public virtual IEnumerator <ITask> HttpGetSonarSensorHandler(dssphttp.HttpGet httpGet)
{
sonararray.Get get = new sonararray.Get();
this.altPort.Post(get);
yield return(get.ResponsePort.Choice());
sonararray.SonarSensorArrayState sonararrayState = get.ResponsePort;
httpGet.ResponsePort.Post(new dssphttp.HttpResponseType(sonararrayState));
yield break;
}
public IEnumerator <ITask> GetSonarArrayHandler(sonararray.Get get)
{
var state = new sonararray.SonarSensorArrayState();
state.Sensors = new List <sonarsensor.SonarState>(this.sensorPorts.Length);
// compose state on the fly by issuing N parallel GET requests to partners
var getSensorState = new sonar.Get();
foreach (var port in this.sensorPorts)
{
state.Sensors.Add(null);
port.Post(getSensorState);
}
ICollection <sonar.SonarState> sensorStates = null;
ICollection <Fault> faults = null;
yield return(getSensorState.ResponsePort.MultipleItemReceive(
this.sensorPorts.Length,
(s, f) =>
{
sensorStates = s;
faults = f;
}));
if (faults != null && faults.Count > 0)
{
get.ResponsePort.Post(Fault.FromCodeSubcode(FaultCodes.Receiver, DsspFaultCodes.OperationFailed));
yield break;
}
foreach (var sensorState in sensorStates)
{
state.Sensors[sensorState.HardwareIdentifier] = new sonarsensor.SonarState()
{
HardwareIdentifier = sensorState.HardwareIdentifier,
AngularRange = sensorState.AngularRange,
AngularResolution = sensorState.AngularResolution,
DistanceMeasurement = sensorState.DistanceMeasurement,
DistanceMeasurements = sensorState.DistanceMeasurements,
MaxDistance = sensorState.MaxDistance,
Pose = new PhysicalModel.Proxy.Pose
{
Orientation = new PhysicalModel.Proxy.Quaternion(
sensorState.Pose.Orientation.X,
sensorState.Pose.Orientation.Y,
sensorState.Pose.Orientation.Z,
sensorState.Pose.Orientation.W),
Position = new PhysicalModel.Proxy.Vector3(
sensorState.Pose.Position.X,
sensorState.Pose.Position.Y,
sensorState.Pose.Position.Z),
},
TimeStamp = sensorState.TimeStamp,
};
}
var stateClone = state.Clone() as sonararray.SonarSensorArrayState;
get.ResponsePort.Post(stateClone);
yield break;
}
/// <summary>
/// Process the Sensor data
/// </summary>
/// <returns>An iterator</returns>
private IEnumerator <ITask> ProcessSensors()
{
if (this.batteryPort == null)
{
WinFormsServicePort.FormInvoke(() => this.dashboardForm.UpdateBatteryLevel(null));
}
DateTime?lastBatteryPoll = null;
while (true)
{
DateTime now = DateTime.Now;
if (this.irsensorArrayPort != null)
{
// Create a request that includes a Diagnostic Header so that it can be picked
// up by selective logging. If no logging is required, the code would just be:
// yield return this.irsensorArrayPort.Get().Choice(
infraredsensorarray.Get getRequest = new infraredsensorarray.Get();
getRequest.AddHeader(new DiagnosticsHeader());
this.irsensorArrayPort.Post(getRequest);
yield return(getRequest.ResponsePort.Choice(
s =>
{
var irValues = new double[Constants.IRSensorCount];
for (var i = 0; i < Constants.IRSensorCount; i++)
{
irValues[Constants.IRSensorCount - i - 1] = s.Sensors[i].DistanceMeasurement * ConvertMetersToCm;
}
WinFormsServicePort.FormInvoke(() => this.dashboardForm.UpdateIRSensors(irValues));
},
LogError));
}
if (this.sonarSensorArrayPort != null)
{
// Create a request that includes a Diagnostic Header so that it can be picked
// up by selective logging. If no logging is required, the code would just be:
// yield return this.sonarSensorArrayPort.Get().Choice(
sonarsensorarray.Get getRequest = new sonarsensorarray.Get();
getRequest.AddHeader(new DiagnosticsHeader());
this.sonarSensorArrayPort.Post(getRequest);
yield return(getRequest.ResponsePort.Choice(
s =>
{
var sonarValues = new double[Constants.SonarSensorCount];
for (int i = 0; i < Constants.SonarSensorCount; i++)
{
sonarValues[Constants.SonarSensorCount - i - 1] = s.Sensors[i].DistanceMeasurement * ConvertMetersToCm;
}
WinFormsServicePort.FormInvoke(() => this.dashboardForm.UpdateSonarSensors(sonarValues));
},
LogError));
}
if (this.drivePort != null)
{
yield return(this.drivePort.Get().Choice(
s => WinFormsServicePort.FormInvoke(() => this.dashboardForm.UpdateWheelState(s)),
this.LogError));
}
// Only poll the battery every minute
if (this.batteryPort != null &&
(!lastBatteryPoll.HasValue ||
DateTime.Now.Subtract(lastBatteryPoll.Value) > TimeSpan.FromMinutes(1)))
{
yield return
(this.batteryPort.Get().Choice(
s => WinFormsServicePort.FormInvoke(() => this.dashboardForm.UpdateBatteryLevel(s)),
this.LogError));
lastBatteryPoll = DateTime.Now;
}
// Just sleep for the remainder of our sensor polling timout
int delay = Math.Max(0, (int)(this.sensorPollingInterval - (DateTime.Now - now).TotalMilliseconds));
yield return(TimeoutPort(delay).Receive());
}
}
