MSDN Magazine - June 2008 - (Page 74)

The AddSky and AddGround methods are used to set up the environment where the BoeBot will reside. For the AddSky method, a new SkyDomeEntity type is created and inserted into the simulation. A directional light, which is meant to represent the sun, is also inserted into the simulation (the code for this method is shown in Figure 10). The AddGround method utilizes the HeightFieldEntity type to create a large horizontal plane at zero elevation. A texture image, provided with the MSRS installation, is used to represent the ground. The code for this method is seen in the following: void AddGround() { // create a large horizontal plane, at zero elevation. HeightFieldEntity ground = new HeightFieldEntity( "simple ground", // name "03RamieSc.dds", // texture image new MaterialProperties("ground", 0.2f, // restitution 0.5f, // dynamic friction 0.5f) // static friction ); SimulationEngine.GlobalInstancePort.Insert(ground); } represent the robot’s position. This position will be passed to the BoeBot entity constructor, which was created earlier. The AddBoeBot method will also start the simulated Boe-Bot drive service as an entity partner. The code for this method is shown here: void AddBoeBot(Vector3 pos) { BoeBot boeBot = new BoeBot(pos); boeBot.State.Name = "SimulatedBoeBot"; // Start simulated Boe-Bot Drive service CreateService( drive.Contract.Identifier, Microsoft.Robotics.Simulation.Partners.CreateEntityPartner( "http://localhost/" + boeBot.State.Name)); } SimulationEngine.GlobalInstancePort.Insert(boeBot); The last entity to add is a solid box used to represent an obstacle. The AddBox method will create a box-shaped entity from the SingleShapeEntity type. See Figure 11 for the code for this method. Creating a Manifest The next thing to add is the Boe-Bot entity. The AddBoeBot method accepts an incoming Vector3 parameter which is used to Figure 11 Create a Box-Shaped Entity void AddBox(Vector3 position) { Vector3 dimensions = new Vector3(0.2f, 0.2f, 0.2f); // meters // create simple movable entity, with a single shape SingleShapeEntity box = new SingleShapeEntity( new BoxShape( new BoxShapeProperties( 100, // mass in kilograms. new Pose(), // relative pose dimensions)), // dimensions position); Most services will partner with other services to access data and functionality needed by the service. These partner services are referenced at the top of the implementation class using the Partner attribute. For example, the Boe-Bot simulation service will partner with the simulation engine service. The code to include this partner declaration looks like this: //Simulation Engine Port [Partner("Engine", Contract = engineproxy.Contract.Identifier, CreationPolicy = PartnerCreationPolicy.UseExistingOrCreate)] private engineproxy.SimulationEnginePort _engineStub = new engineproxy.SimulationEnginePort(); DSS services use an XML-based file known as a manifest to list the partner services associated with a base service. This tells the MSRS runtime how the base service should load and interact with these partner services. Even though the manifest is an XML-based file and can be edited with a text-based editor, it is best to use the box.State.MassDensity.Mass = 0; DSS Manifest editor that is included with MSRS. The DSS Manibox.State.MassDensity.Density = 0; fest editor is a visual tool that allows you to drag and drop partner // Name the entity. All entities must have unique names services onto a design surface. Before using the DSS Manifest edibox.State.Name = "box"; tor, you will need to successfully compile the base service. This will // Insert entity in simulation. SimulationEngine.GlobalInstancePort.Insert(box); create the assembly files used by the DSS Manifest editor. } Once the DSS Manifest editor is loaded, a list of all available services will be included in the left-hand pane. To begin, you will need to locate the base service in the list of available services and drag an instance of it onto the design surface. If you do this for the Boe-Bot simulation service, the design surface will include a node for the SimulatedBoeBot service and a sub node for the simulation engine service. The MSRS installation includes several services in the \samples folder. One such service, the SimpleDashboard, can be used as a control panel for simulated robots. The SimpleDashboard allows you to start other Figure 12 Final Version of the Manifest in the DSS Manifest Editor 74 msdn magazine Robotics Studio

Table of Contents Feed for the Digital Edition of MSDN Magazine - June 2008

MSDN Magazine - June 2008 Contents Toolbox CLR Inside Out Cutting Edge Patterns In Practice SAAS Concurrency Robotics Form Filler GUI Library Service Station Foundations Windows With C++ Concurrent Affairs Going Places { End Bracket }

MSDN Magazine - June 2008

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