[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);
}
}
[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);
}
}
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 USBVendor.USBVendor();
msgDecoder = new MsgDecoder();
msgEncoder = new MsgEncoder();
robotMsgGenerator = new MsgGenerator();
robotMsgProcessor = new MsgProcessor(robotId, competition);
imuProcessor = new ImuProcessor.ImuProcessor(robotId);
if (usingLidar)
{
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 TrajectoryPlanner(robotId, competition);
localWorldMapManager = new LocalWorldMapManager(robotId, teamId, bypassMulticast: false);
globalWorldMapManager = new GlobalWorldMapManager(robotId);
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 XBoxController.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.strategy.OnGameStateChangedEvent += trajectoryPlanner.OnGameStateChangeReceived;
strategyManager.strategy.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
//Kalman
perceptionManager.OnAbsolutePositionEvent += kalmanPositioning.OnAbsolutePositionCalculatedEvent;
imuProcessor.OnGyroSpeedEvent += kalmanPositioning.OnGyroRobotSpeedReceived;
robotMsgProcessor.OnSpeedPolarOdometryFromRobotEvent += kalmanPositioning.OnOdometryRobotSpeedReceived;
kalmanPositioning.OnKalmanLocationEvent += trajectoryPlanner.OnPhysicalPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += perceptionManager.OnPhysicalRobotPositionReceived;
kalmanPositioning.OnKalmanLocationEvent += strategyManager.strategy.OnPositionRobotReceived;
//Update des données de la localWorldMap
perceptionManager.OnPerceptionEvent += localWorldMapManager.OnPerceptionReceived;
strategyManager.strategy.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
strategyManager.strategy.OnRoleEvent += localWorldMapManager.OnRoleReceived; //Utile pour l'affichage
strategyManager.strategy.OnMessageDisplayEvent += localWorldMapManager.OnMessageDisplayReceived; //Utile pour l'affichage
strategyManager.strategy.OnHeatMapStrategyEvent += localWorldMapManager.OnHeatMapStrategyReceived;
strategyManager.strategy.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.strategy.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;
if (usingLidar)
{
strategyManager.strategy.OnMessageEvent += lidar_OMD60M_TCP.OnMessageReceivedEvent;
}
strategyManager.strategy.OnSetRobotSpeedPolarPIDEvent += robotMsgGenerator.GenerateMessageSetupSpeedPolarPIDToRobot;
strategyManager.strategy.OnSetRobotSpeedIndependantPIDEvent += robotMsgGenerator.GenerateMessageSetupSpeedIndependantPIDToRobot;
strategyManager.strategy.OnSetAsservissementModeEvent += robotMsgGenerator.GenerateMessageSetAsservissementMode;
// strategyEurobot.OnHerkulexPositionRequestEvent += herkulexManager.OnHerkulexPositionRequestEvent;
strategyManager.strategy.OnSetSpeedConsigneToMotor += robotMsgGenerator.GenerateMessageSetSpeedConsigneToMotor;
strategyManager.strategy.OnEnableDisableMotorCurrentDataEvent += robotMsgGenerator.GenerateMessageEnableMotorCurrentData;
herkulexManager.OnHerkulexSendToSerialEvent += robotMsgGenerator.GenerateMessageForwardHerkulex;
if (usingLidar)
{
lidar_OMD60M_TCP.OnLidarDecodedFrameEvent += perceptionManager.OnRawLidarDataReceived;
perceptionManager.OnLidarRawDataEvent += localWorldMapManager.OnRawLidarDataReceived;
perceptionManager.OnLidarProcessedDataEvent += localWorldMapManager.OnProcessedLidarDataReceived;
}
//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.strategy.OnIOValuesFromRobotEvent;
robotMsgProcessor.OnIOValuesFromRobotGeneratedEvent += perceptionManager.OnIOValuesFromRobotEvent;
// 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.strategy.OnRefBoxMsgReceived;
robotUdpMulticastInterpreter.OnGlobalWorldMapEvent += strategyManager.strategy.OnGlobalWorldMapReceived;
robotUdpMulticastInterpreter.OnLocalWorldMapEvent += globalWorldMapManager.OnLocalWorldMapReceived;
globalWorldMapManager.OnMulticastSendGlobalWorldMapEvent += robotUdpMulticastSender.OnMulticastMessageToSendReceived;
////Event de Transmission des Local World Map du robot vers le multicast
localWorldMapManager.OnMulticastSendLocalWorldMapEvent += robotUdpMulticastSender.OnMulticastMessageToSendReceived;
//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.OnSpeedPolarOdometryFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
//omniCamera.OpenCvMatImageEvent += logRecorder.OnOpenCVMatImageReceived;
//strategyManagerDictionary.Add(robotId, strategyManager);
trajectoryPlanner.InitRobotPosition(0, 0, 0);
strategyManager.strategy.InitStrategy(robotId, teamId);
while (!exitSystem)
{
Thread.Sleep(500);
}
}
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 StrategyManager(robotId, teamId, "224.16.32.79", GameMode.RoboCup);
waypointGenerator = new WaypointGenerator(robotId, GameMode.RoboCup);
trajectoryPlanner = new TrajectoryPlanner(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);
//lidarSimulator = new LidarSimulator.LidarSimulator(robotId);
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 XBoxController.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();
}
//if (usingLogReplay)
// StartReplayNavigatorInterface();
//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.strategy.OnDestinationEvent += waypointGenerator.OnDestinationReceived;
strategyManager.strategy.OnHeatMapStrategyEvent += waypointGenerator.OnStrategyHeatMapReceived;
waypointGenerator.OnWaypointEvent += trajectoryPlanner.OnWaypointReceived;
//Filtre de Kalman perceptionManager.OnAbsolutePositionEvent += kalmanPositioning.OnAbsolutePositionCalculatedEvent;
robotMsgProcessor.OnSpeedPolarOdometryFromRobotEvent += 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.strategy.OnDestinationEvent += localWorldMapManager.OnDestinationReceived;
waypointGenerator.OnWaypointEvent += localWorldMapManager.OnWaypointReceived;
strategyManager.strategy.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.OnRawLidarDataReceived;
lidarProcessor.OnLidarProcessedEvent += localWorldMapManager.OnProcessedLidarDataReceived;
}
//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.OnSpeedPolarOdometryFromRobotEvent += logRecorder.OnPolarSpeedDataReceived;
//omniCamera.OpenCvMatImageEvent += logRecorder.OnOpenCVMatImageReceived;
}
if (usingLogReplay)
{
logReplay.OnLidarEvent += perceptionManager.OnRawLidarDataReceived;
//logReplay.OnCameraImageEvent += imageProcessingPositionFromOmniCamera.ProcessOpenCvMatImage;
//logReplay.OnCameraImageEvent += absolutePositionEstimator.AbsolutePositionEvaluation;
//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);
}
}
