/// <summary>
/// Registers with the correct services
/// </summary>
public void Register()
{
try
{
// "Activate" the NameService singleton.
objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);
// Retreive the directory of messaging channels
IChannelFactory channelFactory = (IChannelFactory)objectDirectory.Resolve("ChannelFactory");
// Retreive the Messaging Service channels we want to push to
simulationMessageChannel = channelFactory.GetChannel("SimulationMessageChannel", ChannelMode.UdpMulticast);
// Rebind the Simulator as the simulator remote facade server
objectDirectory.Rebind(this, "SimulationServer");
// Notify user of success
SimulatorOutput.WriteLine("Connection to Name Service and Registration of Simulation Server as Simulator Facade Successful");
// let clients know the sim is alive
simulationMessageChannel.PublishUnreliably(SimulationMessage.Alive);
}
catch (Exception e)
{
SimulatorOutput.WriteLine("Error Registering With Remoting Services: " + e.ToString());
}
}
/// <summary>
/// Register a client with the simulation
/// </summary>
/// <param name="clientName"></param>
/// <returns></returns>
public override bool Register(string clientName)
{
try
{
// resolve the client
SimulatorClientFacade scf = (SimulatorClientFacade)objectDirectory.Resolve(clientName);
// client name
string name = scf.Name();
// invoke changes
this.simulation.BeginInvoke(new MethodInvoker(delegate()
{
// notify
this.simulation.clientHandler.AddClient(name, scf, this.simulation.simEngine.Vehicles);
this.simulation.OnClientsChanged();
}));
// return success
return(true);
}
catch (Exception e)
{
this.simulation.BeginInvoke(new MethodInvoker(delegate()
{
// notify
SimulatorOutput.WriteLine("Error Registering Client: " + clientName + ". \n" + e.ToString());
}));
// return error
return(false);
}
}
/// <summary>
/// End simulation
/// </summary>
public void EndSimulation()
{
// stop sim
this.SimulationState = SimulationState.Stopped;
// notify
SimulatorOutput.WriteLine("Simulation Stopped");
// state
this.simulationMain.SimulationModeLabel.Text = "Simulation Stopped";
this.simulationMain.SimulationModeLabel.Image = global::Simulator.Properties.Resources.Light_Bulb_Off_16_n_p;
}
/// <summary>
/// Remove a client
/// </summary>
/// <param name="vehicleId"></param>
/// <returns></returns>
public bool Remove(SimVehicleId vehicleId)
{
// check to see if this vehicle is associated with a client
if (VehicleToClientMap.ContainsKey(vehicleId))
{
// get name of client vehicle associated with
string client = VehicleToClientMap[vehicleId];
try
{
// remove vehicle from client to vehicle map
this.ClientToVehicleMap.Remove(client);
// remove client from vehicle to client map
this.VehicleToClientMap.Remove(vehicleId);
// remove vehicle from client
this.AvailableClients[client].SetVehicle(null);
// notify success
SimulatorOutput.WriteLine("Successfully removed vehicle: " + vehicleId.ToString() + " from clients");
// return success
return(true);
}
catch (Exception e)
{
// there was an error
SimulatorOutput.WriteLine("Error removing vehicle: " + vehicleId.ToString() + " from clients: \n" + e.ToString());
// cleanup vehicle to client map
if (this.VehicleToClientMap.ContainsKey(vehicleId))
{
this.VehicleToClientMap.Remove(vehicleId);
}
// cleanup client to vehicle map
if (this.ClientToVehicleMap.ContainsKey(client))
{
this.ClientToVehicleMap.Remove(client);
}
// return unsuccessful
return(false);
}
}
else
{
return(true);
}
}
public void Step()
{
if (stepMode)
{
stepEvent.Set();
if (!this.simulationMain.IsDisposed)
{
this.simulationMain.BeginInvoke(new MethodInvoker(delegate() {
SimulatorOutput.WriteLine("Stepping Sim");
}));
}
}
}
/// <summary>
/// Configures remoting
/// </summary>
public void Configure()
{
try
{
// configure
RemotingConfiguration.Configure("Simulator.exe.config", false);
wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();
// notfy
SimulatorOutput.WriteLine("Remoting Configured Successfully");
}
catch (Exception e)
{
