// Ensure SetLicenseKey is called once, before any SciChartSurface instance is created
// Check this code into your version-control and it will enable SciChart
// for end-users of your application.
//
// You can test the Runtime Key is installed correctly by Running your application
// OUTSIDE Of Visual Studio (no debugger attached). Trial watermarks should be removed.
public App()
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>Redler technologies</Customer>
<OrderId>ABT141014-5754-30127</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>01/12/2015 00:00:00</SupportExpires>
<ProductCode>SC-WPF-BSC</ProductCode>
<KeyCode>lwAAAQEAAADYej6WZT7WAYsAQ3VzdG9tZXI9UmVkbGVyIHRlY2hub2xvZ2llcztPcmRlcklkPUFCVDE0MTAxNC01NzU0LTMwMTI3O1N1YnNjcmlwdGlvblZhbGlkVG89MTItSmFuLTIwMTU7UHJvZHVjdENvZGU9U0MtV1BGLUJTQztOdW1iZXJEZXZlbG9wZXJzT3ZlcnJpZGU9MYHBQsFtvhmNUsAF1tPpbfJI0MXhteDAzO1I1uzwGcNIr/3e8pkIaMWJiXsaX6Q0Ew==</KeyCode>
</LicenseContract>");
#if LOAD_FROM_DB
Operations Op = Operations.GetInstance;
Operations.GetInstance.readDataBase();
#endif
LeftPanelViewModel.GetInstance.LogText = "";
EventRiser.Instance.LoggerEvent += LeftPanelViewModel.GetInstance.Instance_LoggerEvent;
//EventRiser.Instance.RiseEevent(string.Format($"App Started"));
Startup += new StartupEventHandler(App_Startup); // Can be called from XAML
DispatcherUnhandledException += App_DispatcherUnhandledException; //Example 2
TaskScheduler.UnobservedTaskException += TaskScheduler_UnobservedTaskException; //Example 4
System.Windows.Forms.Application.ThreadException += WinFormApplication_ThreadException; //Example 5
}
public MainWindow()
{
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("wsCOsvBlAs2dax4o8qBefxMi4Qe5BVWax7TGOMLcwzWFYRNCa/f1rA5VA1ITvLHSULvhDMKVTc+niao6URAUXmGZ9W8jv/4jtziBzFZ6Z15ek6SLU49eIqJxGoQEFWvjANJqzp0asw+zvLV0HMirjannvDRj4i/WoELfYDubEGO1O+oAToiJlgD/e2lVqg3F8JREvC0iqBbNrmfeUCQdhHt6SKS2QpdmOoGbvtCossAezGNxv92oUbog6YIhtpSyGikCEwwKSDrlKlAab6302LLyFsITqogZychLYrVXJTFvFVnDfnkQ9cDi7017vT5flesZwIzeH497lzGp3B8fKWFQyZemD2RzlQkvj5GUWBwxiKAHrYMnQjJ/PsfojF1idPEEconVsh1LoYofNk2v/Up8AzXEAvxWUEcgzANeQggaUNy+OFet8b/yACa/bgYG7QYzFQZzgdng8IK4vCPdtg4/x7g5EdovN2PI9vB76coMuKnNVPnZN60kSjtd/24N8A==");
InitializeComponent();
}
public App()
{
// Set this code once in App.xaml.cs or application startup
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("DsQ4Yg8uJC9bZtbL4Sozb/CqFzSiP+gwMiAEE3NE9ONiGEtUnlkNcy+bTgys35SIP89+M50ZVqccueCcbwr/2C4CaFoQAMhKycvMvq3oFGHsgP23CT5BtfW/IFbBCDfhEhcrCoLVjcNL+ZbKtMOkt8GuMeJr2xRqPlF0ttwQUDYWq+ss4IJ9JfvzOBznaAiMUYuvo/4QfG7p92hBeqqjcMPEGI7ZZnx6BJ9Peccw/C//cilPDH5ddc6k4VTL/AhGGyGGp4DYPvCaSbWZ4slbpZiDL1VDVDgdwQh0eeDaiTESfRrfgiQpL3h123s+ZggPyVtHoHDJ5QE8sx7URGSiAa4elg0cZv5IkY6R28NzFsAk+XN65AIJAqNFDuxh3Xqv8904Ih0JxF7IV0U+N2BmiDWVHW1G7DNAdXMpiAnovJwG+8BC6m4z7hRLai0eSdXZ4DZQ2TqWAxFruBN3jgQ3bNEFZ119LOF0oax0WGihTuLoSVUBYOsYoyGbDai1xd1H7jCE2ZPqRh7Hp4RbIs6L9z8BRte1n4ThcBAttcb/7qfk/UuwIP4=");
Unosquare.FFME.Library.FFmpegDirectory = @"c:\ffmpeg";
}
public App()
{
// Set this code once in App.xaml.cs or application startup
var runtimeKey = System.Environment.GetEnvironmentVariable("SCICHART_RUNTIMEKEY");
Console.WriteLine("runtimeKey: " + runtimeKey);
SciChartSurface.SetRuntimeLicenseKey(runtimeKey);
}
static void Main()
{
TODO SET YOUR LICENSE KEY HERE
SciChartSurface.SetRuntimeLicenseKey(@"TODO SET KEY HERE");
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new Form1());
}
public App()
{
DispatcherUnhandledException += App_DispatcherUnhandledException;
InitializeComponent();
// TODO: Put your SciChart License Key here if needed
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("jvVMZ7AkiMy+2yDsEMc7iGUeI+dc6utHwMsRWNc8uK61wLlNeQsBj4GiZVvAymvm2mz5VvxvrDejcQDSRKHI61QQ8lfDAL+672Zz5p0YmRU3QeBvqXKF85L5Uc6vhcjUtBCXspIl5TuqmJqMxdiXOAYEwsrIOLV4vxh94VStt4igGa8ZnTI41eStsjt33ZNV9ZwPX3uvbLNUKktgWE8MzleHgZbod9E7YuyWMhtf2wi8AiX+M391AJbEdeJ5glaq4ZJacPjaDgcdjrc9ChwuVSddksuc3aagNtD0a/3WiEHnkZOywEVmtoYgZCLvHFU0J1OYBBhcpF+maDqBL7KLn05XiwxDbDj0f5aFTmEtRsJ5T+VkTP+Os5Y+J7UIVKQW3lhu6TjSpSRXegzDnG7LyEOmz78Apxh/CdZbnBXtwIPslK38Nw5hyGdwQiL4gZqXKK2IsCN4ovsypItsq8eIhMQfPCFDAGrkRjFYHDd+EAbeySGNf3W4Bl+Jr8CPTPvEUz30ILhNqGphucZbejlIFTmrTFLUQ1T5DBINBQejJB9mJP260i+ZUcZD1A==");
}
[STAThread] //à ajouter au projet initial
static void Main(string[] args)
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>Universite De Toulon</Customer>
<OrderId>EDUCATIONAL-USE-0128</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>02/17/2020 00:00:00</SupportExpires>
<ProductCode>SC-WPF-2D-PRO-SITE</ProductCode>
<KeyCode>lwAAAQEAAACS9FAFUqnVAXkAQ3VzdG9tZXI9VW5pdmVyc2l0ZSBEZSBUb3Vsb247T3JkZXJJZD1FRFVDQVRJT05BTC1VU0UtMDEyODtTdWJzY3JpcHRpb25WYWxpZFRvPTE3LUZlYi0yMDIwO1Byb2R1Y3RDb2RlPVNDLVdQRi0yRC1QUk8tU0lURYcbnXYui4rna7TqbkEmUz1V7oD1EwrO3FhU179M9GNhkL/nkD/SUjwJ/46hJZ31CQ==</KeyCode>
</LicenseContract>");
robotPilotList = new List <RobotPilot.RobotPilot>();
trajectoryPlannerList = new List <TrajectoryPlanner>();
waypointGeneratorList = new List <WaypointGenerator>();
lidarSimulatorList = new List <LidarSimulator.LidarSimulator>();
strategyManagerDictionary = new Dictionary <int, StrategyManager.StrategyManager>();
localWorldMapManagerList = new List <LocalWorldMapManager>();
perceptionSimulatorList = new List <PerceptionSimulator>();
physicalSimulator = new PhysicalSimulator.PhysicalSimulator();
globalWorldMapManagerTeam1 = new GlobalWorldMapManager((int)TeamId.Team1);
globalWorldMapManagerTeam2 = new GlobalWorldMapManager((int)TeamId.Team2);
for (int i = 0; i < nbPlayersTeam1; i++)
{
//ethernetTeamNetworkAdapter = new EthernetTeamNetworkAdapter();
//var LocalWorldMapManager = new ("Robot" + (i + 1).ToString());
CreatePlayer((int)TeamId.Team1, i);
}
for (int i = 0; i < nbPlayersTeam2; i++)
{
//ethernetTeamNetworkAdapter = new EthernetTeamNetworkAdapter();
//var LocalWorldMapManager = new ("Robot" + (i + 1).ToString());
CreatePlayer((int)TeamId.Team2, i);
}
DefineRoles();
StartInterfaces();
//Timer de stratégie
timerStrategie = new System.Timers.Timer(20000);
timerStrategie.Elapsed += TimerStrategie_Tick;
timerStrategie.Start();
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}
protected override void OnCreate(Bundle savedInstanceState)
{
// init sciChart
SciChartSurface.SetRuntimeLicenseKey("");
base.OnCreate(savedInstanceState);
Xamarin.Essentials.Platform.Init(this, savedInstanceState);
global::Xamarin.Forms.Forms.Init(this, savedInstanceState);
LoadApplication(new App());
}
private void enableSciChart()
{
SciChartSurface.SetRuntimeLicenseKey(
@"<LicenseContract>
<Customer>Redler technologies</Customer>
