public virtual IEnumerator <ITask> SubscribeHandler(Subscribe subscribe)
{
SubscribeRequest request = subscribe.Body;
Console.WriteLine("SubscribeHandler() received Subscription request from Subscriber=" + subscribe.Body.Subscriber + " for: " + request.MessageTypes);
submgr.InsertSubscription insert = new submgr.InsertSubscription(request);
insert.Body.FilterType = submgr.FilterType.Default;
string valid = request.ValidOnly ? "True" : null;
List <submgr.QueryType> query = new List <submgr.QueryType>();
if (request.MessageTypes == ChrMessageType.All ||
request.MessageTypes == ChrMessageType.None)
{
if (request.ValidOnly)
{
query.Add(new submgr.QueryType(null, valid));
}
}
else
{
// Subscriber supplied a bitmask requesting certain UM6 messages:
if ((request.MessageTypes & ChrMessageType.GYRO_PROC) != 0)
{
query.Add(new submgr.QueryType(Tag_GYRO_PROC, valid));
}
if ((request.MessageTypes & ChrMessageType.ACCEL_PROC) != 0)
{
query.Add(new submgr.QueryType(Tag_ACCEL_PROC, valid));
}
if ((request.MessageTypes & ChrMessageType.MAG_PROC) != 0)
{
query.Add(new submgr.QueryType(Tag_MAG_PROC, valid));
}
if ((request.MessageTypes & ChrMessageType.EULER) != 0)
{
query.Add(new submgr.QueryType(Tag_EULER, valid));
}
if ((request.MessageTypes & ChrMessageType.QUAT) != 0)
{
query.Add(new submgr.QueryType(Tag_QUAT, valid));
}
// add more types here to the query
}
if (query.Count > 0)
{
insert.Body.QueryList = query.ToArray();
}
_subMgrPort.Post(insert);
yield return(Arbiter.Choice(
insert.ResponsePort,
subscribe.ResponsePort.Post,
subscribe.ResponsePort.Post
));
}
/// <summary>
/// Creates a new instance of Subscribe
/// </summary>
/// <param name="body">the request message body</param>
/// <param name="responsePort">the response port for the request</param>
public Subscribe(SubscribeRequest body, PortSet <SubscribeResponseType, Fault> responsePort)
: base(body, responsePort)
{
}
/// <summary>
/// Creates a new instance of Subscribe
/// </summary>
/// <param name="body">the request message body</param>
public Subscribe(SubscribeRequest body)
: base(body)
{
}