SimulatorOutput.WriteLine("Error Configuring Remoting: " + e.ToString());
}
}
/// <summary>
/// Just run the sim
/// </summary>
public void RunSimulation()
{
// running
this.SimulationState = SimulationState.Running;
// notify
SimulatorOutput.WriteLine("Simulation Started");
// start thread
Thread d = new Thread(Simulate);
d.Priority = ThreadPriority.AboveNormal;
d.IsBackground = true;
d.Start();
// state
this.simulationMain.SimulationModeLabel.Text = "Simulation Running";
this.simulationMain.SimulationModeLabel.Image = global::Simulator.Properties.Resources.Light_Bulb_On_16_n_p;
}
/// <summary>
/// Runs to maintain the simulation and clients
/// </summary>
private void Maintenance()
{
while (true)
{
// to remove
List <string> toRemove = new List <string>();
lock (((ICollection)this.simulation.clientHandler.AvailableClients).SyncRoot)
{
// attempt to ping all clients
foreach (KeyValuePair <string, SimulatorClientFacade> client in this.simulation.clientHandler.AvailableClients)
{
try
{
client.Value.Ping();
}
catch (Exception e)
{
toRemove.Add(client.Key);
Console.WriteLine(e.ToString());
}
}
}
foreach (string s in toRemove)
{
this.simulation.BeginInvoke(new MethodInvoker(delegate()
{
// notify
SimulatorOutput.WriteLine("Error Maintaining Client: " + s + ", Removed");
// remove client
this.simulation.clientHandler.Remove(s);
this.simulation.OnClientsChanged();
}));
}
Thread.Sleep(2000);
}
}
/// <summary>
/// Add a client to the simulation
/// </summary>
/// <param name="client"></param>
/// <param name="scf"></param>
/// <param name="vehicles"></param>
/// <returns></returns>
public bool AddClient(string client, SimulatorClientFacade scf, Dictionary <SimVehicleId, SimVehicle> vehicles)
{
try
{
// check if already a client
if (this.AvailableClients.ContainsKey(client))
{
// remove if already bound for some reason
this.Remove(client);
}
// lock
lock (((ICollection)this.AvailableClients).SyncRoot)
{
// add to available clients
this.AvailableClients.Add(client, scf);
}
// notify success
SimulatorOutput.WriteLine("Successfully added client: " + client);
// attempt to rebind the vehicles
this.ReBindAll(vehicles);
// return success
return(true);
}
catch (Exception e)
{
// notify failure
SimulatorOutput.WriteLine("Error adding client: " + client + ": \n" + e.ToString());
// return false
return(false);
}
}
/// <summary>
/// The simulation main thread
/// </summary>
public void Simulate()
{
// run sim at 10Hz
MMWaitableTimer timer = new MMWaitableTimer((uint)this.settings.SimCycleTime);
// notify
this.simulationMain.SimulationModeLabel.Text = "Simulation Running";
this.simulationMain.SimulationModeLabel.Image = global::Simulator.Properties.Resources.Light_Bulb_On_16_n_p;
// run while on
while (this.SimulationState == SimulationState.Running)
{
if (stepMode)
{
// if we're in step mode, then wait on the step event or time out
bool gotEvent = stepEvent.WaitOne(250, false);
// if we timed out, start the loop over
if (!gotEvent)
{
continue;
}
}
else
{
// wait for 10hz
timer.WaitEvent.WaitOne();
}
try
{
// get world state
WorldState ws = this.WorldService.GetWorldState();
lock (this.simulationMain.clientHandler)
{
// set world state to each client in the sim
foreach (string client in this.simulationMain.clientHandler.VehicleToClientMap.Values)
{
try
{
// update client
SimVehicleState nextState = this.simulationMain.clientHandler.AvailableClients[client].Update(ws, (double)this.settings.SimCycleTime / 1000.0);
if (nextState != null)
{
// update state
this.Vehicles[this.simulationMain.clientHandler.ClientToVehicleMap[client]].SimVehicleState = nextState;
}
else
{
throw new Exception("Received null SimVehicleState from " + client);
}
}
catch (Exception e)
{
if (!this.simulationMain.IsDisposed)
{
this.simulationMain.BeginInvoke(new MethodInvoker(delegate()
{
// notify
SimulatorOutput.WriteLine("Error Updating Client: " + client + ", Simulation Stopped");
// set state
this.simulationMain.SimulationModeLabel.Text = "Simulation Stopped";