<OrderId>ABT141014-5754-30127</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>01/12/2015 00:00:00</SupportExpires>
<KeyCode>lwAAAAEAAAB7H+2pk+fPAVkAQ3VzdG9tZXI9UmVkbGVyIHRlY2hub2xvZ2llcztPcmRlcklkPUFCVDE0MTAxNC01NzU0LTMwMTI3O1N1YnNjcmlwdGlvblZhbGlkVG89MTItSmFuLTIwMTUBrFsDLc/PG2F+FJDOYseFP3/GRFQJu2HO46bVbDZKHXE/tXLrY8HrN3F0ys/of0E=</KeyCode>
</LicenseContract>");
}
public App()
{
SciChartSurface.SetRuntimeLicenseKey(@"< LicenseContract >
< Customer > University of Toronto </ Customer >
< OrderId > EDUCATIONAL - USE - 0068 </ OrderId >
< LicenseCount > 1 </ LicenseCount >
< IsTrialLicense > false </ IsTrialLicense >
< SupportExpires > 12 / 13 / 2018 00:00:00 </ SupportExpires >
< ProductCode > SC - WPF - SDK - PRO </ ProductCode >
< KeyCode > lwAAAQEAAAB2vOcuJwDVAXcAQ3VzdG9tZXI9VW5pdmVyc2l0eSBvZiBUb3JvbnRvIDtPcmRlcklkPUVEVUNBVElPTkFMLVVTRS0wMDY4O1N1YnNjcmlwdGlvblZhbGlkVG89MTMtRGVjLTIwMTg7UHJvZHVjdENvZGU9U0MtV1BGLVNESy1QUk8iosvqg9Stf7mo18jXZX3G8pwV7UrML0cyipotPhHMUSym + Q / PKXKT3VuOpboPczs =</ KeyCode >
</ LicenseContract>");
}
protected override void OnStartup(StartupEventArgs e)
{
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("FDqs1EPN/0q8Sb/GrmmcGYgt2WfywzkAX8VjrtXOAplNrlMwNz9a35Vd2NKIH3msLLUx+ROS6LLSt8Dk9coSQq7NbGzPzRO8D/CXBPj6N+VtUonxE6X3rjlyNq/TP+jslA9QPCxKXu0jzpmfnzc4yMBabWRVZ/7e5Febk2tKmmTLGAp/RnaqvKi02rjssq+gNJZtbANOn7CF9m39y2ULWRnDa/UVo87bQPuuzHoDzZflxIbCwdrcFxRNOV7O3nU235QQI8MaPZsl6ZQmCakvV2WbDC00hIp04tYM9A5nV/zQITweL3sR7aiTrRdk1DXqO6mEfiFrTHnkKpLwpNZeETEfQDzpTtsk8GgOUxVH5bcFx2NXWjHN0rKUnf/lTLoYgIlMpq1sD/MEsVOgYLmgP44XkXWyB/3MG2bsoH61XPh5dIeOKYKpwD6IWmBi4/hm4i6G4o9nrxdKS+aOgsyXSKyTWSzqG3Ez9EwjOGYZb+0I/g3TUuPZ90hIeIJinBX9XpLzu2LrQJOteAuBEBM3EBlx4BqWlK+qUcC+32simkSwRwc8AtKL4ps/Uy9TNHypk1XTlQEQlay2hg==");
System.Timers.Timer updateTimer = new System.Timers.Timer();
updateTimer.Elapsed += UpdateTimer_Elapsed;
updateTimer.Interval = 1000;
updateTimer.Enabled = true;
base.OnStartup(e);
}
// Ensure SetLicenseKey is called once, before any SciChartSurface instance is created
// Check this code into your version-control and it will enable SciChart
// for end-users of your application.
//
// You can test the Runtime Key is installed correctly by Running your application
// OUTSIDE Of Visual Studio (no debugger attached). Trial watermarks should be removed.
public App()
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>Redler technologies</Customer>
<OrderId>ABT141014-5754-30127</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>01/12/2015 00:00:00</SupportExpires>
<ProductCode>SC-WPF-BSC</ProductCode>
<KeyCode>lwAAAAEAAAAYTULLhErUAXAAQ3VzdG9tZXI9UmVkbGVyIHRlY2hub2xvZ2llcztPcmRlcklkPUFCVDE0MTAxNC01NzU0LTMwMTI3O1N1YnNjcmlwdGlvblZhbGlkVG89MTItSmFuLTIwMTU7UHJvZHVjdENvZGU9U0MtV1BGLUJTQyu69TgpwVx+uxEH2B+6rKOQ/5YDD2Oh+vDxAZ3OzX+X05jc9xhuF7mPcAXFaqyfWA==</KeyCode>
</LicenseContract>");
}
static void Main(string[] args)
{
/// Enregistrement de la license SciChart en début de code
SciChartSurface.SetRuntimeLicenseKey("RJWA77RbaJDdCRJpg4Iunl5Or6/FPX1xT+Gzu495Eaa0ZahxWi3jkNFDjUb/w70cHXyv7viRTjiNRrYqnqGA+Dc/yzIIzTJlf1s4DJvmQc8TCSrH7MBeQ2ON5lMs/vO0p6rBlkaG+wwnJk7cp4PbOKCfEQ4NsMb8cT9nckfdcWmaKdOQNhHsrw+y1oMR7rIH+rGes0jGGttRDhTOBxwUJK2rBA9Z9PDz2pGOkPjy9fwQ4YY2V4WPeeqM+6eYxnDZ068mnSCPbEnBxpwAldwXTyeWdXv8sn3Dikkwt3yqphQxvs0h6a8Dd6K/9UYni3o8pRkTed6SWodQwICcewfHTyGKQowz3afARj07et2h+becxowq3cRHL+76RyukbIXMfAqLYoT2UzDJNsZqcPPq/kxeXujuhT4SrNF3444MU1GaZZ205KYEMFlz7x/aEnjM6p3BuM6ZuO3Fjf0A0Ki/NBfS6n20E07CTGRtI6AsM2m59orPpI8+24GFlJ9xGTjoRA==");
/// Initialisation des modules utilisés dans le robot
int robotId = 10; /// Ne pas changer cette variable !
int teamId = 0; /// Ne pas changer cette variable !
usbDriver = new USBVendor();
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new MsgGenerator();
robotMsgProcessor = new MsgProcessor(robotId, competition);
xBoxManette = new XBoxControllerNS.XBoxController(robotId);
strategyManager = new StrategyEurobot(robotId, teamId, "224.16.32.79");
localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false);
positioning2Wheels = new Positioning2Wheels(robotId);
trajectoryGenerator = new TrajectoryGeneratorNonHolonome(robotId);
/// Création des liens entre module, sauf depuis et vers l'interface graphique
usbDriver.OnUSBDataReceivedEvent += msgDecoder.DecodeMsgReceived; // Transmission des messages reçus par l'USB au Message Decoder
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage; // Transmission les messages décodés par le Message Decoder au Message Processor
//Events d'activation et configuration de l'asservissement en vitesse depuis le Strategy Manager
strategyManager.On2WheelsToPolarMatrixSetupEvent += robotMsgGenerator.GenerateMessage2WheelsToPolarMatrixSet; //Transmission des messages de set-up de la matrice de transformation moteurindepeandt -> polaire en embarqué
strategyManager.On2WheelsAngleSetupEvent += robotMsgGenerator.GenerateMessage2WheelsAngleSet; //Transmission des messages de set-up de la config angulaire des roues en embarqué
strategyManager.OnOdometryPointToMeterSetupEvent += robotMsgGenerator.GenerateMessageOdometryPointToMeter; //Transmission des messages de set-up du coeff pointToMeter en embarqué
strategyManager.On2WheelsIndependantSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage2WheelsIndependantSpeedPIDSetup; //Setup du PID independant
strategyManager.OnSetAsservissementModeEvent += robotMsgGenerator.GenerateMessageSetAsservissementMode;
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot; // Envoi des messages du générateur de message à l'encoder
msgEncoder.OnMessageEncodedEvent += usbDriver.SendUSBMessage; // Envoi des messages en USB depuis le message encoder
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += positioning2Wheels.OnOdometryRobotSpeedReceived; //Envoi des vitesses reçues de l'embarqué au module de calcul de positionnement
positioning2Wheels.OnCalculatedLocationEvent += trajectoryGenerator.OnPhysicalPositionReceived; //Envoi du positionnement calculé au module de génération de trajectoire
trajectoryGenerator.OnGhostLocationEvent += localWorldMapManager.OnGhostLocationReceived;
trajectoryGenerator.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot; //Transmission des commande de vitesse aux moteurs de déplacement
strategyManager.OnSetSpeedConsigneToMotorEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor; //Transmission des commande de vitesse (aux moteurs annexes)
positioning2Wheels.OnCalculatedLocationEvent += localWorldMapManager.OnPhysicalPositionReceived;
strategyManager.InitStrategy(); //à faire après avoir abonné les events !
