public IEnumerator <ITask> SetByKeyHandler(SetByKey set)
{
try
{
if (set.Body.Keys.Count != set.Body.Values.Count)
{
throw new ArgumentException("Lengths of indices and values lists must match");
}
var indices = new List <int>(set.Body.Keys.Count);
for (int i = 0; i < set.Body.Keys.Count; i++)
{
int index = _state.indexCache[set.Body.Keys[i]];
_state.Values[index] = set.Body.Values[i];
indices.Add(index);
}
SetCallback(new SetElementsRequestInfo()
{
RequestType = RequestType.ByKey,
Indices = indices,
Keys = set.Body.Keys,
Timestamp = set.Body.Timestamp,
Values = set.Body.Values
});
set.ResponsePort.Post(DefaultUpdateResponseType.Instance);
SendNotification <SetByKey>(set);
}
catch (Exception e)
{
set.ResponsePort.Post(RSUtils.FaultOfException(e));
}
yield break;
}
public void SetMotors(double leftPower, double rightPower)
{
if (!motorsOn)
{
EnableMotors();
}
//drive.SetDrivePowerRequest drivePowerReq = new drive.SetDrivePowerRequest();
//drivePowerReq.LeftWheelPower = leftPower;
//drivePowerReq.RightWheelPower = rightPower;
//drive.SetDrivePower setDrivePower = new drive.SetDrivePower(drivePowerReq);
//drivePort.Post(setDrivePower);
//ManualResetEvent signal = new ManualResetEvent(false);
//Arbiter.Activate(DssEnvironment.TaskQueue,
// Arbiter.Choice<DefaultUpdateResponseType, Fault>(
// drivePort.SetDrivePower((double)leftPower, (double)rightPower),
// delegate(DefaultUpdateResponseType state)
// {
// signal.Set();
// },
// delegate(Fault failure)
// {
// Console.WriteLine("*** Fault in SetMotors: ");
// foreach (var r in failure.Reason)
// Console.WriteLine("*** " + r.Value);
// signal.Set();
// }));
//signal.WaitOne();
RSUtils.ReceiveSync(taskQueue, drivePort.SetDrivePower(leftPower, rightPower), Myro.Utilities.Params.DefaultRecieveTimeout);
}
public IEnumerator <ITask> SetByIndexHandler(SetByIndex set)
{
try
{
if (set.Body.Indices.Count != set.Body.Values.Count)
{
throw new ArgumentException("Lengths of indices and values lists must match");
}
for (int i = 0; i < set.Body.Indices.Count; i++)
{
_state.Values[set.Body.Indices[i]] = set.Body.Values[i];
}
_state.Timestamp = set.Body.Timestamp;
SetCallback(new SetElementsRequestInfo()
{
RequestType = RequestType.ByIndex,
Indices = set.Body.Indices,
Keys = new List <string>(
from i in set.Body.Indices
select(i < _state.Keys.Count ? _state.Keys[i] : "")),
Timestamp = set.Body.Timestamp,
Values = set.Body.Values
});
set.ResponsePort.Post(DefaultUpdateResponseType.Instance);
SendNotification <SetByIndex>(set);
}
catch (Exception e)
{
set.ResponsePort.Post(RSUtils.FaultOfException(e));
}
yield break;
}
/// <summary>
/// Set the motor power.
/// </summary>
/// <param name="leftPower"></param>
/// <param name="rightPower"></param>
public void SetMotors(double leftPower, double rightPower)
{
if (!motorsOn)
{
EnableMotors();
}
RSUtils.ReceiveSync(taskQueue, drivePort.SetDrivePower(leftPower, rightPower), Myro.Utilities.Params.DefaultRecieveTimeout);
}
/// <summary>
/// Set a single element in the vector by name.
/// </summary>
/// <param name="tag"></param>
/// <param name="value"></param>
public void Set(string key, double value)
{
RSUtils.ReceiveSync <DefaultUpdateResponseType>(taskQueue, opPort.SetByKey(new List <string>()
{
key
}, new List <double>()
{
value
}, DateTime.Now), Myro.Utilities.Params.DefaultRecieveTimeout);
}
/// <summary>
/// Set a single element in the vector by index.
