stopwatch.Reset();
                        stopwatch.Start();

                        // reset ai information
                        CoreCommon.CurrentInformation = new ArbiterInformation();

                        // check for null current state
                        if (CoreCommon.CorePlanningState == null)
                        {
                            CoreCommon.CorePlanningState = new StartUpState();
                            throw new Exception("CoreCommon.CorePlanningState == null, returning to startup state");
                        }

                        // get goal
                        INavigableNode goal = StateReasoning.FilterGoal(CoreCommon.Communications.GetVehicleState());

                        // filter the state for needed changes
                        CoreCommon.CorePlanningState = StateReasoning.FilterStates(CoreCommon.Communications.GetCarMode(), Behavioral);

                        // set current state
                        CoreCommon.CurrentInformation.CurrentState = CoreCommon.CorePlanningState.ShortDescription();
                        CoreCommon.CurrentInformation.CurrentStateInfo = CoreCommon.CorePlanningState.StateInformation();

                        // plan the maneuver
                        Maneuver m = Behavioral.Plan(
                            CoreCommon.Communications.GetVehicleState(),
                            CoreCommon.Communications.GetVehicleSpeed().Value,
                            CoreCommon.Communications.GetObservedVehicles(),
                            CoreCommon.Communications.GetObservedObstacles(),
                            CoreCommon.Communications.GetCarMode(),
                            goal);

                        // set next state
                        CoreCommon.CorePlanningState = m.PrimaryState;
                        CoreCommon.CurrentInformation.NextState = CoreCommon.CorePlanningState.ShortDescription();
                        CoreCommon.CurrentInformation.NextStateInfo = CoreCommon.CorePlanningState.StateInformation();

                        // get ignorable
                        List<int> toIgnore = new List<int>();
                        if (m.PrimaryBehavior is StayInLaneBehavior)
                        {
                            StayInLaneBehavior silb = (StayInLaneBehavior)m.PrimaryBehavior;

                            if(silb.IgnorableObstacles != null)
                                toIgnore.AddRange(silb.IgnorableObstacles);
                            else
                                ArbiterOutput.Output("stay in lane ignorable obstacles null");
                        }
                        else if (m.PrimaryBehavior is SupraLaneBehavior)
                        {
                            SupraLaneBehavior slb = (SupraLaneBehavior)m.PrimaryBehavior;

                            if (slb.IgnorableObstacles != null)
                                toIgnore.AddRange(slb.IgnorableObstacles);
                            else
                                ArbiterOutput.Output("Supra lane ignorable obstacles null");
                        }
                        CoreCommon.CurrentInformation.FVTIgnorable = toIgnore.ToArray();

                        // reset the execution stopwatch
                        this.executionStopwatch.Stop();
                        this.executionStopwatch.Reset();
                        this.executionStopwatch.Start();

                        // send behavior to communications
                        CoreCommon.Communications.Execute(m.PrimaryBehavior);
                        CoreCommon.CurrentInformation.NextBehavior = m.PrimaryBehavior.ToShortString();
                        CoreCommon.CurrentInformation.NextBehaviorInfo = m.PrimaryBehavior.ShortBehaviorInformation();
                        CoreCommon.CurrentInformation.NextSpeedCommand = m.PrimaryBehavior.SpeedCommandString();
                        CoreCommon.CurrentInformation.NextBehaviorTimestamp = m.PrimaryBehavior.TimeStamp.ToString("F6");
                        #region Turn Decorators
                        // set turn signal decorators
                        if (m.PrimaryBehavior.Decorators != null)
                        {
                            bool foundDec = false;

                            foreach (BehaviorDecorator bd in m.PrimaryBehavior.Decorators)
                            {
                                if (bd is TurnSignalDecorator)
                                {
                                    if (!foundDec)
                                    {
                                        TurnSignalDecorator tsd = (TurnSignalDecorator)bd;
                                        foundDec = true;
                                        CoreCommon.CurrentInformation.NextBehaviorTurnSignals = tsd.Signal.ToString();
                                    }
                                    else
                                    {
                                        CoreCommon.CurrentInformation.NextBehaviorTurnSignals = "Multiple!";
                                    }
                                }
                            }
                        }
                        #endregion

                        // filter the lane state
                        if(CoreCommon.CorePlanningState.UseLaneAgent)
                        {
                            this.coreLaneAgent.UpdateInternal(CoreCommon.CorePlanningState.InternalLaneState, CoreCommon.CorePlanningState.ResetLaneAgent);
                            this.coreLaneAgent.UpdateEvidence(CoreCommon.Communications.GetVehicleState().Area);
                            CoreCommon.CorePlanningState = this.coreLaneAgent.UpdateFilter();
                        }

                        // log and send information to remote listeners
                        CoreCommon.Communications.UpdateInformation(CoreCommon.CurrentInformation);