StartRobotInterface();
while (!exitSystem)
{
Thread.Sleep(500);
}
}
public SciChartSurfaceWpfRenderer()
{
// Apply license
if (_license == null)
{
_license = SciChartLicenseManager.GetLicense(SciChartPlatform.Wpf);
if (_license != null)
{
SciChartSurface.SetRuntimeLicenseKey(_license);
}
}
}
/// <summary>
/// Decides what happens on startup of program
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
protected override void OnStartup(object sender, StartupEventArgs e)
{
//Get the scichart license from file
string sciChartLicense = null;
try
{
using (System.IO.StreamReader sr = new StreamReader(sciChartLicenseFileLocation))
{
sciChartLicense = sr.ReadToEnd();
}
SciChartSurface.SetRuntimeLicenseKey(sciChartLicense);
}
catch
{
//MessageBox.Show(@"Error Importing SciChart License. Charts will not work without it. Please be sure it is located in the directory C:\SCBS\sciChartLicense.txt. Proceed if you don't need to use the charts.", "Warning", MessageBoxButton.OK, MessageBoxImage.Hand);
}
//Get the file containing the url where the xml file is stored.
//Check xml file to see if the version has increased. If so, download update and update application.
string urlForAutoUpdateContainingXML = null;
try
{
using (StreamReader fileContainingAutoUpdateURL = new StreamReader(@"C:\SCBS\url.txt"))
{
urlForAutoUpdateContainingXML = fileContainingAutoUpdateURL.ReadToEnd();
}
}
catch
{
}
//make sure url is not null, not empty and in correct format. If it isn't, then skip the auto-update code and log.
//otherwise start update download
if (!string.IsNullOrEmpty(urlForAutoUpdateContainingXML))
{
if (Uri.IsWellFormedUriString(urlForAutoUpdateContainingXML, UriKind.Absolute))
{
AutoUpdater.Mandatory = true;
AutoUpdater.UpdateMode = Mode.Forced;
try
{
AutoUpdater.Start(urlForAutoUpdateContainingXML);
}
catch
{
}
}
}
DisplayRootViewFor <MainViewModel>();
}
public App()
{
// Ensure SetLicenseKey is called once, before any SciChartSurface instance is created
// Check this code into your version-control and it will enable SciChart
// for end-users of your application who are not activated
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>Aqua-Tech Services</Customer>
<OrderId>ABT170324-5714-19111</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>06/22/2017 00:00:00</SupportExpires>
<ProductCode>SC-WPF-2D-PRO</ProductCode>
<KeyCode>lwAAAAEAAABaO0bgPaTSAXIAQ3VzdG9tZXI9QXF1YS1UZWNoIFNlcnZpY2VzO09yZGVySWQ9QUJUMTcwMzI0LTU3MTQtMTkxMTE7U3Vic2NyaXB0aW9uVmFsaWRUbz0yMi1KdW4tMjAxNztQcm9kdWN0Q29kZT1TQy1XUEYtMkQtUFJPEuj4oHbI0Yf9/do2jRti4XEr61r2r8rlCdLgd2IUWMDcFNrdqQhh9gaqkVVNkpEC</KeyCode>
</LicenseContract>");
}
public App()
{
// Ensure SetLicenseKey is called once, before any SciChartSurface instance is created
// Check this code into your version-control and it will enable SciChart
// for end-users of your application.
//
// You can test the Runtime Key is installed correctly by Running your application
// OUTSIDE Of Visual Studio (no debugger attached). Trial watermarks should be removed.
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>Russian State Vocational Pedagogical University</Customer>
<OrderId>EDUCATIONAL-USE 0013</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>05/11/2017 00:00:00</SupportExpires>
<ProductCode>SC-WPF-SDK-PRO</ProductCode>
<KeyCode>lwAAAAEAAADNfrRLu4PSAZAAQ3VzdG9tZXI9UnVzc2lhbiBTdGF0ZSBWb2NhdGlvbmFsIFBlZGFnb2dpY2FsIFVuaXZlcnNpdHk7T3JkZXJJZD1FRFVDQVRJT05BTC1VU0UgMDAxMztTdWJzY3JpcHRpb25WYWxpZFRvPTExLU1heS0yMDE3O1Byb2R1Y3RDb2RlPVNDLVdQRi1TREstUFJPZeiYKeB0uPiMOQvdtbYwKsGZnGqx1G6H4p1hAXZRHW23KckVkxI2Erp+Xvmr8q96</KeyCode>
</LicenseContract>");
}
public _3DGraph()
{
SciChartSurface.SetRuntimeLicenseKey(
@"<LicenseContract>
<Customer>IRGUPS</Customer>
<OrderId>EDUCATIONAL-USE-0137</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>02/10/2021 00:00:00</SupportExpires>
<ProductCode>SC-WPF-SDK-PRO</ProductCode>
<KeyCode>lwAAAQEAAAD5I83qYuLVAYIAQ3VzdG9tZXI9SVJHVVBTO09yZGVySWQ9RURVQ0FUSU9OQUwtVVNFLTAxMzc7U3Vic2NyaXB0aW9uVmFsaWRUbz0xMC1GZWItMjAyMTtQcm9kdWN0Q29kZT1TQy1XUEYtU0RLLVBSTztOdW1iZXJEZXZlbG9wZXJzT3ZlcnJpZGU9MXRC1DrVIb2fNVT7eY8vX6L9nySC1+GVpdKsEApUFAC0K1k7hYwXqlKXhOIoilgwPQ==</KeyCode>
</LicenseContract>" );
var sciChart3DSurface = new SciChart3DSurface
{
IsAxisCubeVisible = true,
IsFpsCounterVisible = true,
IsXyzGizmoVisible = true,
XAxis = new NumericAxis3D(),
YAxis = new NumericAxis3D(),
ZAxis = new NumericAxis3D(),
ChartModifier = new ModifierGroup3D(
new OrbitModifier3D(),
new ZoomExtentsModifier3D())
};
// Create the X,Y,Z Axis
// Specify Interactivity Modifiers
InitializeComponent();
SciChartSurface.SetRuntimeLicenseKey(
@"<LicenseContract>
<Customer>IRGUPS</Customer>
<OrderId>EDUCATIONAL-USE-0137</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>02/10/2021 00:00:00</SupportExpires>
<ProductCode>SC-WPF-SDK-PRO</ProductCode>
<KeyCode>lwAAAQEAAAD5I83qYuLVAYIAQ3VzdG9tZXI9SVJHVVBTO09yZGVySWQ9RURVQ0FUSU9OQUwtVVNFLTAxMzc7U3Vic2NyaXB0aW9uVmFsaWRUbz0xMC1GZWItMjAyMTtQcm9kdWN0Q29kZT1TQy1XUEYtU0RLLVBSTztOdW1iZXJEZXZlbG9wZXJzT3ZlcnJpZGU9MXRC1DrVIb2fNVT7eY8vX6L9nySC1+GVpdKsEApUFAC0K1k7hYwXqlKXhOIoilgwPQ==</KeyCode>
</LicenseContract>" );
}
[STAThread] //à ajouter au projet initial
static void Main(string[] args)
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>Universite De Toulon</Customer>
<OrderId>EDUCATIONAL-USE-0128</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>02/17/2020 00:00:00</SupportExpires>
<ProductCode>SC-WPF-2D-PRO-SITE</ProductCode>
<KeyCode>lwAAAQEAAACS9FAFUqnVAXkAQ3VzdG9tZXI9VW5pdmVyc2l0ZSBEZSBUb3Vsb247T3JkZXJJZD1FRFVDQVRJT05BTC1VU0UtMDEyODtTdWJzY3JpcHRpb25WYWxpZFRvPTE3LUZlYi0yMDIwO1Byb2R1Y3RDb2RlPVNDLVdQRi0yRC1QUk8tU0lURYcbnXYui4rna7TqbkEmUz1V7oD1EwrO3FhU179M9GNhkL/nkD/SUjwJ/46hJZ31CQ==</KeyCode>
</LicenseContract>");
globalWorldMapManagerTeam1 = new GlobalWorldMapManager((int)TeamId.Team1);
//BaseStation RCT
BaseStationUdpMulticastSenderTeam1 = new UDPMulticastSender(0, "224.16.32.79");
BaseStationUdpMulticastReceiverTeam1 = new UDPMulticastReceiver(0, "224.16.32.79");
BaseStationUdpMulticastInterpreterTeam1 = new UDPMulticastInterpreter(0);
StartInterfaces();
refBoxAdapter = new RefereeBoxAdapter.RefereeBoxAdapter();
//Event de réception d'une commande de la réferee box
//refBoxAdapter.OnRefereeBoxCommandEvent += globalWorldMapManagerTeam1.OnRefereeBoxCommandReceived;
//Event de réception de data Multicast sur la base Station Team X
BaseStationUdpMulticastReceiverTeam1.OnDataReceivedEvent += BaseStationUdpMulticastInterpreterTeam1.OnMulticastDataReceived;
//Event d'interprétation d'une localWorldMap à sa réception dans la base station
BaseStationUdpMulticastInterpreterTeam1.OnLocalWorldMapEvent += globalWorldMapManagerTeam1.OnLocalWorldMapReceived;
//Event d'envoi de la global world map sur le Multicast
globalWorldMapManagerTeam1.OnMulticastSendGlobalWorldMapEvent += BaseStationUdpMulticastSenderTeam1.OnMulticastMessageToSendReceived;
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}
[STAThread] //à ajouter au projet initial
static void Main(string[] args)
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>University of Toulon</Customer>
<OrderId>EDUCATIONAL-USE-0109</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>11/04/2019 00:00:00</SupportExpires>
<ProductCode>SC-WPF-SDK-PRO-SITE</ProductCode>
<KeyCode>lwABAQEAAABZVzOfQ0zVAQEAewBDdXN0b21lcj1Vbml2ZXJzaXR5IG9mICBUb3Vsb247T3JkZXJJZD1FRFVDQVRJT05BTC1VU0UtMDEwOTtTdWJzY3JpcHRpb25WYWxpZFRvPTA0LU5vdi0yMDE5O1Byb2R1Y3RDb2RlPVNDLVdQRi1TREstUFJPLVNJVEWDf0QgB8GnCQXI6yAqNM2njjnGbUt2KsujTDzeE+k69K1XYVF1s1x1Hb/i/E3GHaU=</KeyCode>