/// </summary>
/// <param name="index"></param>
/// <param name="value"></param>
public void Set(int index, double value)
{
RSUtils.ReceiveSync <DefaultUpdateResponseType>(taskQueue, opPort.SetByIndex(new List <int>()
{
index
}, new List <double>()
{
value
}, DateTime.Now), Myro.Utilities.Params.DefaultRecieveTimeout);
}
/// <summary>
/// Set a group of elements in the vector by name.
/// </summary>
/// <param name="index"></param>
/// <param name="value"></param>
public void Set(List <string> keys, List <double> values)
{
//try
//{
RSUtils.ReceiveSync <DefaultUpdateResponseType>(taskQueue, opPort.SetByKey(keys, values, DateTime.Now), Myro.Utilities.Params.defaultRecieveTimeout);
//}
//catch (KeyNotFoundException)
//{
// throw new AdapterArgumentException(Strings.KeyNotFound());
//}
}
protected override IEnumerator <ITask> GetCallback(Myro.Services.Generic.Vector.GetRequestInfo request, PortSet <Myro.Services.Generic.Vector.CallbackResponseType, Fault> responsePort)
{
if (request is vector.GetAllRequestInfo)
{
PortSet <DefaultQueryResponseType, Fault> responses = new PortSet <DefaultQueryResponseType, Fault>();
for (int i = 0; i < _state.Values.Count; i++)
{
int myI = i;
Activate(Arbiter.Choice(_scribblerPort.GetObstacle(i),
delegate(brick.UInt16Body r)
{
_state.Set(myI, RSUtils.NormalizeUShort(r.Value), DateTime.Now);
responses.Post(DefaultQueryResponseType.Instance);
},
delegate(Fault f) { responses.Post(f); }));
}
yield return(Arbiter.MultipleItemReceive(responses, _state.Values.Count,
delegate(ICollection <DefaultQueryResponseType> ss, ICollection <Fault> fs)
{
if (fs.Count == 0)
{
responsePort.Post(vector.CallbackResponseType.Instance);
}
else
{
var reasons = new List <ReasonText>();
foreach (var f in fs)
{
reasons.AddRange(f.Reason.AsEnumerable());
}
responsePort.Post(new Fault()
{
Detail = new Detail()
{
Any = fs.ToArray()
}, Reason = reasons.ToArray()
});
}
}));
}
else
{
var info = (vector.GetElementRequestInfo)request;
yield return(Arbiter.Choice(_scribblerPort.GetObstacle(info.Index),
delegate(brick.UInt16Body r)
{
_state.Set(info.Index, RSUtils.NormalizeUShort(r.Value), DateTime.Now);
responsePort.Post(vector.CallbackResponseType.Instance);
},
delegate(Fault f) { responsePort.Post(f); }));
}
yield break;
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service to know when the motors are enabled
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
RSUtils.ReceiveSync(taskQueue, drivePort.Subscribe(driveNotificationPort), Params.DefaultRecieveTimeout);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
public void QueryFrame(MyroImageType type, out int Width, out int Height, out byte[] Image)
{
var r = RSUtils.ReceiveSync(queue,
opPort.QueryFrame(new webcam.QueryFrameRequest()
{
Format = type.Guid
}),
Params.DefaultRecieveTimeout);
Width = r.Size.Width;
Height = r.Size.Height;
Image = r.Frame;
}
protected void InitValues()
{
ReceivedFirstRender = false;
string rand = RSUtils.RandomString();
if (RenderLoopName == null || RenderLoopName.Length == 0)
{
RenderLoopName = "loop_" + rand;
}
KeepAliveService = new RSService(Scene.Host, Scene.Port);
}
/// <summary>
/// Retrieve a single element from the state vetor, by name, with full
/// safety checks. Throws AdapterArgumentException and
/// AdapterOperationException.
