/// <summary>
/// Test executue a behavior
/// </summary>
/// <param name="b"></param>
/// <param name="completionReport"></param>
public bool TestExecute(Behavior b, out CompletionReport completionReport)
{
if (this.operationalTestFacade != null)
{
try
{
b.TimeStamp = CoreCommon.Communications.GetVehicleState().Timestamp;
completionReport = this.operationalTestFacade.TestExecuteBehavior(b);
ArbiterOutput.OutputNoLog("test execute: " + b.ShortBehaviorInformation() + " completion report: " + completionReport.GetType().ToString());
return(completionReport.Result == CompletionResult.Success);
}
catch (Exception e)
{
completionReport = new SuccessCompletionReport(b.GetType());
ArbiterOutput.OutputNoLog("test execute: " + b.ShortBehaviorInformation() + " encountered error: " + e.ToString());
this.TryOperationalTestFacadeConnect();
return(true);
}
}
else
{
completionReport = new SuccessCompletionReport(b.GetType());
ArbiterOutput.OutputNoLog("test execute: " + b.ShortBehaviorInformation() + " encountered error: operational test facade does not exist");
this.TryOperationalTestFacadeConnect();
return(true);
}
}
/// <summary>
/// Operational competes a behavior
/// </summary>
/// <param name="report"></param>
public override void OnCompletionReport(CompletionReport report)
{
try
{
if (report.Result == CompletionResult.Success)
{
ArbiterOutput.OutputNoLog("Received Completion Report: " + report.BehaviorType.ToString() + ", Result: " + report.Result.ToString());
}
else if (this.ArbiterBlockageHandler != null && report is TrajectoryBlockedReport)
{
this.ArbiterBlockageHandler.OnBlockageReport((TrajectoryBlockedReport)report);
}
lock (this.recentReports)
{
this.recentReports = new List <KeyValuePair <CompletionReport, DateTime> >(this.recentReports.ToArray());
this.recentReports.Add(new KeyValuePair <CompletionReport, DateTime>(report, DateTime.Now));
}
}
catch (Exception e)
{
try
{
ArbiterOutput.OutputNoLog("Error in completion report");
ArbiterOutput.WriteToLog(e.ToString());
}
catch (Exception)
{
}
}
}
/// <summary>
/// Try to connect to the operational facade
/// </summary>
public void TryOperationalTestFacadeConnect()
{
if (global::UrbanChallenge.Arbiter.Core.ArbiterSettings.Default.UseTestOperational)
{
try
{
// check if test facade ok
bool testFacadeGood = this.operationalTestFacade != null;
if (this.operationalTestFacade != null)
{
try
{
this.operationalTestFacade.Ping();
this.testComponentExists = true;
}
catch (Exception)
{
testFacadeGood = false;
}
}
// set the operational test facade if not ok
if (!testFacadeGood)
{
// get the operational layer
this.operationalTestFacade = (OperationalTestComponentFacade)objectDirectory.Resolve("OperationalTestComponentService" + this.RemotingSuffix);
this.testComponentExists = true;
}
// try to send road network
if (CoreCommon.RoadNetwork != null)
{
this.operationalTestFacade.SetRoadNetwork(CoreCommon.RoadNetwork);
this.testComponentNeedsRoadNetwork = false;
}
}
catch (Exception ex)
{
ArbiterOutput.OutputNoLog("Error registering with operational test service: " + ex.ToString());
}
}
}
/// <summary>
/// Manages excution of the test behaviros
/// </summary>
private void AsynchronousExecutionManager()
{
// execute ten times per second
MMWaitableTimer mmwt = new MMWaitableTimer(100);
// initialize
this.testAsyncExecuteQueue = new Queue <Behavior>();
this.testBehaviorExecutionStopwatch = new Stopwatch();
this.testModeRecentCompleted = new List <TestBehaviorCompletion>();
this.testCurrentTest = null;
this.testCompletionReport = null;
// loop constantly
while (true)
{
// make sre we are timing properly
mmwt.WaitEvent.WaitOne();
// reset values
this.testCurrentTest = null;
this.testCompletionReport = null;
// update the list of completed to only include those in last 10 seconds
List <TestBehaviorCompletion> updatedRecent = new List <TestBehaviorCompletion>();
foreach (TestBehaviorCompletion tbc in this.testModeRecentCompleted)
{
if (this.GetVehicleState().Timestamp - tbc.CompletionTimestamp < 10.0)
{
updatedRecent.Add(tbc);
}
}
this.testModeRecentCompleted = updatedRecent;
try
{
if (!this.testComponentNeedsRoadNetwork &&
this.testComponentExists &&
testAsyncExecuteQueue.Count > 0)
{
// reset timer
this.testBehaviorExecutionStopwatch.Stop();
this.testBehaviorExecutionStopwatch.Reset();
// eavior
this.testCurrentTest = testAsyncExecuteQueue.Dequeue();
// thread the execution
this.testBehaviorExecutionThread = new Thread(TestBehaviorExecutionThread);
this.testBehaviorExecutionThread.IsBackground = true;
this.testBehaviorExecutionStopwatch.Start();
this.testBehaviorExecutionThread.Start();
// test execution time
while (this.testBehaviorExecutionThread.IsAlive)
{
// check time
if (this.testBehaviorExecutionStopwatch.ElapsedMilliseconds / 1000.0 > 3.0)
{
try
{
ArbiterOutput.OutputNoLog("Test Behavior Execution took Longer than 3 seconds, aborting");
this.testBehaviorExecutionThread.Abort();
}
catch (Exception)
{
}
}
// fine
else
{
// take 10ms
Thread.Sleep(100);
}
}
// check completion report status
if (this.testCompletionReport != null)
{
List <TestBehaviorCompletion> updated = new List <TestBehaviorCompletion>(this.testModeRecentCompleted.ToArray());
updated.Add(new TestBehaviorCompletion(this.GetVehicleState().Timestamp, this.testCompletionReport, this.testCurrentTest));
this.testModeRecentCompleted = updated;
}
this.testCompletionReport = null;
this.testCurrentTest = null;
}
else
{
try
{
this.operationalTestFacade.Ping();
this.testComponentExists = true;
}
catch (Exception)
{
this.testComponentExists = false;
this.testComponentNeedsRoadNetwork = true;
this.TryOperationalTestFacadeConnect();
}
if (!this.testComponentExists || this.testComponentNeedsRoadNetwork)
{
this.TryOperationalTestFacadeConnect();
}
}
}
catch (Exception e)
{
}
}
}