</LicenseContract>");
serialPort1 = new ReliableSerialPort("COM19", 115200, Parity.None, 8, StopBits.One);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
msgGenerator = new MsgGenerator();
msgProcessor = new MsgProcessor();
//Gestion des messages envoyé par le respirateur
msgGenerator.OnMessageToRespirateurGeneratedEvent += msgEncoder.EncodeMessageToRespirateur;
msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
//Gestion des messages reçu par le respirateur
serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += msgProcessor.ProcessDecodedMessage;
StartInterface();
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
System.Threading.Monitor.Wait(ExitLock);
}
}
static void Main(string[] args)
{
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("RJWA77RbaJDdCRJpg4Iunl5Or6/FPX1xT+Gzu495Eaa0ZahxWi3jkNFDjUb/w70cHXyv7viRTjiNRrYqnqGA+Dc/yzIIzTJlf1s4DJvmQc8TCSrH7MBeQ2ON5lMs/vO0p6rBlkaG+wwnJk7cp4PbOKCfEQ4NsMb8cT9nckfdcWmaKdOQNhHsrw+y1oMR7rIH+rGes0jGGttRDhTOBxwUJK2rBA9Z9PDz2pGOkPjy9fwQ4YY2V4WPeeqM+6eYxnDZ068mnSCPbEnBxpwAldwXTyeWdXv8sn3Dikkwt3yqphQxvs0h6a8Dd6K/9UYni3o8pRkTed6SWodQwICcewfHTyGKQowz3afARj07et2h+becxowq3cRHL+76RyukbIXMfAqLYoT2UzDJNsZqcPPq/kxeXujuhT4SrNF3444MU1GaZZ205KYEMFlz7x/aEnjM6p3BuM6ZuO3Fjf0A0Ki/NBfS6n20E07CTGRtI6AsM2m59orPpI8+24GFlJ9xGTjoRA==");
//On ajoute un gestionnaire d'évènement pour détecter la fermeture de l'application
_handler += new EventHandler(Handler);
SetConsoleCtrlHandler(_handler, true);
//serialPort1 = new ReliableSerialPort(cfgSerialPort.CommName, cfgSerialPort.ComBaudrate, cfgSerialPort.Parity, cfgSerialPort.DataByte, cfgSerialPort.StopByte);
//serialPort1 = new ReliableSerialPort("COM1", 115200, Parity.None, 8, StopBits.One);
int teamId = (int)TeamId.Team1;
int robotId = (int)RobotId.Robot1 + teamId;
usbDriver = new USBVendorNS.USBVendor();
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new MsgGenerator();
robotMsgProcessor = new MsgProcessor(robotId, competition);
imuProcessor = new ImuProcessor.ImuProcessor(robotId);
lidar_OMD60M_TCP = new LidaRxR2000(50, R2000SamplingRate._72kHz);
perceptionManager = new PerceptionManager(robotId, competition);
kalmanPositioning = new KalmanPositioning.KalmanPositioning(robotId, 50, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.02);
trajectoryPlanner = new TrajectoryGeneratorHolonome(robotId, competition);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false);
globalWorldMapManager = new GlobalWorldMapManager(robotId, teamId);
switch (competition)
{
case GameMode.RoboCup:
strategyManager = new StrategyRoboCup(robotId, teamId, "224.16.32.79");
break;
case GameMode.Eurobot:
strategyManager = new StrategyEurobot2021(robotId, teamId, "224.16.32.79");
break;
case GameMode.Demo:
break;
}
//strategyManager = new StrategyManagerNS.StrategyManager(robotId, teamId, "224.16.32.79", competition);
robotUdpMulticastSender = new UDPMulticastSender(robotId, "224.16.32.79");
robotUdpMulticastReceiver = new UDPMulticastReceiver(robotId, "224.16.32.79");
robotUdpMulticastInterpreter = new UDPMulticastInterpreter(robotId);
herkulexManager = new HerkulexManager();
herkulexManager.AddServo(ServoId.BrasCentral, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.BrasDroit, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.BrasGauche, HerkulexDescription.JOG_MODE.positionControlJOG);
herkulexManager.AddServo(ServoId.PorteDrapeau, HerkulexDescription.JOG_MODE.positionControlJOG);
xBoxManette = new XBoxControllerNS.XBoxController(robotId);
//Démarrage des interface de visualisation
if (usingRobotInterface)
{
StartRobotInterface();
}
//if (usingLogReplay)
// StartReplayNavigatorInterface();
//Initialisation du logger
logRecorder = new LogRecorder.LogRecorder();
//Démarrage du log replay si l'interface est utilisée et existe ou si elle n'est pas utilisée, sinon on bloque
logReplay = new LogReplay.LogReplay();
//Liens entre modules
//strategyManager.strategy.OnRefereeBoxCommandEvent += globalWorldMapManager.OnRefereeBoxCommandReceived;
strategyManager.OnGameStateChangedEvent += trajectoryPlanner.OnGameStateChangeReceived;
strategyManager.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
//Kalman
perceptionManager.OnAbsolutePositionEvent += kalmanPositioning.OnAbsolutePositionCalculatedEvent;
imuProcessor.OnGyroSpeedEvent += kalmanPositioning.OnGyroRobotSpeedReceived;
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += kalmanPositioning.OnOdometryRobotSpeedReceived;
kalmanPositioning.OnKalmanLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += perceptionManager.OnPhysicalRobotPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += strategyManager.OnPositionRobotReceived;
//Update des données de la localWorldMap
perceptionManager.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
strategyManager.OnRoleEvent += localWorldMapManager.OnRoleReceived; //Utile pour l'affichage
strategyManager.OnMessageDisplayEvent += localWorldMapManager.OnMessageDisplayReceived; //Utile pour l'affichage
strategyManager.OnHeatMapStrategyEvent += localWorldMapManager.OnHeatMapStrategyReceived;
strategyManager.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.OnHeatMapWayPointEvent += localWorldMapManager.OnHeatMapWaypointReceived;
trajectoryPlanner.OnGhostLocationEvent += localWorldMapManager.OnGhostLocationReceived;
//Gestion des events liés à une détection de collision soft
trajectoryPlanner.OnCollisionEvent += kalmanPositioning.OnCollisionReceived;
//trajectoryPlanner.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
strategyManager.OnMessageEvent += lidar_OMD60M_TCP.OnMessageReceivedEvent;
strategyManager.On4WheelsPolarSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage4WheelsPolarSpeedPIDSetup;
strategyManager.On4WheelsIndependantSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage4WheelsIndependantSpeedPIDSetup;
strategyManager.On2WheelsPolarSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage2WheelsPolarSpeedPIDSetup;
strategyManager.On2WheelsIndependantSpeedPIDSetupEvent += robotMsgGenerator.GenerateMessage2WheelsIndependantSpeedPIDSetup;
strategyManager.OnSetAsservissementModeEvent += robotMsgGenerator.GenerateMessageSetAsservissementMode;
strategyManager.OnSetSpeedConsigneToMotor += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor;
strategyManager.OnEnableDisableMotorCurrentDataEvent += robotMsgGenerator.GenerateMessageEnableMotorCurrentData;
strategyManager.OnOdometryPointToMeterEvent += robotMsgGenerator.GenerateMessageOdometryPointToMeter;
strategyManager.On4WheelsAngleSetEvent += robotMsgGenerator.GenerateMessage4WheelsAngleSet;
strategyManager.On4WheelsToPolarSetEvent += robotMsgGenerator.GenerateMessage4WheelsToPolarMatrixSet;
strategyManager.On2WheelsAngleSetEvent += robotMsgGenerator.GenerateMessage2WheelsAngleSet;
strategyManager.On2WheelsToPolarSetEvent += robotMsgGenerator.GenerateMessage2WheelsToPolarMatrixSet;
herkulexManager.OnHerkulexSendToSerialEvent += robotMsgGenerator.GenerateMessageForwardHerkulex;
lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += perceptionManager.OnRawLidarDataReceived;
perceptionManager.OnLidarRawDataEvent += localWorldMapManager.OnRawLidarDataReceived;
perceptionManager.OnLidarProcessedDataEvent += localWorldMapManager.OnLidarDataReceived;
perceptionManager.OnLidarProcessedLandmarksEvent += localWorldMapManager.OnLidarDataReceived;
perceptionManager.OnLidarProcessedSegmentsEvent += localWorldMapManager.OnLidarProcessedSegmentsReceived;
//L'envoi des commandes dépend du fait qu'on soit en mode manette ou pas.