/// </summary>
/// <param name="tag"></param>
/// <returns></returns>
public double Get(string key)
{
//try
//{
var resp = RSUtils.ReceiveSync <vector.GetElementResponseType>(taskQueue, opPort.GetByKey(key), Myro.Utilities.Params.defaultRecieveTimeout);
return(resp.Value);
//}
//catch (KeyNotFoundException)
//{
// throw new AdapterArgumentException(Strings.KeyNotFound(key));
//}
}
/// <summary>
/// Retrieve a single element from the state vector, with full safety
/// checks. Throws AdapterArgumentException and
/// AdapterOperationException.
/// </summary>
/// <param name="index"></param>
/// <returns></returns>
public double Get(int index)
{
//try
//{
var resp = RSUtils.ReceiveSync <vector.GetElementResponseType>(taskQueue, opPort.GetByIndex(index), Myro.Utilities.Params.defaultRecieveTimeout);
return(resp.Value);
//}
//catch (ArgumentOutOfRangeException)
//{
// throw new AdapterArgumentException(Strings.IndexOutOfBounds(index));
//}
}
/// <summary>
/// "Darken" the camera, so that it only sees bright lights. This
/// turns off automatic exposure, gain, and white balance.
/// </summary>
/// <param name="level"></param>
public void DarkenCamera(byte level)
{
RSUtils.ReceiveSync(queue, opPort.SetCamera(new fluke.CamControlState()
{
Darkness = level,
Val1 = 0,
Val2 = 0,
Brightness = 0,
Exposure = 0,
AutoExposure = false,
AutoGain = false,
AutoWhiteBalance = false
}), Params.DefaultRecieveTimeout);
}
/// <summary>
/// Return the camera to automatic mode, auto exposure, gain, and WB.
/// </summary>
public void AutoCamera()
{
RSUtils.ReceiveSync(queue, opPort.SetCamera(new fluke.CamControlState()
{
Darkness = 0,
Val1 = 0x80,
Val2 = 0x80,
Brightness = b.ScribblerHelper.CameraParams.CAM_BRT_DEFAULT,
Exposure = b.ScribblerHelper.CameraParams.CAM_EXP_DEFAULT,
AutoExposure = true,
AutoGain = true,
AutoWhiteBalance = true
}), Params.DefaultRecieveTimeout);
}
/// <summary>
/// Set a group of elements in the vector by index.
/// </summary>
/// <param name="index"></param>
/// <param name="value"></param>
public void Set(List <int> indices, List <double> values)
{
//try
//{
RSUtils.ReceiveSync <DefaultUpdateResponseType>(taskQueue, opPort.SetByIndex(indices, values, DateTime.Now), Myro.Utilities.Params.defaultRecieveTimeout);
//}
//catch (ArgumentOutOfRangeException e)
//{
// throw new AdapterArgumentException(
// e.ActualValue is Int32 ?
// Strings.IndexOutOfBounds((Int32)e.ActualValue) :
// Strings.IndexOutOfBounds());
//}
}
public IEnumerator <ITask> HttpGetHandler(HttpGet get)
{
VectorState response = _state;
try
{
GetCallback(new GetAllRequestInfo());
get.ResponsePort.Post(new HttpResponseType(_state));
}
catch (Exception e)
{
get.ResponsePort.Post(RSUtils.FaultOfException(e));
}
yield break;
}
public IEnumerator <ITask> QueryFrameHandler(webcam.QueryFrame req)
{
yield return(Arbiter.Choice(_scribblerPort.GetImage(req.Body.Format),
delegate(brick.ImageResponse r)
{
try
{
var resp = new webcam.QueryFrameResponse()
{
Format = req.Body.Format,
Size = new System.Drawing.Size(r.Width, r.Height),
TimeStamp = r.Timestamp,
};
if (req.Body.Format.Equals(MyroImageType.Color.Guid))
{
resp.Frame = convertColorToRGB(r.Data, r.Width, r.Height);
}
else if (req.Body.Format.Equals(MyroImageType.Gray.Guid))
{
resp.Frame = r.Data;
}
else if (req.Body.Format.Equals(MyroImageType.JpegColor.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegColorFast.Guid))
{
resp.Frame = r.Data;
}
else if (req.Body.Format.Equals(MyroImageType.JpegGray.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegGrayFast.Guid))
{
resp.Frame = r.Data;
}
else
{
throw new Exception("FlukeCam does not know how to convert this image type");
}
req.ResponsePort.Post(resp);
}
catch (Exception e)
{
req.ResponsePort.Post(RSUtils.FaultOfException(e));
}
},
delegate(Fault f)
{
req.ResponsePort.Post(f);
}));
}
/// <summary>
/// Set a single element in the vector by index.
