public static bool CreateVirtualVehicleAtOrigin(this IFleetManagerClient fleetManager, IPAddress ipAddress) { PoseData pose = new PoseData() { X = 0, Y = 0, Heading = 0 }; return(fleetManager.CreateVirtualVehicle(ipAddress, pose)); }
public void CreateVirtual_NaNPose() { PoseDto pose = new PoseDto() { X = double.NaN, Y = double.NaN, Heading = double.NaN }; IFleetManagerClient client = ClientFactory.CreateTcpFleetManagerClient(settings); IServiceCallResult result = client.CreateVirtualVehicle("192.168.0.1", pose); Assert.AreEqual(0, result.ServiceCode); }
public void TestVirtual(string ipV4String) { IFleetManagerClient client = ClientFactory.CreateTcpFleetManagerClient(settings); PoseDto poseDto = new PoseDto() { X = 0, Y = 0, Heading = 0 }; var result = client.CreateVirtualVehicle(IPAddress.Parse(ipV4String), poseDto); Assert.AreEqual(0, result.ServiceCode); }
/// <summary> /// Attempts to create virtual vehicles in the fleet manager for every AGV template in the collection. /// </summary> /// <param name="fleetManagerClient">Fleet manager client to use</param> public void Populate(IFleetManagerClient fleetManagerClient) { if (fleetManagerClient == null) { throw new ArgumentNullException("fleetManagerClient"); } lock (lockObject) { foreach (AGVTemplate agvTemplate in AGVTemplates.ToList()) { _ = fleetManagerClient.CreateVirtualVehicle(agvTemplate.GetIPV4Address(), agvTemplate.ToPoseDto()); } } }
public void CreateVirtual() { PoseDto pose = new PoseDto() { X = -3, Y = -2, Heading = 0 }; IPAddress ipAddress = IPAddress.Parse("192.0.2.5"); IFleetManagerClient client = ClientFactory.CreateTcpFleetManagerClient(settings); var result = client.CreateVirtualVehicle(ipAddress, pose); Assert.AreEqual(0, result.ServiceCode); }
private static void Main(string[] args) { // Here we create an endpoint settings object that defines where the fleet manager service is currently running // For this demo we are assuming it is running on localhost, using the default TCP port of 41917. EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917); // Now we create a fleet manager client using the client factory; IFleetManagerClient fleetManagerClient = ClientFactory.CreateTcpFleetManagerClient(endpointSettings); Console.WriteLine("Press <any> key to create a virtual vehicle 192.168.0.1 at 0,0,0"); Console.ReadKey(true); IPAddress virtualVehicle = IPAddress.Parse("192.168.0.1"); IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(virtualVehicle, 0, 0, 0); if (!result.IsSuccessful()) { Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}"); } // Now we can subscribe to new fleet updates Console.WriteLine("Press <any> key to subscribe to fleet updates"); Console.ReadKey(true); Console.Clear(); Console.CursorVisible = false; Console.WriteLine("Press <any> key to quit"); fleetManagerClient.Connected += FleetManagerClient_Connected; fleetManagerClient.Disconnected += FleetManagerClient_Disconnected; fleetManagerClient.FleetStateUpdated += FleetManagerClient_FleetStateUpdated; Console.Title = (fleetManagerClient.IsConnected) ? "Connected" : "Disconnected"; Console.ReadKey(true); fleetManagerClient.Connected -= FleetManagerClient_Connected; fleetManagerClient.Disconnected -= FleetManagerClient_Disconnected; fleetManagerClient.FleetStateUpdated -= FleetManagerClient_FleetStateUpdated; // The fleet manager client has its own thread which must be disposed. fleetManagerClient.Dispose(); }
/// <summary> /// Creates a new virtual vehicle. /// </summary> /// <param name="client">The fleet manager client to use.</param> /// <param name="ipAddress">IPv4 address of the vehicle to be created.</param> /// <param name="x">X position in meters.</param> /// <param name="y">Y position in meters.</param> /// <param name="heading">Heading in radians.</param> /// <returns>Successful service call result on creation.</returns> public static IServiceCallResult CreateVirtualVehicle(this IFleetManagerClient client, IPAddress ipAddress, double x, double y, double heading) { if (client == null) { throw new ArgumentNullException("client"); } if (ipAddress == null) { throw new ArgumentNullException("ipAddress"); } PoseDto poseDto = new PoseDto() { X = x, Y = y, Heading = heading }; return(client.CreateVirtualVehicle(ipAddress, poseDto)); }
/// <summary> /// Creates a new virtual vehicle. /// </summary> /// <param name="client">The fleet manager client to use.</param> /// <param name="ipV4string">IPv4 address of the vehicle to be created.</param> /// <param name="pose">The initialization pose.</param> /// <returns></returns> public static IServiceCallResult CreateVirtualVehicle(this IFleetManagerClient client, string ipV4string, PoseDto pose) { if (client == null) { throw new ArgumentNullException("client"); } if (string.IsNullOrEmpty(ipV4string)) { throw new ArgumentOutOfRangeException("ipV4string"); } if (pose == null) { throw new ArgumentNullException("pose"); } IPAddress ipAddress = IPAddress.Parse(ipV4string); return(client.CreateVirtualVehicle(ipAddress, pose)); }