//Il faut donc enregistrer les évènement ou pas en fonction de l'activation
//C'est fait plus bas dans le code avec la fonction que l'on appelle
ConfigControlEvents(usingXBoxController);
//Gestion des messages envoyé par le robot
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
//msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
msgEncoder.OnMessageEncodedEvent += usbDriver.SendUSBMessage;
//Gestion des messages reçu par le robot
//serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
usbDriver.OnUSBDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += imuProcessor.OnIMURawDataReceived;
robotMsgProcessor.OnIOValuesFromRobotGeneratedEvent += strategyManager.OnIOValuesFromRobot;
robotMsgProcessor.OnIOValuesFromRobotGeneratedEvent += perceptionManager.OnIOValuesFromRobotEvent;
landmarksExtractor = new LandmarksExtractor();
landmarksExtractor.OnLinesLandmarksExtractedEvent += perceptionManager.OnLandmarksReceived;
perceptionManager.OnLidarRawDataEvent += landmarksExtractor.OnRobotLidarReceived;
perceptionManager.OnAbsolutePositionEvent += landmarksExtractor.OnRobotPositionReceived;
// robotMsgProcessor.OnMotorsCurrentsFromRobotGeneratedEvent += strategyManager.OnMotorCurrentReceive;
//Le local Manager n'est là que pour assurer le stockage de ma local world map avant affichage et transmission des infos, il ne doit pas calculer quoique ce soit,
//c'est le perception manager qui le fait.
trajectoryPlanner.OnPidSpeedResetEvent += robotMsgGenerator.GenerateMessageResetSpeedPid;
////Event d'interprétation d'une globalWorldMap à sa réception dans le robot
robotUdpMulticastInterpreter.OnRefBoxMessageEvent += strategyManager.OnRefBoxMsgReceived;
/// Event de Transmission des Local World Map du robot vers le multicast
/// Disparaitra quand on voudra jouer sans liaison multicast
localWorldMapManager.OnMulticastSendLocalWorldMapEvent += robotUdpMulticastSender.OnMulticastMessageToSendReceived;
/// Events de réception des localWorldMap
/// Soit en direct si on se transmet à nous même, soit via le Multicast pour transmettre aux autres robots
localWorldMapManager.OnLocalWorldMapToGlobalWorldMapGeneratorEvent += globalWorldMapManager.OnLocalWorldMapReceived;
robotUdpMulticastInterpreter.OnLocalWorldMapEvent += globalWorldMapManager.OnLocalWorldMapReceived;
/// Event généré lorsque la Global World Map a été calculée.
/// Elle n'a pas vocation à être renvoyée à tous les robots puisqu'on la génère dans chaque robot en parallèle
globalWorldMapManager.OnGlobalWorldMapEvent += strategyManager.OnGlobalWorldMapReceived;
/// Event de Réception de data Multicast sur le robot
robotUdpMulticastReceiver.OnDataReceivedEvent += robotUdpMulticastInterpreter.OnMulticastDataReceived;
/// LOGGER related events
perceptionManager.OnLidarRawDataEvent += logRecorder.OnRawLidarDataReceived;
robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += logRecorder.OnIMURawDataReceived;
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
//omniCamera.OpenCvMatImageEvent += logRecorder.OnOpenCVMatImageReceived;
//strategyManagerDictionary.Add(robotId, strategyManager);
trajectoryPlanner.InitRobotPosition(0, 0, 0);
strategyManager.InitStrategy(robotId, teamId);
while (!exitSystem)
{
Thread.Sleep(500);
}
}
[STAThread] //à ajouter au projet initial
static void Main(string[] args)
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>University of Toulon</Customer>
<OrderId>EDUCATIONAL-USE-0109</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>11/04/2019 00:00:00</SupportExpires>
<ProductCode>SC-WPF-SDK-PRO-SITE</ProductCode>
<KeyCode>lwABAQEAAABZVzOfQ0zVAQEAewBDdXN0b21lcj1Vbml2ZXJzaXR5IG9mICBUb3Vsb247T3JkZXJJZD1FRFVDQVRJT05BTC1VU0UtMDEwOTtTdWJzY3JpcHRpb25WYWxpZFRvPTA0LU5vdi0yMDE5O1Byb2R1Y3RDb2RlPVNDLVdQRi1TREstUFJPLVNJVEWDf0QgB8GnCQXI6yAqNM2njjnGbUt2KsujTDzeE+k69K1XYVF1s1x1Hb/i/E3GHaU=</KeyCode>
</LicenseContract>");
switch (robotMode)
{
case RobotMode.Standard:
usingLidar = true;
usingLogging = false;
usingLogReplay = false;
break;
case RobotMode.LidarAcquisition:
usingLidar = true;
usingLogging = true;
usingLogReplay = false;
break;
case RobotMode.LidarReplay:
usingLidar = false;
usingLogging = false;
usingLogReplay = true;
break;
case RobotMode.Nolidar:
usingLidar = false;
usingLogging = false;
usingLogReplay = false;
break;
}
ethernetTeamNetworkAdapter = new EthernetTeamNetworkAdapter();
serialPort1 = new ReliableSerialPort("COM1", 115200, Parity.None, 8, StopBits.One);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new RobotMsgGenerator();
robotMsgProcessor = new RobotMsgProcessor();
physicalSimulator = new PhysicalSimulator.PhysicalSimulator();
int robotId = (int)TeamId.Team1 + (int)RobotId.Robot1;
int teamId = (int)TeamId.Team1;
physicalSimulator.RegisterRobot(robotId, 0, 0);
robotPilot = new RobotPilot.RobotPilot(robotId);
refBoxAdapter = new RefereeBoxAdapter.RefereeBoxAdapter();
trajectoryPlanner = new TrajectoryPlanner(robotId);
waypointGenerator = new WaypointGenerator(robotId);
strategyManager = new StrategyManager.StrategyManager(robotId);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId);
lidarSimulator = new LidarSimulator.LidarSimulator(robotId);
perceptionSimulator = new PerceptionSimulator(robotId);
if (usingLidar)
{
lidar_OMD60M = new Lidar_OMD60M(robotId);
lidarProcessor = new LidarProcessor.LidarProcessor(robotId);
}
xBoxManette = new XBoxController.XBoxController(robotId);
if (!usingSimulatedCamera)
{
omniCamera = new BaslerCameraAdapter();
}
else
{
omniCameraSimulator = new SimulatedCamera.SimulatedCamera();
}
imageProcessingPositionFromOmniCamera = new ImageProcessingPositionFromOmniCamera();
//Démarrage des interface de visualisation
StartInterfaces();
//Démarrage du logging
if (usingLogging)
{
logRecorder = new LogRecorder.LogRecorder();
}
if (usingLogReplay)
{
logReplay = new LogReplay.LogReplay();
lidarProcessor = new LidarProcessor.LidarProcessor(robotId);
}
//Liens entre modules
strategyManager.OnDestinationEvent += waypointGenerator.OnDestinationReceived;
strategyManager.OnHeatMapEvent += waypointGenerator.OnStrategyHeatMapReceived;
waypointGenerator.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
if (!usingXBoxController)
{
trajectoryPlanner.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
robotPilot.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
}
else
{
//Sur evenement xx -->> Action a effectuer
xBoxManette.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
xBoxManette.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
xBoxManette.OnPriseBalleEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor;
xBoxManette.OnMoveTirUpEvent += robotMsgGenerator.GenerateMessageMoveTirUp;
xBoxManette.OnMoveTirDownEvent += robotMsgGenerator.GenerateMessageMoveTirDown;
xBoxManette.OnTirEvent += robotMsgGenerator.GenerateMessageTir;
}
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
physicalSimulator.OnPhysicalRobotPositionEvent += trajectoryPlanner.OnPhysicalPositionReceived;
physicalSimulator.OnPhysicicalObjectListLocationEvent += perceptionSimulator.OnPhysicalObjectListLocationReceived;
physicalSimulator.OnPhysicalRobotPositionEvent += perceptionSimulator.OnPhysicalRobotPositionReceived;
physicalSimulator.OnPhysicalBallPositionEvent += perceptionSimulator.OnPhysicalBallPositionReceived;
perceptionSimulator.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
//lidarSimulator.OnSimulatedLidarEvent += localWorldMapManager.OnRawLidarDataReceived;
strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.OnHeatMapEvent += localWorldMapManager.OnHeatMapReceived;
//waypointGenerator.OnHeatMapEvent += localWorldMapManager.OnHeatMapReceived;
if (usingLidar)
{
lidar_OMD60M.OnLidarEvent += lidarProcessor.OnRawLidarDataReceived;
lidarProcessor.OnLidarProcessedEvent += localWorldMapManager.OnRawLidarDataReceived;
}
//Event de recording
if (usingLogging)
{
lidar_OMD60M.OnLidarEvent += logRecorder.OnRawLidarDataReceived;
}
//Event de replay
if (usingLogReplay)
{
logReplay.OnLidarEvent += lidarProcessor.OnRawLidarDataReceived;
lidarProcessor.OnLidarProcessedEvent += localWorldMapManager.OnRawLidarDataReceived;
lidarProcessor.OnLidarObjectProcessedEvent += localWorldMapManager.OnLidarObjectsReceived;
}
//Timer de stratégie
timerStrategie = new HighFreqTimer(0.5);
timerStrategie.Tick += TimerStrategie_Tick;
timerStrategie.Start();
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}
public MainWindow()
{
SciChartSurface.SetRuntimeLicenseKey("KEY");
this.InitializeComponent();
this.DataContext = new MainWindowViewModel();
}
public App()
{
SciChartSurface.SetRuntimeLicenseKey(KEY_CODE);
}
[STAThread] //à ajouter au projet initial
static void Main(string[] args)
{
SciChartSurface.SetRuntimeLicenseKey(@"<LicenseContract>
<Customer>Universite De Toulon</Customer>
<OrderId>EDUCATIONAL-USE-0128</OrderId>
<LicenseCount>1</LicenseCount>
<IsTrialLicense>false</IsTrialLicense>
<SupportExpires>02/17/2020 00:00:00</SupportExpires>
<ProductCode>SC-WPF-2D-PRO-SITE</ProductCode>
<KeyCode>lwAAAQEAAACS9FAFUqnVAXkAQ3VzdG9tZXI9VW5pdmVyc2l0ZSBEZSBUb3Vsb247T3JkZXJJZD1FRFVDQVRJT05BTC1VU0UtMDEyODtTdWJzY3JpcHRpb25WYWxpZFRvPTE3LUZlYi0yMDIwO1Byb2R1Y3RDb2RlPVNDLVdQRi0yRC1QUk8tU0lURYcbnXYui4rna7TqbkEmUz1V7oD1EwrO3FhU179M9GNhkL/nkD/SUjwJ/46hJZ31CQ==</KeyCode>
</LicenseContract>");
//TODO : Créer un projet World...