/// </summary>
/// <param name="index"></param>
/// <param name="value"></param>
public void Set(int index, double value)
{
//try
//{
RSUtils.ReceiveSync <DefaultUpdateResponseType>(taskQueue, opPort.SetByIndex(new List <int>()
{
index
}, new List <double>()
{
value
}, DateTime.Now), Myro.Utilities.Params.defaultRecieveTimeout);
//}
//catch (ArgumentOutOfRangeException)
//{
// throw new AdapterArgumentException(Strings.IndexOutOfBounds(index));
//}
}
/// <summary>
/// Set a single element in the vector by name.
/// </summary>
/// <param name="tag"></param>
/// <param name="value"></param>
public void Set(string key, double value)
{
//try
//{
RSUtils.ReceiveSync <DefaultUpdateResponseType>(taskQueue, opPort.SetByKey(new List <string>()
{
key
}, new List <double>()
{
value
}, DateTime.Now), Myro.Utilities.Params.DefaultRecieveTimeout);
//}
//catch (KeyNotFoundException)
//{
// throw new AdapterArgumentException(Strings.KeyNotFound(key));
//}
}
/// <summary>
/// This is a helper mehtod that connects the Scribbler on the specified
/// COM port. It waits for the connection to complete, and re-throws any
/// exceptions generated by the Scribbler service.
/// </summary>
/// <param name="comPort"></param>
private static void connectWaitForScribbler(string comPort)
{
ManualResetEvent evt = new ManualResetEvent(false);
waitForService(new ServiceInfoType(scribbler.Contract.Identifier),
delegate(ServiceInfoType info) { brickService = info; evt.Set(); });
evt.WaitOne(Params.DefaultRecieveTimeout, false);
if (brickService == null)
{
throw new MyroInitException("Could not find Scribbler service");
}
var scribPort = DssEnvironment.ServiceForwarder <scribbler.ScribblerOperations>(new Uri(brickService.Service));
DispatcherQueue queue = new DispatcherQueue("init", new Dispatcher());
try
{
if (comPort != null)
{
int comNumber;
if (comPort.ToLower().StartsWith("com"))
{
comNumber = Int32.Parse(comPort.Substring(3));
}
else
{
throw new MyroInitException("COM port string must be of the format com2, com5, etc.");
}
RSUtils.ReceiveSync(queue, scribPort.Replace(new scribbler.ScribblerState()
{
ComPort = comNumber
}), Params.DefaultRecieveTimeout);
}
DssEnvironment.LogInfo("calling reconnect...");
RSUtils.ReceiveSync(queue, scribPort.Reconnect(), Params.DefaultRecieveTimeout);
DssEnvironment.LogInfo("reconnect returned");
}
catch (Exception)
{
throw;
}
finally
{
queue.Dispose();
}
}
private T tryCreateAdapter()
{
lock (this)
{
try
{
// Query the service initially
PortSet <LookupResponse, Fault> responsePort = new PortSet <LookupResponse, Fault>();
DssEnvironment.ServiceForwarderUnknownType(new Uri("dssp.tcp://localhost/" + Name)).PostUnknownType(
new DsspDefaultLookup()
{
Body = new LookupRequestType(), ResponsePort = responsePort
});
ServiceInfoType responseRecord = RSUtils.ReceiveSync(responsePort, Myro.Utilities.Params.DefaultRecieveTimeout);
// Try to find a working contract for each adapter
foreach (var factory in adapterFactories)
{
try
{
ServiceInfoType serviceRecord = RSUtils.FindCompatibleContract(responseRecord, factory.SupportedContracts);
T ret = (T)factory.Create(serviceRecord);
Console.WriteLine("Attached to " + serviceRecord.Service + " as \"" + Name + "\"");
return(ret);
}
catch (NoContractFoundException) { }
}
// If we haven't returned already in the loop, we didn't find
// an adapter that works.
