public void Execute(Behavior behavior)
{
try
{
if (!(behavior is NullBehavior))
{
Stopwatch bsw = new Stopwatch();
bsw.Reset();
bsw.Start();
// execute operational behavior
operationalFacade.ExecuteBehavior(behavior);
bsw.Stop();
if (bsw.ElapsedMilliseconds > 50)
{
ArbiterOutput.Output("Delay: Operational Execution Time: " + bsw.ElapsedMilliseconds.ToString());
}
}
}
catch (Exception e)
{
// Notify
ArbiterOutput.Output("Errror executing operational behavior: " + e.ToString());
}
}
/// <summary>
/// Sends road network projection to the operational layer
/// </summary>
public void SendProjection()
{
try
{
if (CoreCommon.RoadNetwork != null)
{
if (this.operationalFacade != null)
{
this.testComponentNeedsRoadNetwork = true;
this.operationalFacade.SetRoadNetwork(CoreCommon.RoadNetwork);
}
else
{
ArbiterOutput.Output("Need to connect to operational before can send road network");
}
}
else
{
ArbiterOutput.Output("Road network cannot be null to send to operational");
}
}
catch (Exception e)
{
ArbiterOutput.Output("Error setting road network in operational, sending projection");
this.operationalFacade.SetProjection(CoreCommon.RoadNetwork.PlanarProjection);
Console.WriteLine(e.ToString());
}
}
/// <summary>
/// Clear all old completion reports
/// </summary>
public void ClearCompletionReports()
{
try
{
this.recentReports = new List <KeyValuePair <CompletionReport, DateTime> >();
ArbiterOutput.Output("Cleared Completion Reports");
}
catch (Exception) { }
}
/// <summary>
/// Called when message sent to us
/// </summary>
/// <param name="channelName"></param>
/// <param name="message"></param>
public void MessageArrived(string channelName, object message)
{
try
{
if (channelName == "ArbiterSceneEstimatorPositionChannel" + this.remotingSuffix &&
message is VehicleState)
{
// cast and set
vehicleState = (VehicleState)message;
}
else if (channelName == "ObservedObstacleChannel" + this.remotingSuffix &&
message is SceneEstimatorUntrackedClusterCollection)
{
// cast and set
observedObstacles = (SceneEstimatorUntrackedClusterCollection)message;
}
else if (channelName == "ObservedVehicleChannel" + this.remotingSuffix &&
message is SceneEstimatorTrackedClusterCollection)
{
// check if not ignoring vehicles
if (!Arbiter.Core.ArbiterSettings.Default.IgnoreVehicles)
{
// cast and set
observedVehicles = (SceneEstimatorTrackedClusterCollection)message;
}
}
else if (channelName == "VehicleSpeedChannel" + this.remotingSuffix &&
message is double)
{
// cast and set
vehicleSpeed = (double)message;
}
else if (channelName == "SideObstacleChannel" + this.remotingSuffix &&
message is SideObstacles)
{
SideObstacles sideSickObstacles = (SideObstacles)message;
if (sideSickObstacles.side == SideObstacleSide.Driver)
{
this.sideSickObstaclesDriver = sideSickObstacles;
}
else
{
this.sideSickObstaclesPass = sideSickObstacles;
}
}
}
catch (Exception ex)
{
ArbiterOutput.Output("Error receiving message: " + ex.ToString());
}
}
/// <summary>
/// Sends road network projection to the operational layer
/// </summary>
public void TrySendProjection()
{
ArbiterOutput.Output("Attempting to set Operational Road Network");
if (CoreCommon.RoadNetwork != null)
{
if (this.operationalFacade != null)
{
try
{
this.operationalFacade.SetRoadNetwork(CoreCommon.RoadNetwork);
}
catch (Exception ex)
{
ArbiterOutput.Output("Error setting road network in operational, sending projection");
Console.WriteLine(ex.ToString());
try
{
this.operationalFacade.SetProjection(CoreCommon.RoadNetwork.PlanarProjection);
