/// <summary>
/// Creates an instance of the service associated with this contract
/// </summary>
/// <param name="contructorServicePort">Contractor Service that will create the instance</param>
/// <param name="partners">Optional list of service partners for new service instance</param>
/// <returns>Result PortSet for retrieving service creation response</returns>
public static DsspResponsePort<CreateResponse> CreateService(constructor.ConstructorPort contructorServicePort, params PartnerType[] partners)
{
DsspResponsePort<CreateResponse> result = new DsspResponsePort<CreateResponse>();
ServiceInfoType si = new ServiceInfoType(Contract.Identifier, null);
if (partners != null)
{
si.PartnerList = new List<PartnerType>(partners);
}
Microsoft.Dss.Services.Constructor.Create create =
new Microsoft.Dss.Services.Constructor.Create(si, result);
contructorServicePort.Post(create);
return result;
}
IEnumerator <ITask> OnStartServiceHandler(OnStartService onStartService)
{
if (onStartService.DriveControl == _driveControl &&
onStartService.Constructor != null)
{
cs.ConstructorPort port = ServiceForwarder <cs.ConstructorPort>(onStartService.Constructor);
ServiceInfoType request = new ServiceInfoType(onStartService.Contract);
cs.Create create = new cs.Create(request);
port.Post(create);
string service = null;
yield return(Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse response)
{
service = response.Service;
},
delegate(Fault fault)
{
LogError(fault);
}
));
if (service == null)
{
yield break;
}
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.StartedSickLRF();
}
);
}
}
public void HttpPostHandler(HttpPost httpPost)
{
HttpPostRequestData formData = httpPost.GetHeader <HttpPostRequestData>();
try
{
DsspOperation operation = formData.TranslatedOperation;
if (operation is DriveDistance)
{
_mainPort.Post((DriveDistance)operation);
}
else if (operation is SetDrivePower)
{
_mainPort.Post((SetDrivePower)operation);
}
else if (operation is RotateDegrees)
{
_mainPort.Post((RotateDegrees)operation);
}
else if (operation is EnableDrive)
{
_mainPort.Post((EnableDrive)operation);
}
else if (operation is AllStop)
{
_mainPort.Post((AllStop)operation);
}
else if (operation is ResetEncoders)
{
_mainPort.Post((ResetEncoders)operation);
}
else
{
NameValueCollection parameters = formData.Parameters;
if (parameters["StartDashboard"] != null)
{
string Dashboardcontract = "http://schemas.microsoft.com/robotics/2006/01/simpledashboard.user.html";
ServiceInfoType info = new ServiceInfoType(Dashboardcontract);
cons.Create create = new cons.Create(info);
create.TimeSpan = DsspOperation.DefaultShortTimeSpan;
ConstructorPort.Post(create);
Activate(Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse createResponse) { },
delegate(Fault f) { LogError(f); }
));
}
else if (parameters["DrivePower"] != null)
{
double power = double.Parse(parameters["Power"]);
SetDrivePowerRequest drivepower = new SetDrivePowerRequest();
drivepower.LeftWheelPower = power;
drivepower.RightWheelPower = power;
_mainPort.Post(new SetDrivePower(drivepower));
}
else
{
throw new InvalidOperationException();
}
}
HttpPostSuccess(httpPost);
}
catch
{
HttpPostFailure(httpPost);
}
}
public void HttpPostHandler(HttpPost httpPost)
{
HttpPostRequestData formData = httpPost.GetHeader<HttpPostRequestData>();
try
{
DsspOperation operation = formData.TranslatedOperation;
if (operation is DriveDistance)
{
_mainPort.Post((DriveDistance)operation);
}
else if (operation is SetDrivePower)
{
_mainPort.Post((SetDrivePower)operation);
}
else if (operation is RotateDegrees)
{
_mainPort.Post((RotateDegrees)operation);
}
else if (operation is EnableDrive)
{
_mainPort.Post((EnableDrive)operation);
}
else if (operation is AllStop)
{
_mainPort.Post((AllStop)operation);
}
else
{
NameValueCollection parameters = formData.Parameters;
if (parameters["StartDashboard"] != null)
{
string Dashboardcontract = "http://schemas.microsoft.com/robotics/2006/01/simpledashboard.html";
ServiceInfoType info = new ServiceInfoType(Dashboardcontract);
cons.Create create = new cons.Create(info);
create.TimeSpan = DsspOperation.DefaultShortTimeSpan;
ConstructorPort.Post(create);
Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse createResponse) { },
delegate(Fault f) { LogError(f); }
);
}
else if (parameters["DrivePower"] != null)
{
double power = double.Parse(parameters["Power"]);
SetDrivePowerRequest drivepower = new SetDrivePowerRequest();
drivepower.LeftWheelPower = power;
drivepower.RightWheelPower = power;
_mainPort.Post(new SetDrivePower(drivepower));
}
else
{
throw new InvalidOperationException();
}
}
HttpPostSuccess(httpPost);
}
catch
{
HttpPostFailure(httpPost);
}
}
IEnumerator<ITask> OnStartServiceHandler(OnStartService onStartService)
{
if (onStartService.DriveControl == _driveControl &&
onStartService.Constructor != null)
{
cs.ConstructorPort port = ServiceForwarder<cs.ConstructorPort>(onStartService.Constructor);
ServiceInfoType request = new ServiceInfoType(onStartService.Contract);
cs.Create create = new cs.Create(request);
port.Post(create);
string service = null;
yield return Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse response)
{
service = response.Service;
},
delegate(Fault fault)
{
LogError(fault);
}
);
if (service == null)
{
yield break;
}
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.StartedSickLRF();
}
);
}
}
/// <summary>
/// Creates an instance of the LEGO NXT Communications service.