throw new NoAdapterFoundException(responseRecord);
}
catch (NoAdapterFoundException)
{
throw;
}
catch (Exception e)
{
DssEnvironment.LogError("Error querying or attaching to " + "dssp.tcp://localhost/" + Name + ": " + e.ToString());
throw;
}
}
}
public IEnumerator <ITask> ReplaceHandler(Replace replace)
{
_state = replace.Body;
try
{
SetCallback(new SetAllRequestInfo()
{
Timestamp = replace.Body.Timestamp,
Values = replace.Body.Values
});
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
SendNotification <Replace>(replace);
}
catch (Exception e)
{
replace.ResponsePort.Post(RSUtils.FaultOfException(e));
}
yield break;
}
private DsspResponsePort <vector.CallbackResponseType> playTone()
{
var responsePort = new DsspResponsePort <vector.CallbackResponseType>();
brick.PlayToneBody play = new brick.PlayToneBody()
{
Frequency1 = (int)Math.Round(_state.Values[0]),
Frequency2 = (int)Math.Round(_state.Values[1]),
Duration = (int)Math.Round(_state.Values[2])
};
if (play.Frequency1 < 0 || play.Frequency2 < 0 || play.Duration < 0)
{
responsePort.Post(RSUtils.FaultOfException(new ArgumentOutOfRangeException()));
}
else
{
Activate(Arbiter.Choice(_scribblerPort.PlayTone(play),
delegate(DefaultUpdateResponseType success) { responsePort.Post(vector.CallbackResponseType.Instance); },
delegate(Fault failure) { responsePort.Post(failure); }));
}
return(responsePort);
}
public IEnumerator <ITask> GetByKeyHandler(GetByKey get)
{
try
{
GetElementResponseType response = new GetElementResponseType()
{
Value = _state.Get(get.Body.Key),
Timestamp = _state.Timestamp
};
GetCallback(new GetElementRequestInfo()
{
RequestType = RequestType.ByKey,
Index = _state.indexCache[get.Body.Key],
Key = get.Body.Key
});
get.ResponsePort.Post(response);
}
catch (Exception e)
{
get.ResponsePort.Post(RSUtils.FaultOfException(e));
}
yield break;
}
public IEnumerator <ITask> GetByIndexHandler(GetByIndex get)
{
try
{
GetElementResponseType response = new GetElementResponseType()
{
Value = _state.Get(get.Body.Index),
Timestamp = _state.Timestamp
};
GetCallback(new GetElementRequestInfo()
{
RequestType = RequestType.ByIndex,
Index = get.Body.Index,
Key = ((_state.Keys.Count >= (get.Body.Index + 1)) ? _state.Keys[get.Body.Index] : "")
});
get.ResponsePort.Post(response);
}
catch (Exception e)
{
get.ResponsePort.Post(RSUtils.FaultOfException(e));
}
yield break;
}
protected override IEnumerator <ITask> SetCallback(vector.SetRequestInfo request, PortSet <vector.CallbackResponseType, Fault> responsePort)
{
if (request is vector.SetAllRequestInfo)
{
Activate(Arbiter.Choice(
_scribblerPort.SetAllLEDs(new brick.SetAllLedsBody()
{
LeftLED = _state.GetBool(0), CenterLED = _state.GetBool(1), RightLED = _state.GetBool(2)
}),
delegate(DefaultUpdateResponseType success) { responsePort.Post(vector.CallbackResponseType.Instance); },
delegate(Fault failure) { responsePort.Post(failure); }));
}
else if (request is vector.SetElementsRequestInfo)
{
vector.SetElementsRequestInfo info = (vector.SetElementsRequestInfo)request;
int setLEDScribblerIndex = -1; // will be set to -2 for set all
var responses = new PortSet <DefaultUpdateResponseType, Fault>();
int nResponses = 0;
foreach (int i in info.Indices)
{
if (i >= 0)
{
if (i <= 2)
{
if (setLEDScribblerIndex >= 0)
{
setLEDScribblerIndex = -2;
}
else
{
setLEDScribblerIndex = i;
}
}
else if (i == 3)
{
nResponses++;
Activate(Arbiter.Choice(_scribblerPort.SetLEDFront(_state.GetBool(3)),