ethernetTeamNetworkAdapter = new EthernetTeamNetworkAdapter();
serialPort1 = new ReliableSerialPort("FTDI", 230400 /*115200*/, Parity.None, 8, StopBits.One);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new RobotMsgGenerator();
robotMsgProcessor = new RobotMsgProcessor();
physicalSimulator = new PhysicalSimulator.PhysicalSimulator();
int robotId = (int)TeamId.Team1 + (int)RobotId.Robot1;
int teamId = (int)TeamId.Team1;
physicalSimulator.RegisterRobot(robotId, 0, 0);
robotPilot = new RobotPilot.RobotPilot(robotId);
refBoxAdapter = new RefereeBoxAdapter.RefereeBoxAdapter();
trajectoryPlanner = new TrajectoryPlanner(robotId);
waypointGenerator = new WaypointGenerator(robotId);
strategyManager = new StrategyManager.StrategyManager(robotId);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId);
lidarSimulator = new LidarSimulator.LidarSimulator(robotId);
perceptionSimulator = new PerceptionSimulator(robotId);
if (usingLidar)
{
lidar_OMD60M = new Lidar_OMD60M(robotId);
}
xBoxManette = new XBoxController.XBoxController(robotId);
if (!usingSimulatedCamera)
{
omniCamera = new BaslerCameraAdapter();
}
else
{
omniCameraSimulator = new SimulatedCamera.SimulatedCamera();
}
imageProcessingPositionFromOmniCamera = new ImageProcessingPositionFromOmniCamera();
StartInterfaces();
//Liens entre modules
strategyManager.OnDestinationEvent += waypointGenerator.OnDestinationReceived;
strategyManager.OnHeatMapEvent += waypointGenerator.OnStrategyHeatMapReceived;
waypointGenerator.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
if (!usingXBoxController)
{
trajectoryPlanner.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
robotPilot.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
}
else
{
//Sur evenement xx -->> Action a effectuer
xBoxManette.OnSpeedConsigneEvent += physicalSimulator.SetRobotSpeed;
xBoxManette.OnSpeedConsigneEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToRobot;
xBoxManette.OnPriseBalleEvent += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor;
xBoxManette.OnMoveTirUpEvent += robotMsgGenerator.GenerateMessageMoveTirUp;
xBoxManette.OnMoveTirDownEvent += robotMsgGenerator.GenerateMessageMoveTirDown;
xBoxManette.OnTirEvent += robotMsgGenerator.GenerateMessageTir;
}
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
physicalSimulator.OnPhysicalRobotPositionEvent += trajectoryPlanner.OnPhysicalPositionReceived;
physicalSimulator.OnPhysicicalObjectListLocationEvent += perceptionSimulator.OnPhysicalObjectListLocationReceived;
physicalSimulator.OnPhysicalRobotPositionEvent += perceptionSimulator.OnPhysicalRobotPositionReceived;
physicalSimulator.OnPhysicalBallPositionEvent += perceptionSimulator.OnPhysicalBallPositionReceived;
perceptionSimulator.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
//lidarSimulator.OnSimulatedLidarEvent += localWorldMapManager.OnRawLidarDataReceived;
strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.OnHeatMapEvent += localWorldMapManager.OnHeatMapReceived;
//waypointGenerator.OnHeatMapEvent += localWorldMapManager.OnHeatMapReceived;
if (usingLidar)
{
lidar_OMD60M.OnLidarEvent += localWorldMapManager.OnRawLidarDataReceived;
}
//Timer de stratégie
timerStrategie = new HighFreqTimer(0.5);
timerStrategie.Tick += TimerStrategie_Tick;
timerStrategie.Start();
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}
public App()
{
SciChartSurface.SetRuntimeLicenseKey("+9oA55f5uZ2j+1vXMGcFIDVzTVXix1tX5LgxwKiHYPlPEEt2/9AoMBnccuhF7FTznCVTLfGpGydax1W1cN9QKf+5y9om0h52n2cH8ZzUqgm7dR7aG0mphd+ewUWmPcA9w9SoQYZkuYVYConF7vXGNMZaS8Nth1T3IOZq39YgPjfqZUu5wi5URJR4EYKbmjK4hXcNk8eOR0wTFES0l8hJNzZg8rzzcEPVWfy3nHkNibEVBG8HOJeWBaiIyI9ItE+XP2LNk/Y81BMWEcn4f8bYX9bA05ZgbpEFAuBeUFp5UDAmG5VJk4KPplou7fVqYBmNF746EUJ40p63sU3RrkESRssQJFLDnusGTpg77rzJbKF5T6uu01yyOor+qf9oGHB8l1W+m3rqwXfgUUULuAwLU5S/RM9uXtHXHZefkN+aMKjTt6OQ9AhFePoaN4M4R1/yXy181SnLj1SxfScUG8R4aMvElIGtusCEt3ZVqfZT");
}
static void Main(string[] args)
{
SetConsoleCtrlHandler(new HandlerRoutine(ConsoleCtrlCheck), true);
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("wsCOsvBlAs2dax4o8qBefxMi4Qe5BVWax7TGOMLcwzWFYRNCa/f1rA5VA1ITvLHSULvhDMKVTc+niao6URAUXmGZ9W8jv/4jtziBzFZ6Z15ek6SLU49eIqJxGoQEFWvjANJqzp0asw+zvLV0HMirjannvDRj4i/WoELfYDubEGO1O+oAToiJlgD/e2lVqg3F8JREvC0iqBbNrmfeUCQdhHt6SKS2QpdmOoGbvtCossAezGNxv92oUbog6YIhtpSyGikCEwwKSDrlKlAab6302LLyFsITqogZychLYrVXJTFvFVnDfnkQ9cDi7017vT5flesZwIzeH497lzGp3B8fKWFQyZemD2RzlQkvj5GUWBwxiKAHrYMnQjJ/PsfojF1idPEEconVsh1LoYofNk2v/Up8AzXEAvxWUEcgzANeQggaUNy+OFet8b/yACa/bgYG7QYzFQZzgdng8IK4vCPdtg4/x7g5EdovN2PI9vB76coMuKnNVPnZN60kSjtd/24N8A==");
switch (robotMode)
{
case RobotMode.Standard:
usingLidar = true;
usingCamera = true;
usingLogging = false;
usingLogReplay = false;
break;
case RobotMode.Acquisition:
usingLidar = true;
usingCamera = true;
usingLogging = true;
usingLogReplay = false;
break;
case RobotMode.Replay:
usingLidar = false;
usingCamera = false;
usingLogging = false;
usingLogReplay = true;
break;
case RobotMode.Nolidar:
usingLidar = false;
usingCamera = true;
usingLogging = false;
usingLogReplay = false;
break;
case RobotMode.NoCamera:
usingLidar = true;
usingCamera = false;
usingLogging = false;
usingLogReplay = false;
break;
}
int robotId = (int)TeamId.Team1 + (int)RobotId.Robot1;
int teamId = (int)TeamId.Team1;
serialPort1 = new ReliableSerialPort("COM1", 115200, Parity.None, 8, StopBits.One);
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new MsgGenerator();
robotMsgProcessor = new MsgProcessor(robotId, GameMode.RoboCup);
robotPilot = new RobotPilot.RobotPilot(robotId);
strategyManager = new StrategyRoboCup(robotId, teamId, "224.16.32.79");
waypointGenerator = new WaypointGenerator(robotId, GameMode.RoboCup);
trajectoryPlanner = new TrajectoryGeneratorHolonome(robotId, GameMode.RoboCup);
kalmanPositioning = new KalmanPositioning.KalmanPositioning(robotId, 50, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.02);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false);
perceptionManager = new PerceptionManager(robotId, GameMode.RoboCup);
imuProcessor = new ImuProcessor.ImuProcessor(robotId);
if (usingYolo)
{
yoloDetector = new YoloObjectDetector.YoloObjectDetector(false); //Instancie un detecteur avec un Wrappeur Yolo utilisant le GPU
}
if (usingLidar)
{
lidar_OMD60M_TCP = new LidaRxR2000();
}
if (usingLidar || usingLogReplay)
{
lidarProcessor = new LidarProcessor.LidarProcessor(robotId, GameMode.RoboCup);
}
xBoxManette = new XBoxControllerNS.XBoxController(robotId);
if (usingCamera || usingLogReplay)
{
imageProcessingPositionFromOmniCamera = new ImageProcessingPositionFromOmniCamera();
absolutePositionEstimator = new AbsolutePositionEstimator(robotId);
}
if (usingCamera)
{
omniCamera = new BaslerCameraAdapter();
omniCamera.CameraInit();
//omniCamera.BitmapPanoramaImageEvent += absolutePositionEstimator.AbsolutePositionEvaluation;
}
if (usingImageExtractor && usingCamera)
{
imgSaver = new ImageSaver.ImageSaver();
omniCamera.BitmapPanoramaImageEvent += imgSaver.OnSaveBitmapImage;
}
//Démarrage des interface de visualisation
if (usingRobotInterface)
{
StartRobotInterface();
}
if (usingCameraInterface)
{
StartCameraInterface();
}
//Démarrage du logger si besoin
if (usingLogging)
{
logRecorder = new LogRecorder.LogRecorder();
}
//Démarrage du log replay si l'interface est utilisée et existe ou si elle n'est pas utilisée, sinon on bloque
if (usingLogReplay)
{
logReplay = new LogReplay.LogReplay();
}
//Liens entre modules
strategyManager.OnDestinationEvent += waypointGenerator.OnDestinationReceived;
strategyManager.OnHeatMapStrategyEvent += waypointGenerator.OnStrategyHeatMapReceived;
waypointGenerator.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
//Filtre de Kalman perceptionManager.OnAbsolutePositionEvent += kalmanPositioning.OnAbsolutePositionCalculatedEvent;
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += kalmanPositioning.OnOdometryRobotSpeedReceived;
imuProcessor.OnGyroSpeedEvent += kalmanPositioning.OnGyroRobotSpeedReceived;
kalmanPositioning.OnKalmanLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += perceptionManager.OnPhysicalRobotPositionReceived;
//kalmanPositioning.OnKalmanLocationEvent += strategyManager.OnPositionRobotReceived;
//L'envoi des commandes dépend du fait qu'on soit en mode manette ou pas.
