/*
* IncomingNewDataLink is used to accept new connections from the listener.
*/
public void IncomingNewDataLink(IDataLink dataLink, IPresentationProtocol usedProtocol)
{
Debug.Log("[RobotRegister] incoming new connection!");
// Change the receiver of the incoming messages for given client (connection) to this class.
// The information is used to check the identity of the connection.
usedProtocol.SetReceiver(this);
// Communicator is a management class for protocol and datalink
Communicator communicator = new Communicator(dataLink, usedProtocol);
// Ask for identification of the connection; might be a robot!
Message id_request = MessageBuilder.CreateMessage(MessageTarget_.Robot, MessageType_.IdentificationRequest);
Thread.Sleep(1);
if (!communicator.SendCommand(id_request))
{
Debug.LogError("[RobotRegister] Sending identity request command fails, how could this happen!?");
// Actually, it could happen if the connection is immediately closed after making it.
}
else
{
// Keep a list of the active connections
communicators.Add(communicator);
}
}
public static bool AssignRobot(Communicator communicator, GeneralTypeRobot robot)
{
if (robot == null)
{
throw new ArgumentNullException("robot");
}
if (communicator == null)
{
throw new ArgumentNullException("communicator");
}
IPresentationProtocol pp = communicator.GetPresentationProtocol();
if (pp == null)
{
throw new ArgumentNullException("communicator.GetPresentationProtocol()");
}
IDataLink dl = communicator.GetDataLink();
if (dl == null || communicator.GetDataLink().Connected() != true)
{
throw new InvalidOperationException("Can't assign robot without being connected");
}
MessageActionMapper map = new MessageActionMapper(robot);
communicator.GetPresentationProtocol().SetReceiver(map);
return(true);
}
public void IncomingNewDataLink(IDataLink dataLink, IPresentationProtocol usedProtocol)
{
this.DataLink = dataLink;
usedProtocol.SetReceiver(this);
Connected = true;
Debug.Log("Incoming impl");
}
public Communicator(IDataLink dataLink, IPresentationProtocol pP)
{
if (pP == null)
{
throw new System.ArgumentException("Parameter cannot be null", "pP");
}
if (dataLink == null)
{
throw new System.ArgumentException("Parameter cannot be null", "dataLink");
}
_pp = pP;
_datalink = dataLink;
}
public void IncomingNewDataLink(IDataLink dataLink, IPresentationProtocol usedProtocol)
{
this.DataLink = dataLink;
Connected = true;
}