delegate(DefaultUpdateResponseType s) { responses.Post(DefaultUpdateResponseType.Instance); },
delegate(Fault f) { responses.Post(f); }));
}
else if (i == 4)
{
nResponses++;
Activate(Arbiter.Choice(_scribblerPort.SetLEDBack(RSUtils.UnnormalizeDouble(_state.Get(4))),
delegate(DefaultUpdateResponseType s) { responses.Post(DefaultUpdateResponseType.Instance); },
delegate(Fault f) { responses.Post(f); }));
}
}
}
if (setLEDScribblerIndex == -2)
{
nResponses++;
Activate(Arbiter.Choice(
_scribblerPort.SetAllLEDs(new brick.SetAllLedsBody()
{
LeftLED = _state.GetBool(0), CenterLED = _state.GetBool(1), RightLED = _state.GetBool(2)
}),
delegate(DefaultUpdateResponseType s) { responses.Post(DefaultUpdateResponseType.Instance); },
delegate(Fault f) { responses.Post(f); }));
}
else if (setLEDScribblerIndex >= 0)
{
nResponses++;
Activate(Arbiter.Choice(
_scribblerPort.SetLED(new brick.SetLedBody()
{
LED = setLEDScribblerIndex, State = _state.GetBool(setLEDScribblerIndex)
}),
delegate(DefaultUpdateResponseType s) { responses.Post(DefaultUpdateResponseType.Instance); },
delegate(Fault f) { responses.Post(f); }));
}
Activate(Arbiter.MultipleItemReceive(responses, nResponses,
delegate(ICollection <DefaultUpdateResponseType> ss, ICollection <Fault> fs)
{
if (fs.Count == 0)
{
responsePort.Post(vector.CallbackResponseType.Instance);
}
else
{
responsePort.Post(fs.First());
////f.Readon could be null
//var reasons = new List<ReasonText>();
//foreach (var f in fs)
// if (f.Reason != null)
// reasons.AddRange(f.Reason.AsEnumerable());
//responsePort.Post(new Fault() { Detail = new Detail() { Any = fs.ToArray() }, Reason = reasons.ToArray() });
}
}));
}
yield break;
}
public drive.DriveDifferentialTwoWheelState Get()
{
return(RSUtils.ReceiveSync <drive.DriveDifferentialTwoWheelState>(taskQueue, drivePort.Get(), Myro.Utilities.Params.DefaultRecieveTimeout));
}
///// <summary>
///// </summary>
//private void subscribeAutos()
//{
// // Get the list of partners whose names start with "auto:"
// //var request = new partnerList.GetOperation()
// //{
// // Body = new GetRequestType(),
// // ResponsePort = new DsspResponsePort<PartnerListType>()
// //};
// //base.PartnerListManagerPort.Post(request);
// //Activate(Arbiter.Choice<PartnerListType, Fault>(
// // request.ResponsePort,
// // delegate(PartnerListType partners)
// // {
// // string autoPrefix = "Auto_";
// // List<PartnerType> autoPartners = new List<PartnerType>(
// // from partner in partners.PartnerList
// // where partner.Name.Name.StartsWith(autoPrefix)
// // select partner);
// // foreach (var p in autoPartners)
// // Console.WriteLine(p.Name);
// // // This method will take care of subscribing and updating state
// // //if (autoPartners.Count > 0)
// // // subscribeAutos2(autoPartners, autoPrefix.Length);
// // },
// // delegate(Fault failure)
// // {
// // LogError("Fault while getting partner list to subscribe to autos", failure);
// // }));
// //List<PartnerType> partnerList = new List<PartnerType>();
// //var responsePort = new DsspResponsePort<DefaultUpsertResponseType>();
// //Activate(Arbiter.MultipleItemReceive(responsePort, _state.AutoSubsets.Count,
// // delegate(ICollection<DefaultUpsertResponseType> successes, ICollection<Fault> failures)
// // {
// // foreach (Fault failure in failures)
// // LogError("Inserting partner failed", failure);
// subscribeAutos2();
// //}));
//}
/// <summary>
/// Subscribes to any services specified in the partner list to
/// automatically update the state.
