private static void BuildCommon()
{
// create the dataset
Services.Dataset = new Dataset.Source.DatasetSource("operational", "net.xml");
// initialize the communciations builder (gets object directory, channel factory)
CommBuilder.InitComm();
// create the tunable parameter table
using (FileStream fs = new FileStream("params.xml", FileMode.OpenOrCreate, FileAccess.Read)) {
Services.Params = new UrbanChallenge.OperationalUIService.Parameters.TunableParamTable(fs);
}
// build a default planar project
Services.Projection = new UrbanChallenge.Common.EarthModel.PlanarProjection(Settings.DefaultOrigin.X * Math.PI / 180.0, Settings.DefaultOrigin.Y * Math.PI / 180.0);
// create the relative pose builder
// 1000 entries should create 10 seconds of queue space
Services.RelativePose = new UrbanChallenge.Common.Pose.RelativeTransformBuilder(10000, true);
// build the tracked distance provider
Services.TrackedDistance = new OperationalLayer.Pose.TrackedDistance(10000);
// build the stopline provider
Services.Stopline = new OperationalLayer.Pose.StopLineService();
// build the absolute pose service
Services.AbsolutePose = new OperationalLayer.Pose.AbsolutePoseQueue(10000);
// build the absolute posterior pose service
Services.AbsolutePosteriorPose = new OperationalLayer.Pose.AbsolutePoseQueue(1000);
// build the lane model provider
Services.LaneModels = new OperationalLayer.RoadModel.LaneModelProvider();
// build the road model provider
Services.RoadModelProvider = new OperationalLayer.RoadModel.CombinedRoadModelProvider();
// Create the vehicle state provider
Services.StateProvider = new OperationalLayer.Pose.VehicleStateProvider();
// create the obstacle manager
Services.ObstacleManager = new ObstacleManager();
// build the UI service
Services.UIService = new UIService();
TimeoutMonitor.Initialize();
}