}
catch (Exception e)
{
Console.WriteLine("error setting projection in op");
}
}
}
else
{
ArbiterOutput.Output("Need to connect to operational before can send road network");
}
}
else
{
ArbiterOutput.Output("Road network cannot be null to send to operational");
}
ArbiterOutput.Output("Leaving TrySendOperationalProjection");
}
/// <summary>
/// Shuts down the communicator and unsubscribes from channels, whatnot
/// </summary>
public void Shutdown()
{
try
{
if (vehicleStateChannel != null)
{
// unsubscribe from channels
vehicleStateChannel.Unsubscribe(vehicleStateChannelToken);
observedObstacleChannel.Unsubscribe(observedObstacleChannelToken);
observedVehicleChannel.Unsubscribe(observedVehicleChannelToken);
vehicleSpeedChannel.Unsubscribe(vehicleSpeedChannelToken);
sideObstacleChannel.Unsubscribe(sideObstacleChannelToken);
}
// notify
ArbiterOutput.Output("Unsubscribed from channels");
}
catch (Exception e)
{
// notify
ArbiterOutput.Output("Error in shutting down registered channels");
ArbiterOutput.WriteToLog(e.ToString());
}
}
/// <summary>
/// Try to reconnect to stuff
/// </summary>
public void TryReconnect()
{
this.CommunicationsReady = false;
ArbiterOutput.Output("Set comms ready flag to false");
}
/// <summary>
/// Keeps watch over communications components and determines if any need to be restarted
/// </summary>
public void Watchdog()
{
// always loop
while (true)
{
try
{
if (Arbiter.Core.ArbiterSettings.Default.IgnoreVehicles)
{
ArbiterOutput.Output("Ignoring Tracked Clusters");
}
#region Update Completion reports with 3 Sec Timeout
lock (this.recentReports)
{
List <KeyValuePair <CompletionReport, DateTime> > crs = new List <KeyValuePair <CompletionReport, DateTime> >();
foreach (KeyValuePair <CompletionReport, DateTime> cr in this.recentReports)
{
TimeSpan diff = DateTime.Now.Subtract(cr.Value);
ArbiterOutput.WriteToLog("Comm line 263 test diff.ToString: " + diff.ToString());
if (diff.Seconds < 2 && cr.Value.Date.Equals(DateTime.Now.Date))
{
crs.Add(cr);
}
else
{
ArbiterOutput.WriteToLog("Removed Completion Report: " + cr.Key.BehaviorType.ToString() + ", " + cr.Key.Result.ToString());
}
}
this.recentReports = crs;
}
#endregion
#region Check for communications readiness
if (!this.CommunicationsReady)
{
try
{
// configure
this.Configure();
}
catch (Exception e)
{
// notify
ArbiterOutput.Output("Error in communications watchdog, configuration");
ArbiterOutput.WriteToLog(e.ToString());
}
}
if (!this.CommunicationsReady)
{
try
{
// make sure nothing else registered
this.Shutdown();
// register services
this.Register();
}
catch (Exception e)
{
// notify
ArbiterOutput.Output("Error in communications watchdog, registration");
ArbiterOutput.WriteToLog(e.ToString());
}
}
#endregion
#region Get Car Mode (Acts as Operational Ping and know then Comms Ready)
try
{
if (this.operationalFacade != null)
{
// update the car mode
this.carMode = this.operationalFacade.GetCarMode();
// set comms ready as true given success
if (!this.CommunicationsReady)
{
this.CommunicationsReady = true;
}
}
else
{
this.CommunicationsReady = false;
}
}
catch (Exception e)
{
// notify
ArbiterOutput.Output("Error retreiving car mode from operational in watchdog, attempting to reconnect");
// log
ArbiterOutput.WriteToLog(e.ToString());
// set comms ready as false
this.CommunicationsReady = false;
}
#endregion
}
catch (Exception e)
{
ArbiterOutput.Output("Error in communications watchdog", e);
}
// wait for cycle time
Thread.Sleep(1000);
}
}