//Il faut donc enregistrer les évènement ou pas en fonction de l'activation
//C'est fait plus bas dans le code avec la fonction que l'on appelle
ConfigControlEvents(useXBoxController: true);
//Gestion des messages envoyé par le robot
robotMsgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeMessageToRobot;
msgEncoder.OnMessageEncodedEvent += serialPort1.SendMessage;
//Gestion des messages reçu par le robot
serialPort1.OnDataReceivedEvent += msgDecoder.DecodeMsgReceived;
msgDecoder.OnMessageDecodedEvent += robotMsgProcessor.ProcessRobotDecodedMessage;
robotMsgProcessor.OnIMURawDataFromRobotGeneratedEvent += imuProcessor.OnIMURawDataReceived;
//physicalSimulator.OnPhysicalRobotLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
//physicalSimulator.OnPhysicicalObjectListLocationEvent += perceptionSimulator.OnPhysicalObjectListLocationReceived;
//physicalSimulator.OnPhysicalRobotLocationEvent += perceptionSimulator.OnPhysicalRobotPositionReceived;
//physicalSimulator.OnPhysicalBallPositionEvent += perceptionSimulator.OnPhysicalBallPositionReceived;
perceptionManager.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
strategyManager.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.OnHeatMapStrategyEvent += localWorldMapManager.OnHeatMapStrategyReceived;
//if (usingLidar)
//{
// lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += lidarProcessor.OnRawLidarDataReceived;
// //lidar_OMD60M.OnLidarDecodedFrameEvent += absolutePositionEstimator.OnRawLidarDataReceived;
// lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += localWorldMapManager.OnRawLidarDataReceived;
// lidarProcessor.OnLidarObjectProcessedEvent += localWorldMapManager.OnLidarObjectsReceived;
//}
if (usingLidar)
{
lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += perceptionManager.OnRawLidarDataReceived;
//lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += localWorldMapManager.OnLidarDataReceived;
lidarProcessor.OnLidarProcessedEvent += localWorldMapManager.OnLidarDataReceived;
}
//Events de recording
if (usingLogging)
{
//lidar_OMD60M_UDP.OnLidarDecodedFrameEvent += logRecorder.OnRawLidarDataReceived;
lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += logRecorder.OnRawLidarDataReceived;
omniCamera.BitmapFishEyeImageEvent += logRecorder.OnBitmapImageReceived;
imuProcessor.OnIMUProcessedDataGeneratedEvent += logRecorder.OnIMURawDataReceived;
robotMsgProcessor.OnPolarOdometrySpeedFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
//omniCamera.OpenCvMatImageEvent += logRecorder.OnOpenCVMatImageReceived;
}
if (usingLogReplay)
{
logReplay.OnLidarEvent += perceptionManager.OnRawLidarDataReceived;
//logReplay.OnCameraImageEvent += imageProcessingPositionFromOmniCamera.ProcessOpenCvMatImage;
//logReplay.OnCameraImageEvent += absolutePositionEstimator.AbsolutePositionEvaluation;
//lidarProcessor.OnLidarObjectProcessedEvent += localWorldMapManager.OnLidarObjectsReceived;
}
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}
[STAThread] //à ajouter au projet initial
static void Main(string[] args)
{
// Set this code once in App.xaml.cs or application startup
SciChartSurface.SetRuntimeLicenseKey("wsCOsvBlAs2dax4o8qBefxMi4Qe5BVWax7TGOMLcwzWFYRNCa/f1rA5VA1ITvLHSULvhDMKVTc+niao6URAUXmGZ9W8jv/4jtziBzFZ6Z15ek6SLU49eIqJxGoQEFWvjANJqzp0asw+zvLV0HMirjannvDRj4i/WoELfYDubEGO1O+oAToiJlgD/e2lVqg3F8JREvC0iqBbNrmfeUCQdhHt6SKS2QpdmOoGbvtCossAezGNxv92oUbog6YIhtpSyGikCEwwKSDrlKlAab6302LLyFsITqogZychLYrVXJTFvFVnDfnkQ9cDi7017vT5flesZwIzeH497lzGp3B8fKWFQyZemD2RzlQkvj5GUWBwxiKAHrYMnQjJ/PsfojF1idPEEconVsh1LoYofNk2v/Up8AzXEAvxWUEcgzANeQggaUNy+OFet8b/yACa/bgYG7QYzFQZzgdng8IK4vCPdtg4/x7g5EdovN2PI9vB76coMuKnNVPnZN60kSjtd/24N8A==");
//waypointGeneratorList = new List<WaypointGenerator>();
trajectoryPlannerList = new List <TrajectoryPlanner>();
sensorSimulatorList = new List <SensorSimulator.SensorSimulator>();
kalmanPositioningList = new List <KalmanPositioning.KalmanPositioning>();
strategyManagerDictionary = new Dictionary <int, StrategyManagerNS.StrategyManager>();
localWorldMapManagerList = new List <LocalWorldMapManager>();
perceptionManagerList = new List <PerceptionManager>();
robotUdpMulticastSenderList = new List <UDPMulticastSender>();
robotUdpMulticastReceiverList = new List <UDPMulticastReceiver>();
robotUdpMulticastInterpreterList = new List <UDPMulticastInterpreter>();
physicalSimulator = new PhysicalSimulator.PhysicalSimulator("RoboCup");
globalWorldMapManagerTeam1 = new GlobalWorldMapManager((int)TeamId.Team1);
globalWorldMapManagerTeam2 = new GlobalWorldMapManager((int)TeamId.Team2);
//BaseStation RCT
BaseStationUdpMulticastSenderTeam1 = new UDPMulticastSender(0, "224.16.32.79");
BaseStationUdpMulticastReceiverTeam1 = new UDPMulticastReceiver(0, "224.16.32.79");
BaseStationUdpMulticastInterpreterTeam1 = new UDPMulticastInterpreter(0);
//BaseStation TuE
BaseStationUdpMulticastSenderTeam2 = new UDPMulticastSender(0, "224.16.32.63");
BaseStationUdpMulticastReceiverTeam2 = new UDPMulticastReceiver(0, "224.16.32.63");
BaseStationUdpMulticastInterpreterTeam2 = new UDPMulticastInterpreter(0);
for (int i = 0; i < nbPlayersTeam1; i++)
{
CreatePlayer((int)TeamId.Team1, i, team1PlayerNames[i], "224.16.32.79");
}
for (int i = 0; i < nbPlayersTeam2; i++)
{
CreatePlayer((int)TeamId.Team2, i, team2PlayerNames[i], "224.16.32.63");
}
//DefineRoles();
StartInterfaces();
refBoxAdapter = new RefereeBoxAdapter.RefereeBoxAdapter();
//Event de réception d'une commande de la réferee box
refBoxAdapter.OnMulticastSendRefBoxCommandEvent += BaseStationUdpMulticastSenderTeam1.OnMulticastMessageToSendReceived;
refBoxAdapter.OnMulticastSendRefBoxCommandEvent += BaseStationUdpMulticastSenderTeam2.OnMulticastMessageToSendReceived;
//Event de réception de data Multicast sur la base Station Team X
BaseStationUdpMulticastReceiverTeam1.OnDataReceivedEvent += BaseStationUdpMulticastInterpreterTeam1.OnMulticastDataReceived;
BaseStationUdpMulticastReceiverTeam2.OnDataReceivedEvent += BaseStationUdpMulticastInterpreterTeam2.OnMulticastDataReceived;
//Event d'interprétation d'une localWorldMap à sa réception dans la base station
BaseStationUdpMulticastInterpreterTeam1.OnLocalWorldMapEvent += globalWorldMapManagerTeam1.OnLocalWorldMapReceived;
BaseStationUdpMulticastInterpreterTeam2.OnLocalWorldMapEvent += globalWorldMapManagerTeam2.OnLocalWorldMapReceived;
//Event d'envoi de la global world map sur le Multicast
globalWorldMapManagerTeam1.OnMulticastSendGlobalWorldMapEvent += BaseStationUdpMulticastSenderTeam1.OnMulticastMessageToSendReceived;
globalWorldMapManagerTeam2.OnMulticastSendGlobalWorldMapEvent += BaseStationUdpMulticastSenderTeam2.OnMulticastMessageToSendReceived;
lock (ExitLock)
{
// Do whatever setup code you need here
// once we are done wait
Monitor.Wait(ExitLock);
}
}
static void Main(string[] args)
{
ConsoleFormat.InitMainConsole();
/// Enregistrement de la license SciChart en début de code
SciChartSurface.SetRuntimeLicenseKey(ConstVar.SCICHART_RUNTIME_KEY);
ConsoleFormat.SetupScichartLicenceKey();
/// Initialisation des modules utilisés dans le robot
int robotId = (int)RobotId.Robot1;
int teamId = (int)TeamId.Team1;
usbDriver = new USBVendor();
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
msgGenerator = new MsgGenerator();