/// Once we have a list of auto partners, this method creates AutoDefiniton
/// objects for each auto partner. It then waits for each partner to be
/// found, and calls subscribeAutoSingle to subscribe to each one.
/// </summary>
/// <param name="partList"></param>
/// <param name="removeFromName"></param>
private void subscribeAutos()
{
//foreach (var subset in _state.AutoSubsets)
//{
// PartnerType partner = new PartnerType() { Name = new XmlQualifiedName(subset.PartnerName, Contract.Identifier) };
// partnerList.Add(partner);
// //base.PartnerListManagerPort.Post(new partnerList.Upsert() { Body = partner, ResponsePort = responsePort });
//}
// Create AutoDefinition objects
autoDefs = new List <AutoDefinition>(_state.AutoSubsets.Count);
//int lastIndex = 0;
//List<string> allKeys = new List<string>();
List <double> allValues = new List <double>();
foreach (var subset in _state.AutoSubsets)
{
// Create AutoDefinition object and add to list
//string[] keys = part.Name.Name.Substring(removeFromName).Split('_');
//AutoSubset subset = _state.AutoSubsets.Find((s => part.Name.Name.Equals(s.PartnerName, StringComparison.OrdinalIgnoreCase)));
//if (subset != default(AutoSubset))
//{
//var newKeys = new List<string>();
//for (int i = 0; i < subset.startIndex; i++)
// newKeys.Add("");
//newKeys.AddRange(subset.keys);
//}
AutoDefinition autoDef = new AutoDefinition()
{
partnerName = subset.PartnerName,
startIndex = 0,
count = 0,
subsetStart = (subset == default(AutoSubset) ? 0 : subset.StartIndex),
subsetCount = (subset == default(AutoSubset) ? 0 : subset.Count),
keys = (subset == default(AutoSubset) ? new List <string>() : subset.Keys)
};
autoDefs.Add(autoDef);
}
foreach (var autoDef in autoDefs)
{
if (autoDef.subsetCount >= 1)
{
// Also build a default vector
var values = new List <double>(autoDef.subsetCount);
for (int i = 0; i < autoDef.subsetCount; i++)
{
values.Add(0.0);
}
modifyStateSubset(autoDef, values);
}
}
// Set values, and take keys provided in subset defs by user
//_state.SetAll(allValues, DateTime.Now);
//applyKeysFromSubsets();
//var upsertRespPort = new DsspResponsePort<DefaultUpsertResponseType>();
//PartnerListManagerPort.Post(new partnerList.Upsert() { Body = new PartnerType() { Name = new XmlQualifiedName("iRobotGenericDrive", Microsoft.Dss.ServiceModel.Dssp.Contract.Identifier) }, ResponsePort = upsertRespPort });
//Activate(Arbiter.Choice(upsertRespPort,
// delegate(DefaultUpsertResponseType suc)
// {
// //var queryRespPort = new DsspResponsePort<Microsoft.Dss.Schemas.PartnerListManager.QueryResponseType>();
// //PartnerListManagerPort.Post(new partnerList.Query() { Body = new partnerListS.QueryRequestType() { Name = new XmlQualifiedName("iRobotGenericDrive", Contract.Identifier) }, ResponsePort = queryRespPort });
// //Activate(Arbiter.Choice(queryRespPort,
// // delegate(partnerListS.QueryResponseType qsuc)
// // {
// // Console.WriteLine(qsuc.Partner.Name + " : " + qsuc.Partner.Contract + " : " + qsuc.Partner.Service);
// // },
// // delegate(Fault failure)
// // {
// // Console.WriteLine("Fault querying");
// // }));
// var partsRespPort = base.IssuePartnerSubscribe(new XmlQualifiedName("iRobotGenericDrive", Microsoft.Dss.ServiceModel.Dssp.Contract.Identifier));
// Activate(Arbiter.Choice(partsRespPort,
// delegate(PartnerListType partListResponse)
// {
// foreach (var partner in partListResponse.PartnerList)
// {
