/// <summary>
/// DSS SimpleDashboard StateType Constructor
/// </summary>
/// <param name="body"></param>
public Replace(SimpleDashboardState body)
: base(body)
{
}
/// <summary>
/// Entry Point for the SimpleDashboard Service
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new SimpleDashboardState {
TranslateScaleFactor = 1, RotateScaleFactor = .25
};
}
// This service does not use base.Start() because of the way that
// the handlers are hooked up. Notice the mixture of _mainPort and
// _eventsPort in the interleave.
// Also, because the interleave is created explicitly there must be
// Get and HttpGet handlers instead of using the default ones.
// Handlers that need write or exclusive access to state go under
// the exclusive group. Handlers that need read or shared access, and can be
// concurrent to other readers, go to the concurrent group.
// Other internal ports can be included in interleave so you can coordinate
// intermediate computation with top level handlers.
Activate(Arbiter.Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DropHandler)
),
new ExclusiveReceiverGroup
(
Arbiter.ReceiveWithIterator <Replace>(true, _mainPort, ReplaceHandler),
Arbiter.ReceiveWithIterator <OnLoad>(true, _eventsPort, OnLoadHandler),
Arbiter.Receive <OnClosed>(true, _eventsPort, OnClosedHandler),
Arbiter.ReceiveWithIterator <OnChangeJoystick>(true, _eventsPort, OnChangeJoystickHandler),
Arbiter.Receive <OnLogSetting>(true, _eventsPort, OnLogSettingHandler)
),
new ConcurrentReceiverGroup
(
Arbiter.Receive <DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler),
Arbiter.ReceiveWithIterator <Get>(true, _mainPort, GetHandler),
Arbiter.ReceiveWithIterator <game.Replace>(true, _gameControllerNotify, JoystickReplaceHandler),
Arbiter.ReceiveWithIterator <game.UpdateAxes>(true, _gameControllerNotify, JoystickUpdateAxesHandler),
Arbiter.ReceiveWithIterator <game.UpdateButtons>(true, _gameControllerNotify, JoystickUpdateButtonsHandler),
Arbiter.ReceiveWithIterator <sicklrf.Replace>(true, _laserNotify, OnLaserReplaceHandler),
Arbiter.ReceiveWithIterator <OnConnect>(true, _eventsPort, OnConnectHandler),
Arbiter.ReceiveWithIterator <drive.Update>(true, _driveNotify, OnDriveUpdateNotificationHandler),
Arbiter.ReceiveWithIterator <OnConnectMotor>(true, _eventsPort, OnConnectMotorHandler),
Arbiter.ReceiveWithIterator <OnMove>(true, _eventsPort, OnMoveHandler),
Arbiter.ReceiveWithIterator <OnEStop>(true, _eventsPort, OnEStopHandler),
Arbiter.ReceiveWithIterator <OnStartService>(true, _eventsPort, OnStartServiceHandler),
Arbiter.ReceiveWithIterator <OnConnectSickLRF>(true, _eventsPort, OnConnectSickLRFHandler),
Arbiter.Receive <OnDisconnectSickLRF>(true, _eventsPort, OnDisconnectSickLRFHandler),
Arbiter.ReceiveWithIterator <OnConnectArticulatedArm>(true, _eventsPort, OnConnectArticulatedArmHandler),
Arbiter.ReceiveWithIterator <OnApplyJointParameters>(true, _eventsPort, OnApplyJointParametersHandler)
)
));
DirectoryInsert();
WinFormsServicePort.Post(new RunForm(CreateForm));
}
/// <summary>
/// Replace Handler sets SimpleDashboard State
/// </summary>
/// <param name="replace"></param>
IEnumerator <ITask> ReplaceHandler(Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(dssp.DefaultReplaceResponseType.Instance);
yield break;
}
/// <summary>
/// Replace Handler sets SimpleDashboard State
/// </summary>
/// <param name="replace"></param>
IEnumerator<ITask> ReplaceHandler(Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(dssp.DefaultReplaceResponseType.Instance);
yield break;
}
