public void SetCommand(double?engineTorque, double?brakePressue, double?steering, TransmissionGear?gear) { if (Settings.TestMode) { return; } if (steering.HasValue && Math.Abs(steering.Value) > TahoeParams.SW_max) { OperationalTrace.WriteWarning("steering out of range: received {0}, limit {1}", steering.Value, TahoeParams.SW_max); } //Console.WriteLine("command--steering: {0}, torque: {1}, brake: {2}, gear: {3}", steering, engineTorque, brakePressue, gear); try { dynamicsSim.SetSteeringBrakeThrottle(steering, engineTorque, brakePressue); if (gear.HasValue) { dynamicsSim.SetTransmissionGear(gear.Value); } } catch (SocketException) { // get the DynamicsSimFacade dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName); throw; } }
public FullSimTransport() { // initialize the car mode to unknown so that we raised the changed event immediately lastCarMode = CarMode.Unknown; // get the DynamicsSimFacade dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName); // set the sim state channel simStateChannel = CommBuilder.GetChannel(OperationalSimVehicleState.ChannelName); obstacleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.UntrackedClusterChannelName); vehicleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.TrackedClusterChannelName); // add ourself as a listern simStateChannel.Subscribe(this); obstacleChannel.Subscribe(this); vehicleChannel.Subscribe(this); }
public void SetCommand(double? engineTorque, double? brakePressue, double? steering, TransmissionGear? gear) { if (Settings.TestMode) return; if (steering.HasValue && Math.Abs(steering.Value) > TahoeParams.SW_max) { OperationalTrace.WriteWarning("steering out of range: received {0}, limit {1}", steering.Value, TahoeParams.SW_max); } //Console.WriteLine("command--steering: {0}, torque: {1}, brake: {2}, gear: {3}", steering, engineTorque, brakePressue, gear); try { dynamicsSim.SetSteeringBrakeThrottle(steering, engineTorque, brakePressue); if (gear.HasValue) { dynamicsSim.SetTransmissionGear(gear.Value); } } catch (SocketException) { // get the DynamicsSimFacade dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName); throw; } }