/// <summary>
/// Output error to console as well as log file
/// </summary>
/// <param name="s">String to output</param>
/// <param name="e">Exception to output</param>
public static void Output(string s, Exception e)
{
s = "\n" + s + ": \n" + e.ToString() + "\n\n";
try
{
// write to log
ArbiterOutput.WriteToLog(DateTime.Now.ToString() + ": " + s);
}
catch (Exception ex)
{
Console.WriteLine("Error writing to log: \n" + ex.ToString());
}
// write to console
Console.WriteLine(s);
try
{
if (CoreCommon.Communications != null)
{
// output
CoreCommon.Communications.SendOutput(s);
}
}
catch (Exception ex)
{
Console.WriteLine("Error outputting to arbiter message channel: \n" + ex.ToString());
}
}
/// <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)
{
}
}
}
public void UpdateInformation(ArbiterInformation arbiterInformation)
{
if (arbiterInformation != null)
{
//Stopwatch stopwatch3 = new Stopwatch();
//stopwatch3.Reset();
//stopwatch3.Start();
ArbiterOutput.WriteToLog(arbiterInformation.LogString());
//stopwatch3.Stop();
//Console.WriteLine("SW 3: " + stopwatch3.ElapsedMilliseconds.ToString());
//stopwatch3.Reset();
//stopwatch3.Start();
this.currentInformation = arbiterInformation;
//stopwatch3.Stop();
//Console.WriteLine("SW 4: " + stopwatch3.ElapsedMilliseconds.ToString());
}
}
/// <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>
/// 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);
}
}