this.simulationMain.SimulationModeLabel.Image = global::Simulator.Properties.Resources.Light_Bulb_Off_16_n_p;
// stop
this.EndSimulation();
}));
Console.WriteLine(e.ToString());
// leave
break;
}
}
}
}
// redraw
this.simulationMain.BeginInvoke(new MethodInvoker(delegate()
{
// notify
this.simulationMain.roadDisplay1.Invalidate();
}));
}
catch (Exception e)
{
if (!this.simulationMain.IsDisposed)
{
this.simulationMain.BeginInvoke(new MethodInvoker(delegate()
{
// notify
SimulatorOutput.WriteLine("Error in outer sim loop:" + e.ToString());
}));
}
}
}
}
/// <summary>
/// Associate the vehicle with a enw client
/// </summary>
/// <param name="vehicleId"></param>
/// <returns></returns>
public bool ReBind(SimVehicleId vehicleId)
{
// make sure that the vehicle is not already associated with a client
if (!VehicleToClientMap.ContainsKey(vehicleId))
{
// loop over all clients looking for an open client
foreach (string s in this.AvailableClients.Keys)
{
// make sure the client is not associated with a vehicle
if (!ClientToVehicleMap.ContainsKey(s))
{
try
{
// get the client
SimulatorClientFacade scf = this.AvailableClients[s];
// set the vehicle in the client
scf.SetVehicle(vehicleId);
// set vehicle as having client
VehicleToClientMap.Add(vehicleId, s);
// set client as having vehicle
ClientToVehicleMap.Add(s, vehicleId);
// success
SimulatorOutput.WriteLine("Vehicle: " + vehicleId.ToString() + " Bound to client: " + s);
// return that the rebind was successful
return(true);
}
catch (Exception e)
{
// there was an error
SimulatorOutput.WriteLine("Error binding vehicle: " + vehicleId.ToString() + " to client: " + s + "\n" + e.ToString());
// cleanup vehicle to client map
if (this.VehicleToClientMap.ContainsKey(vehicleId))
{
this.VehicleToClientMap.Remove(vehicleId);
}
// cleanup client to vehicle map
if (this.ClientToVehicleMap.ContainsKey(s))
{
this.ClientToVehicleMap.Remove(s);
}
// return that the attempt was unsuccessful
return(false);
}
}
}
// success
SimulatorOutput.WriteLine("Vehicle: " + vehicleId.ToString() + " Could not be bound to any clients, lack of availability");
// notify that we never got to this point
return(false);
}
else
{
return(true);
}
}
/// <summary>
/// Removes a client
/// </summary>
/// <param name="client"></param>
/// <returns></returns>
public bool Remove(string client)
{
// check if the client is associated with a vehicle
if (this.ClientToVehicleMap.ContainsKey(client))
{
// get vehicle associated with teh client
SimVehicleId svi = this.ClientToVehicleMap[client];
try
{
// remove vehicle from client map
if (this.ClientToVehicleMap.ContainsKey(client))
{
this.ClientToVehicleMap.Remove(client);
}
// remove client from vehicle map
if (this.VehicleToClientMap.ContainsKey(svi))
{
this.VehicleToClientMap.Remove(svi);
}
// lock the clients
lock (((ICollection)this.AvailableClients).SyncRoot)
{
// kill the client
this.AvailableClients[client].Kill();
// remove the client from the available clients
this.AvailableClients.Remove(client);
}
}
catch (Exception e)
{
// lock the clients
lock (((ICollection)this.AvailableClients).SyncRoot)
{
// remove the client from available
if (this.AvailableClients.ContainsKey(client))
{
this.AvailableClients.Remove(client);
}
}
Console.WriteLine(e.ToString());
}
// notify success
SimulatorOutput.WriteLine("Successfully removed client: " + client);
// rebind teh vehicle associated with the client
return(this.ReBind(svi));
}
else
{
// lock the clients
lock (((ICollection)this.AvailableClients).SyncRoot)
{
try
{
// kill the client
this.AvailableClients[client].Kill();
// remove the client from the available clients
this.AvailableClients.Remove(client);
}
catch (Exception e)
{
// remove the client from available
if (this.AvailableClients.ContainsKey(client))
{
this.AvailableClients.Remove(client);
}
Console.WriteLine(e.ToString());
}
}
// notify success
SimulatorOutput.WriteLine("Successfully removed client: " + client);
// return success
return(true);
}
}