private static void HandleCreateVehicle(EndpointSettings endpointSettings) { // Now we create a fleet manager client using the client factory, and create a virtual vehicle at pose at the node defined as origin. // see: https://github.com/GuidanceAutomation/FleetClients using (IFleetManagerClient fleetManagerClient = FleetClients.Core.ClientFactory.CreateTcpFleetManagerClient(endpointSettings)) { IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(IPAddress.Parse("192.168.0.1"), 0, 0, 0); if (!result.IsSuccessful()) { Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}"); } IServiceCallResult enableResult = fleetManagerClient.SetKingpinState(IPAddress.Parse("192.168.0.1"), VehicleControllerState.Enabled); if (!enableResult.IsSuccessful()) { Console.WriteLine($"Failed to enable virtual vehicle serviceCode:{result.ServiceCode}"); } } }
private static void Main(string[] args) { // Here we create an endpoint settings object that defines where the fleet manager service is currently running // For this demo we are assuming it is running on localhost, using the default TCP port of 41917. EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917); // Now we create a fleet manager client using the client factory; IFleetManagerClient fleetManagerClient = ClientFactory.CreateTcpFleetManagerClient(endpointSettings); Console.WriteLine("Press <any> key to create a virtual vehicle 192.168.0.1 at 0,0,0"); Console.ReadKey(true); IPAddress virtualVehicle = IPAddress.Parse("192.168.0.1"); IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(virtualVehicle, 0, 0, 0); if (!result.IsSuccessful()) { Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}"); } // Now we can update the vehicles pose Console.WriteLine("Press <any> key to set the pose of the vehicle to 1,1,1.57"); Console.ReadKey(true); result = fleetManagerClient.SetPose(virtualVehicle, 1, 1, 1.57); if (!result.IsSuccessful()) { Console.WriteLine($"Failed to set pose serviceCode:{result.ServiceCode}"); } Console.WriteLine("Press <any> key to quit"); Console.ReadKey(true); // The fleet manager client has its own thread which must be disposed. fleetManagerClient.Dispose(); }
private static void Main(string[] args) { // Here we create an endpoint settings object that defines where the fleet manager service is currently running // For this demo we are assuming it is running on localhost, using the default TCP port of 41917. EndpointSettings endpointSettings = new EndpointSettings(IPAddress.Loopback, 41916, 41917); IEnumerable <int> nodeIds = Enumerable.Empty <int>(); // Create an array to store node ids in NodeDto startNode = null; // Using the map manager client, get the ids of all nodes in the map using (IMapClient mapClient = SchedulingClients.Core.ClientFactory.CreateTcpMapClient(endpointSettings)) { IServiceCallResult <NodeDto[]> nodeResults = mapClient.GetAllNodes(); if (!nodeResults.IsSuccessful()) { Console.WriteLine($"Failed to get nodes, serviceCode:{nodeResults.ServiceCode}"); } else { nodeIds = nodeResults.Value.Select(e => e.Id); } startNode = nodeResults.Value.First(); } // Now we create a fleet manager client using the client factory, and create a virtual vehicle at pose at the first node. // see: https://github.com/GuidanceAutomation/FleetClients using (IFleetManagerClient fleetManagerClient = FleetClients.Core.ClientFactory.CreateTcpFleetManagerClient(endpointSettings)) { IServiceCallResult result = fleetManagerClient.CreateVirtualVehicle(IPAddress.Parse("192.168.0.1"), startNode.Pose.X, startNode.Pose.Y, startNode.Pose.Heading); if (!result.IsSuccessful()) { Console.WriteLine($"Failed to create virtual vehicle serviceCode:{result.ServiceCode}"); } } Random random = new Random(); // Random number generator bool continueFlag = true; while (continueFlag) { Console.WriteLine("Press <any> key to create a random GoTo job, 'q' to quit"); switch (Console.ReadKey(true).Key) { case ConsoleKey.Q: { continueFlag = false; break; } default: { // Use the job builder client to create a new goto job. using (IJobBuilderClient jobBuilder = SchedulingClients.Core.ClientFactory.CreateTcpJobBuilderClient(endpointSettings)) { // Boiler plate code to pick a random node from the array of nodes. int index = random.Next(0, nodeIds.Count()); int nodeId = nodeIds.ElementAt(index); Console.WriteLine($"Sending to node:{nodeId}"); IServiceCallResult <JobDto> createResult = jobBuilder.CreateJob(); if (!createResult.IsSuccessful()) { Console.WriteLine($"Failed to create job, serviceCode:{createResult.ServiceCode}"); } IServiceCallResult <int> gotoResult = jobBuilder.CreateGoToNodeTask(createResult.Value.RootOrderedListTaskId, nodeId); if (!gotoResult.IsSuccessful()) { Console.WriteLine($"Failed to create goto task, serviceCode:{gotoResult.ServiceCode}"); } IServiceCallResult commitResult = jobBuilder.CommitJob(createResult.Value.JobId); if (!commitResult.IsSuccessful()) { Console.WriteLine($"Failed to commit job, serviceCode:{commitResult.ServiceCode}"); } } break; } } } }
public void CreateVirtualVehicle_ClientExceptionNull() { var result = FleetManagerClient.CreateVirtualVehicle(IPAddress.Loopback, new PoseDto()); Assert.IsNotNull(result.ExceptionMessage); }