/// <summary>
/// Reads a binary file from the mount service and writes it into a memory stream
/// </summary>
/// <param name="filename">Relative path to the file on the mount service</param>
/// <param name="readReaderPort">Response port</param>
/// <returns></returns>
private IEnumerator <ITask> ReadFileFromMountService(string filename, FileReaderPort readReaderPort)
{
if (string.IsNullOrEmpty(filename))
{
Exception exception = new ArgumentException(
"Cannot read file from mount service. No filename specified"
);
LogWarning(exception);
readReaderPort.Post(exception);
yield break;
}
// Construct URI to file
string fileUri = "http://localhost" + ServicePaths.MountPoint;
if (!filename.StartsWith("/"))
{
fileUri += "/";
}
fileUri += filename;
// Establish channel with mount service
mnt.MountServiceOperations mountPort = ServiceForwarder <mnt.MountServiceOperations>(fileUri);
// Set up byte query
mnt.QueryBytesRequest queryBytesRequest = new mnt.QueryBytesRequest();
mnt.QueryBytes queryBytes = new mnt.QueryBytes(queryBytesRequest);
queryBytesRequest.Offset = 0;
queryBytesRequest.Length = MountServiceReadBlockSize;
// Read file in blocks from mount service
MemoryStream memoryStream = new MemoryStream();
int bytesRead = (int)queryBytesRequest.Length;
while (bytesRead == queryBytesRequest.Length)
{
mountPort.Post(queryBytes);
yield return((Choice)queryBytes.ResponsePort);
Fault fault = (Fault)queryBytes.ResponsePort;
if (fault != null)
{
LogWarning(fault.ToException());
readReaderPort.Post(fault.ToException());
yield break;
}
mnt.QueryBytesResponse byteQueryResponse = (mnt.QueryBytesResponse)queryBytes.ResponsePort;
bytesRead = byteQueryResponse.Data.Length;
memoryStream.Write(byteQueryResponse.Data, 0, bytesRead);
queryBytesRequest.Offset += bytesRead;
}
memoryStream.Position = 0;
readReaderPort.Post(memoryStream);
}
public IEnumerator <ITask> DeleteGrammarEntryHandler(DeleteGrammarEntry delete)
{
// Make sure current grammar type is dictionary-style
if (this.state.GrammarType != GrammarType.DictionaryStyle)
{
Fault fault = Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.OperationFailed,
"Cannot delete entries from grammar dictionary because grammar"
+ "currently in use is not DictionaryStyle."
);
LogInfo(fault.ToException());
delete.ResponsePort.Post(fault);
yield break;
}
#region Set up load grammar request and load grammar
// Set up load grammar request
LoadGrammarRequest loadRequest = new LoadGrammarRequest();
loadRequest.GrammarType = GrammarType.DictionaryStyle;
loadRequest.DictionaryGrammar = new Dictionary <string, string>(state.DictionaryGrammar);
GrammarUtilities.DeleteDictionary(loadRequest.DictionaryGrammar, delete.Body.DictionaryGrammar);
// Load new grammar
SuccessFailurePort loadGrammarPort = new SuccessFailurePort();
SpawnIterator <LoadGrammarRequest, SuccessFailurePort>(
loadRequest,
loadGrammarPort,
LoadGrammar
);
// Check loading outcome
yield return((Choice)loadGrammarPort);
Exception exception = (Exception)loadGrammarPort;
if (exception != null)
{
LogWarning(exception);
delete.ResponsePort.Post(Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.OperationFailed,
exception.Message
));
yield break;
}
#endregion
SaveState(this.state);
// Notify subscribers of state change
Replace replace = new Replace();
replace.Body = this.state;
SendNotification <Replace>(this.subMgrPort, replace);
delete.ResponsePort.Post(DefaultDeleteResponseType.Instance);
}
/// <summary>
/// Handle Tilt Angle requests
/// </summary>
/// <param name="tilt">The Tilt request</param>
/// <returns>An iterator</returns>
private IEnumerator <ITask> OnChangeTiltHandler(OnChangeTilt tilt)
{
Fault fault = null;
var req = new pantilt.RotateMessage
{
RotatePanRequest = null,
RotateTiltRequest = new SingleAxisJoint.Proxy.RotateSingleAxisRequest
{
TargetRotationAngleInRadians = (float)(tilt.Tilt * Math.PI / 180.0),
IsRelative = false
}
};
yield return(this.panTiltOps.Rotate(req).Choice(EmptyHandler, f => fault = f));
if (fault != null)
{
LogError("Update Tilt failed: ", fault.ToException());
}
}
/// <summary>
/// Writes a binary file from a stream to the mount service
/// </summary>
/// <param name="filename">Filename and path where the file shall be store on the mount service</param>
/// <param name="fileStream">Stream containing the file data</param>
/// <param name="responsePort">File writer response port</param>
/// <returns></returns>
private IEnumerator <ITask> WriteFileToMountService(
string filename,
Stream fileStream,
SuccessFailurePort responsePort)
{
// Stream needs to support seeking, otherwise we will never know when the end
// is reached
if (!fileStream.CanSeek)
{
throw new ArgumentException("File stream needs to support seeking");
}
// Construct URI to file
string fileUri = "http://localhost" + ServicePaths.MountPoint;
if (!filename.StartsWith("/"))
{
fileUri += "/";
}
fileUri += filename;
// Establish channel with mount service
mnt.MountServiceOperations mountPort = ServiceForwarder <mnt.MountServiceOperations>(fileUri);
// Set up byte update message
mnt.UpdateBytesRequest updateBytesRequest = new mnt.UpdateBytesRequest();
mnt.UpdateBytes updateBytes = new mnt.UpdateBytes(updateBytesRequest);
updateBytesRequest.Offset = 0;
updateBytesRequest.Truncate = false;
// Write file in blocks to mount service
updateBytesRequest.Data = new byte[MountServiceWriteBlockSize];
fileStream.Position = 0;
int writeOffset = 0;
while (fileStream.Position < fileStream.Length)
{
// Fill buffer
int offset = 0;
while (offset < MountServiceWriteBlockSize && fileStream.Position < fileStream.Length)
{
int bytesRead = fileStream.Read(
updateBytesRequest.Data,
offset,
MountServiceWriteBlockSize - offset
);
offset += bytesRead;
}
if (offset < MountServiceWriteBlockSize)
{
// Last message will most probably not contain a completely filled buffer
Array.Resize <byte>(ref updateBytesRequest.Data, offset);
}
if (fileStream.Position >= fileStream.Length)
{
// End of stream reached, truncate file on mount service
// to current position
updateBytesRequest.Truncate = true;
}
updateBytesRequest.Offset = writeOffset;
// Send message to mount service
mountPort.Post(updateBytes);
yield return((Choice)updateBytes.ResponsePort);
Fault fault = (Fault)updateBytes.ResponsePort;
if (fault != null)
{
Exception exception = fault.ToException();
LogWarning(exception);
responsePort.Post(exception);
yield break;
}
// Clear response port
DefaultUpdateResponseType success = (DefaultUpdateResponseType)updateBytes.ResponsePort;
writeOffset += updateBytesRequest.Data.Length;
}
responsePort.Post(SuccessResult.Instance);
}