                        // check cycle time
                        stopwatch.Stop();
                        if (stopwatch.ElapsedMilliseconds > 100 || global::UrbanChallenge.Arbiter.Core.ArbiterSettings.Default.PrintCycleTimesAlways)
                            ArbiterOutput.Output("Cycle t: " + stopwatch.ElapsedMilliseconds.ToString());
                    }
                }
                catch (Exception e)
                {
                    // notify exception made its way up to the core thread
                    ArbiterOutput.Output("\n\n");
                    ArbiterOutput.Output("Core Intelligence Thread caught exception!! \n");
                    ArbiterOutput.Output(" Exception type: " + e.GetType().ToString());
                    ArbiterOutput.Output(" Exception thrown by: " + e.TargetSite + "\n");
                    ArbiterOutput.Output(" Stack Trace: " + e.StackTrace + "\n");

                    if (e is NullReferenceException)
                    {
                        NullReferenceException nre = (NullReferenceException)e;
                        ArbiterOutput.Output("Null reference exception from: " + nre.Source);
                    }

                    ArbiterOutput.Output("\n");

                    if (this.executionStopwatch.ElapsedMilliseconds / 1000.0 > 3.0)
                    {
                        ArbiterOutput.Output(" Time since last execution more then 3 seconds");
                        ArbiterOutput.Output(" Resetting and Restarting Intelligence");
                        try
                        {
                            Thread tmp = new Thread(ResetThread);
                            tmp.IsBackground = true;
                            this.arbiterMode = ArbiterMode.Stop;
                            tmp.Start();
                        }
                        catch (Exception ex)
                        {
                            ArbiterOutput.Output("\n\n");
                            ArbiterOutput.Output("Core Intelligence Thread caught exception attempting to restart itself1!!!!HOLYCRAP!! \n");
                            ArbiterOutput.Output(" Exception thrown by: " + ex.TargetSite + "\n");
                            ArbiterOutput.Output(" Stack Trace: " + ex.StackTrace + "\n");
                            ArbiterOutput.Output(" Resetting planning state to startup");
                            ArbiterOutput.Output("\n");
                            CoreCommon.CorePlanningState = new StartUpState();
                        }
                    }
                }
            }
        }
        /// <summary>
        /// Sets the ai mode
        /// </summary>
        /// <param name="mode"></param>
        public override void SetAiMode(ArbiterMode mode)
        {
            try
            {
                ArbiterOutput.Output("Setting ai mode to ArbiterMode: " + mode.ToString());

                switch (mode)
                {
                    case ArbiterMode.Run:
                        this.intelligenceCore.RunIntelligence();
                        break;
                    case ArbiterMode.Pause:
                        this.intelligenceCore.PauseIntelligence();
                        break;
                    case ArbiterMode.Stop:
                        this.intelligenceCore.DestroyIntelligence();
                        break;
                }
            }
            catch (Exception ex)
            {
                ArbiterOutput.Output("SetAiMode(ArbiterMode mode) Failed", ex);
            }
        }
        /// <summary>
        /// Runs intelligence
        /// </summary>
        public void RunIntelligence()
        {
            ArbiterOutput.Output("Attempting to switch Core Intelligence to run mode");

            if (this.CoreIntelligenceThread != null)
            {
                if (this.CoreIntelligenceThread.ThreadState != System.Threading.ThreadState.Running)
                {
                    ArbiterOutput.Output("Core Intelligence set to run mode");
                    this.arbiterMode = ArbiterMode.Run;
                }
                else
                {
                    ArbiterOutput.Output("Intelligence already running");
                }
            }
            else
            {
                ArbiterOutput.Output("Intelligence Not Initialized");
            }
        }
 /// <summary>
 /// Pause intelligence
 /// </summary>
 public void PauseIntelligence()
 {
     ArbiterOutput.Output("Paused Intelligence");
     this.arbiterMode = ArbiterMode.Pause;
 }
        /// <summary>
        /// Jumpstarts the intelligence core
        /// </summary>
        public void Jumpstart()
        {
            // make sure to remove old
            this.DestroyIntelligence();

            // start new
            ArbiterOutput.Output("Starting New Core Intelligence Thread");
            this.arbiterMode = ArbiterMode.Run;

            // start intelligence thread
            CoreIntelligenceThread = new Thread(CoreIntelligence);
            CoreIntelligenceThread.Priority = ThreadPriority.AboveNormal;
            CoreIntelligenceThread.IsBackground = true;
            CoreIntelligenceThread.Start();

            // notify
            ArbiterOutput.Output("Core Intelligence Thread Jumpstarted");
        }
        /// <summary>
        /// Shuts down the old ai thread
        /// </summary>
        public void DestroyIntelligence()
        {
            // notify
            ArbiterOutput.Output("Attemptimg to Destroy Old Core Intelligence, Please Wait");

            int count = 0;

            // destroy old arbiter intelligence
            while (this.CoreIntelligenceThread != null && this.CoreIntelligenceThread.IsAlive)
            {
                this.arbiterMode = ArbiterMode.Stop;
                Thread.Sleep(100);
                count++;

                if (count > 50)
                {
                    try
                    {
                        ArbiterOutput.Output("Cold not normally shutdown old intelligence, Aborting the core intelligence thread");
                        this.CoreIntelligenceThread.Abort();
                    }
                    catch (Exception)
                    {
                    }

                    // chill and wait for intelligence to exit
                    Thread.Sleep(1000);
                }
            }

            // notify
            ArbiterOutput.Output("No Intelligence Running, Destruction Successful");
        }
示例#16
0
 public abstract void SetAiMode(ArbiterMode mode);