msgProcessor = new MsgProcessor(robotId, competition);
ConsoleFormat.SetupAllCommunication();
xBoxManette = new XBoxController(robotId);
ConsoleFormat.SetupXboxController();
logRecorder = new LogRecorder();
logReplay = new LogReplay();
strategyManager = new StrategyEurobot(robotId, teamId, "224.16.32.79");
#region Communication to Low Lvl
/// Création des liens entre module, sauf depuis et vers l'interface graphique
usbDriver.OnUSBuffReceivedEvent += msgDecoder.BuffReceived; // Transmission des messages reçus par l'USB au Message Decoder
msgDecoder.OnCorrectMessageReceivedEvent += msgProcessor.ProcessRobotDecodedMessage; // Transmission les messages décodés par le Message Decoder au Message Processor
msgGenerator.OnMessageToRobotGeneratedEvent += msgEncoder.EncodeAndSendMessage; // Envoi des messages du générateur de message à l'encoder
msgEncoder.OnSendMessageEvent += usbDriver.SendUSBMessage; // Envoi des messages en USB depuis le message encoder
#endregion
#region Console
// Control:
bool hex_viewer = false;
bool hex_sender = false;
bool hex_viewer_error = true;
bool hex_sender_error = true;
bool hex_processor = false;
bool hex_generator = false;
#region USB Vendor
usbDriver.OnDeviceAddedEvent += ConsoleFormat.PrintNewDeviceAdded;
usbDriver.OnDeviceRemovedEvent += ConsoleFormat.PrintDeviceRemoved;
usbDriver.OnUsbVendorExeptionEvent += ConsoleFormat.PrintUsbErrorExeption;
#endregion
#region Hex Viewer
if (hex_viewer)
{
msgDecoder.OnUnknowByteEvent += ConsoleFormat.PrintUnknowByte;
msgDecoder.OnSOFByteReceivedEvent += ConsoleFormat.PrintSOF;
msgDecoder.OnFunctionMSBByteReceivedEvent += ConsoleFormat.PrintFunctionMSB;
msgDecoder.OnFunctionLSBByteReceivedEvent += ConsoleFormat.PrintFunctionLSB;
msgDecoder.OnPayloadLenghtMSBByteReceivedEvent += ConsoleFormat.PrintLenghtMSB;
msgDecoder.OnPayloadLenghtLSBByteReceivedEvent += ConsoleFormat.PrintLenghtLSB;
msgDecoder.OnPayloadByteReceivedEvent += ConsoleFormat.PrintPayloadByte;
msgDecoder.OnCorrectMessageReceivedEvent += ConsoleFormat.PrintCorrectChecksum;
msgDecoder.OnErrorMessageReceivedEvent += ConsoleFormat.PrintWrongChecksum;
}
#endregion
#region Hex Viewer Error
if (hex_viewer_error)
{
msgDecoder.OnOverLenghtMessageEvent += ConsoleFormat.PrintOverLenghtWarning;
msgDecoder.OnUnknowFunctionEvent += ConsoleFormat.PrintUnknowFunctionReceived;
msgDecoder.OnWrongLenghtFunctionEvent += ConsoleFormat.PrintWrongFonctionLenghtReceived;
}
#endregion
#region Hex Sender
if (hex_sender)
{
msgEncoder.OnSendMessageByteEvent += ConsoleFormat.PrintSendMsg;
}
#endregion
#region Hex Sender Error
if (hex_sender_error)
{
msgEncoder.OnSerialDisconnectedEvent += ConsoleFormat.PrintOnSerialDisconnectedError;
msgEncoder.OnUnknownFunctionSentEvent += ConsoleFormat.PrintUnknowFunctionSent;
msgEncoder.OnWrongPayloadSentEvent += ConsoleFormat.PrintWrongFunctionLenghtSent;
}
#endregion
#endregion
#region Lidar
lidar = new SickLidar(17422959); // 18110177
lidarProcess = new LidarProcess(robotId, teamId);
lidar.OnLidarDeviceConnectedEvent += lidarProcess.OnNewLidarConnected;
lidar.OnLidarDeviceConnectedEvent += ConsoleFormat.NewLidarDeviceConnected;
lidar.PointsAvailable += lidarProcess.OnRawPointAvailable;
lidar.Start();
#endregion
lidarProcess.OnRawLidarDataEvent += logRecorder.OnRawLidarDataReceived;
msgProcessor.OnSpeedPolarOdometryFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
#region Local World Map
localWorldMap = new LocalWorldMap(robotId, teamId);
localWorldMap.OnUpdateRobotLocationEvent += lidarProcess.OnRobotLocation;
lidarProcess.OnRawLidarPointPolarEvent += localWorldMap.OnLidarRawPointReceived;
lidarProcess.OnProcessLidarPolarDataEvent += localWorldMap.OnLidarProcessedPointReceived;
lidarProcess.OnProcessLidarLineDataEvent += localWorldMap.OnLidarProcessedLineReceived;
lidarProcess.OnProcessLidarCupDataEvent += localWorldMap.OnLidarProcessedCupReceived;
lidarProcess.OnLidarSetupRobotLocationEvent += localWorldMap.OnRobotLocation;
//lidarProcess.OnProcessLidarObjectsDataEvent += localWorldMap.OnLidarProcesObjectsReceived;
localWorldMap.OnLocalWorldMapEvent += strategyManager.OnLocalWorldMapReceived;
localWorldMap.Init();
#endregion
#region Position2Wheels
positioning2Wheels = new Positioning2Wheels(robotId);
msgProcessor.OnSpeedPolarOdometryFromRobotEvent += positioning2Wheels.OnOdometryRobotSpeedReceived;
positioning2Wheels.OnCalculatedLocationEvent += localWorldMap.OnRobotLocationArgs;
#endregion
#region TrajectoryPlanner
trajectoryPlanner = new TrajectoryPlanner(robotId);
trajectoryPlanner.OnNewGhostLocationEvent += localWorldMap.OnGhostLocation;
trajectoryPlanner.OnNewRobotLocationEvent += localWorldMap.OnRobotLocation;
trajectoryPlanner.OnDestinationReachedEvent += strategyManager.OnGhostLocationReached;
#endregion
#region Strategy /!\Need to be Last /! \
strategyManager.On2WheelsToPolarMatrixSetupEvent += msgGenerator.GenerateMessage2WheelsToPolarMatrixSet; //Transmission des messages de set-up de la matrice de transformation moteurindepeandt -> polaire en embarqué
strategyManager.On2WheelsAngleSetupEvent += msgGenerator.GenerateMessage2WheelsAngleSet; //Transmission des messages de set-up de la config angulaire des roues en embarqué
strategyManager.OnOdometryPointToMeterSetupEvent += msgGenerator.GenerateMessageOdometryPointToMeter; //Transmission des messages de set-up du coeff pointToMeter en embarqué
strategyManager.OnSetAsservissementModeEvent += msgGenerator.GenerateMessageSetAsservissementMode;
strategyManager.OnDestinationReachedEvent += localWorldMap.OnDestinationReached;
strategyManager.OnWaypointsReachedEvent += localWorldMap.OnWaypointReached;
strategyManager.OnSetActualLocationEvent += trajectoryPlanner.OnUpdateActualLocation;
strategyManager.OnSetWantedLocationEvent += trajectoryPlanner.OnUpdateWantedDestination;
strategyManager.OnGhostCalculationBeginEvent += trajectoryPlanner.OnLaunchCalculation;
strategyManager.OnSetNewWaypointEvent += localWorldMap.AddNewWaypointsEvent;
strategyManager.OnSetNewDestinationEvent += localWorldMap.SetDestinationLocationEvent;
strategyManager.OnUpdateGhostCalculationOrderEvent += trajectoryPlanner.OnCalculateGhostMovement;
ConsoleFormat.PrintStrategyBoot();
strategyManager.InitStrategy(); //à faire après avoir abonné les events !
#endregion
if (usingMatchDisplay)
{
StartMatchInterface();
}
else
{
StartRobotInterface();
}
ConsoleFormat.EndMainBootSequence();
while (!exitSystem)
{
Thread.Sleep(500);
}
}
public App()
{
InitializeComponent();
SciChartSurface.SetRuntimeLicenseKey(@"{""ActivatedBy"": null,""Customer"": ""SciChart v6 BETA (November)"",""DeveloperCount"": null,""ExpiryDate"": ""2099-12-07"",""Features"": [""WPF-2D"",""AND-2D"",""iOS-2D"",""WPF-3D"",""AND-3D"",""iOS-3D""],""IsTrialLicense"": false,""KeyCode"": ""7b6ae352dba5a13a22fc4c51e56e62f4b9811979c1919c88184628fb367408cccd0d2886dbce6398077d7dfbc969de869da5f9197aaa5630e7a0fa2466c5397e6b6b8ae25c5eeff7dc5c361de4d34d448b585d99a2254ac4f9e5f69aaa431cc479ea00c735b8da716556a6de8000f3a52e5d9be63044e74e03ee77246dac5d16b113983abd4091ca37e77c5a7cca7518676eeb212ac2e4fd154621699033adbbf401b76bdcf5cb05"",""MachineId"": null,""OrderId"": ""NA"",""ProductCode"": ""SC-BUNDLE-SDK-PRO"",""SerialKey"": null,""TicketQuantity"": null}");
}