// Console.WriteLine(partner.Name + " : " + partner.Contract + " : " + partner.Service);
// }
// },
// delegate(Fault failure)
// {
// Console.WriteLine("Fault querying");
// }));
// },
// delegate(Fault fail)
// {
// Console.WriteLine("Fault upserting");
// }));
// Create the new vector state reflecting the keys
//List<double> allValues = new List<double>(from k in allKeys select 0.0);
//VectorState newState = new VectorState(allValues, allKeys, DateTime.Now);
//var responsePort = new DsspResponsePort<DefaultReplaceResponseType>();
//OperationsPort.Post(new Replace(newState, responsePort));
//Activate(Arbiter.Choice(responsePort,
// delegate(DefaultReplaceResponseType r) { },
// delegate(Fault f) { LogError("Fault while replacing initial vector state", f); }));
// Try to subscribe to compatible contracts with the AutoDefinition objects
foreach (var autoDef in autoDefs)
{
AutoDefinition myAutoDef = autoDef;
//Console.WriteLine("Waiting 10 seconds before subscribing to partner list...");
//Thread.Sleep(10000);
var partRespPort = base.IssuePartnerSubscribe(new XmlQualifiedName(myAutoDef.partnerName, Contract.Identifier));
//Console.WriteLine("Looking for " + myAutoDef.infoAsPartner.Name);
Activate(Arbiter.Choice(partRespPort,
delegate(PartnerListType partListResponse)
{
//Console.WriteLine("Found " + partListResponse.PartnerList.Count + " for " + myAutoDef.infoAsPartner.Name);
if (partListResponse.PartnerList.Count > 1)
{
LogWarning("More than one partner found for " + myAutoDef.partnerName);
}
else if (partListResponse.PartnerList.Count < 1)
{
LogWarning("No partners found for " + myAutoDef.partnerName);
}
foreach (var partner in partListResponse.PartnerList)
{
if (myAutoDef.infoAsConnected == null)
{
//Console.WriteLine("Searching for a contract for " + partner.Service);
Activate(Arbiter.Choice(RSUtils.FindCompatibleContract(TaskQueue, new Uri(partner.Service), new List <string>()
{
analog.Contract.Identifier, analogArray.Contract.Identifier, contact.Contract.Identifier
}),
delegate(ServiceInfoType serviceInfoResponse)
{
try
{
subscribeAutoSingle(myAutoDef, serviceInfoResponse);
myAutoDef.infoAsConnected = serviceInfoResponse;
LogInfo("Vector service " + base.ServiceInfo.Service + " subscribed auto update to " + serviceInfoResponse.Service + " with contract " + serviceInfoResponse.Contract);
}
catch (Exception e)
{
LogError("Exception while subscribing to auto partner", e);
}
},
delegate(Fault failure)
{
Exception e = RSUtils.ExceptionOfFault(failure);
if (e is NoContractFoundException)
{
LogError("Could not subscribe to auto partner " + myAutoDef.partnerName + ". Could not find a supported contract.");
}
else if (e is Exception)
{
LogError("Fault while searching for compatible contract", e);
}
}));
}
}
},
delegate(Fault failure)
{
Console.WriteLine("Fault for " + myAutoDef.partnerName);
LogError("Fault from subscription to partner list service", failure);
}));
//Thread.Sleep(2000);
}
}
//public override bool Equals(Object obj)
//{
// if (obj is String)
// {
// string truncUri = ServiceInfo.Service.Substring(ServiceInfo.Service.IndexOf('/', ServiceInfo.Service.IndexOf("//") + 2));
// return String.Equals(truncUri, obj);
// }
// else
// return String.Equals(this.ServiceInfo.Service, ((DriveAdapter)obj).ServiceInfo.Service);
//}
public void Stop()
{
RSUtils.ReceiveSync <DefaultUpdateResponseType>(taskQueue, drivePort.AllStop(), Myro.Utilities.Params.DefaultRecieveTimeout);
}
