public IEnumerator <ITask> ReplaceHandler(Replace replace)
{
ProcessConfigurationString(ref _state, replace.Body.configuration);
replace.ResponsePort.Post(new dssp.DefaultReplaceResponseType());
_subMgrPort.Post(new submgr.Submit(_state, DsspActions.ReplaceRequest));
_state = replace.Body;
yield break;
}
/// <summary>
/// Process configuration string
/// </summary>
/// <param name="state"></param>
/// <param name="body"></param>
void ProcessConfigurationString(ref AnalogActuatorState state, string body)
{
if ((body != null) && (body.Length > 0))
{
string[] sections = body.Split(new char[] { '&' });
foreach (string rawPair in sections)
{
string[] keyValuePair = rawPair.Split(new char[] { '=' }, 2);
if (keyValuePair.Length == 2)
{
string key = Uri.UnescapeDataString(keyValuePair[0]).ToUpper();
string value = Uri.UnescapeDataString(keyValuePair[1]);
if (0 == key.CompareTo("ACTUATORINIT"))
{
// ACTUATORINIT=_index_,_name_,_value_
string[] indexAttrib = value.Split(new char[] { ',' });
int actuatorID = Convert.ToInt32(indexAttrib[0]);
if ((actuatorID > 0) && (actuatorID <= 2) && (indexAttrib.Length == 3))
{
UpdateActuatorConfiguration(
actuatorID,
indexAttrib[1].ToString(),
Convert.ToInt32(indexAttrib[2]));
}
}
else if (0 == key.CompareTo("ACTUATORSET"))
{
// ACTUATORSET=_value1_,_value2_,_value3_
string[] indexAttrib = value.Split(new char[] { ',' });
if (indexAttrib.Length == 3)
{
for (int i = 0; i < 3; i++)
{
SetActuator_Value(i + 1, Convert.ToInt32(indexAttrib[i]));
}
}
}
}
}
}
}