/// </summary>
/// <returns>Result PortSet for retrieving service creation response</returns>
private DsspResponsePort<CreateResponse> CreateNxtCommunicationService()
{
DsspResponsePort<CreateResponse> createResponsePort = new DsspResponsePort<CreateResponse>();
ServiceInfoType si = new ServiceInfoType(comm.Contract.Identifier, null);
Microsoft.Dss.Services.Constructor.Create create =
new Microsoft.Dss.Services.Constructor.Create(si, createResponsePort);
base.ConstructorPort.Post(create);
return createResponsePort;
}
private IEnumerator <ITask> OnStartup()
{
#region CODECLIP 02-3
PartnerType remote = FindPartner("Remote");
ds.DirectoryPort remoteDir = DirectoryPort;
if (remote != null && !string.IsNullOrEmpty(remote.Service))
{
remoteDir = ServiceForwarder <ds.DirectoryPort>(remote.Service);
}
#endregion
#region CODECLIP 02-4
cs.ConstructorPort remoteConstructor = ConstructorPort;
ds.Query query = new ds.Query(
new ds.QueryRequestType(
new ServiceInfoType(cs.Contract.Identifier)
)
);
remoteDir.Post(query);
yield return((Choice)query.ResponsePort);
ds.QueryResponseType queryRsp = query.ResponsePort;
if (queryRsp != null)
{
remoteConstructor = ServiceForwarder <cs.ConstructorPort>(queryRsp.RecordList[0].Service);
}
#endregion
#region CODECLIP 02-5
string clockService = null;
cs.Create create = new cs.Create(new ServiceInfoType(rst4.Contract.Identifier));
remoteConstructor.Post(create);
yield return((Choice)create.ResponsePort);
CreateResponse createRsp = create.ResponsePort;
if (createRsp != null)
{
clockService = createRsp.Service;
}
else
{
LogError((Fault)create.ResponsePort);
yield break;
}
_clockPort = ServiceForwarder <rst4.ServiceTutorial4Operations>(clockService);
#endregion
rst4.Get get;
yield return(_clockPort.Get(GetRequestType.Instance, out get));
rst4.ServiceTutorial4State state = get.ResponsePort;
if (state != null)
{
ServiceTutorial7State initState = new ServiceTutorial7State();
PartnerType partner = FindPartner("Local");
if (partner != null)
{
initState.Clocks.Add(partner.Service);
}
initState.Clocks.Add(clockService);
Replace replace = new Replace();
replace.Body = initState;
_mainPort.Post(replace);
}
else
{
LogError("Unable to Get state from ServiceTutorial4", (Fault)get.ResponsePort);
yield break;
}
rst4.Subscribe subscribe;
yield return(_clockPort.Subscribe(_clockNotify, out subscribe));
if ((Fault)subscribe.ResponsePort != null)
{
LogError("Unable to subscribe to remote ServiceTutorial4", (Fault)subscribe.ResponsePort);
}
yield return(_localClockPort.Subscribe(_localClockNotify, out subscribe));
if ((Fault)subscribe.ResponsePort != null)
{
LogError("Unable to subscribe to local ServiceTutorial4", (Fault)subscribe.ResponsePort);
}
}
