/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
//initialize state
_state = new ScribblerState();
_state.ComPort = 0;
_state.RobotName = null;
//motors initially stopped
_state.MotorLeft = 100;
_state.MotorRight = 100;
SaveState(_state);
}
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//open Scribbler Communications port
if (ConnectToScribbler())
{
// Listen for a single Serial port request with an acknowledgement
Activate(Arbiter.ReceiveWithIterator <SendScribblerCommand>(false, _scribblerComPort, SendScribblerCommandHandler));
PollTimer = new System.Timers.Timer();
PollTimer.Interval = TimerDelay;
PollTimer.AutoReset = true;
PollTimer.Elapsed += new System.Timers.ElapsedEventHandler(PollTimer_Elapsed);
PollTimer.Start();
//play startup tone
PlayToneBody startTone = new PlayToneBody(200, 1000, 2000);
_mainPort.Post(new PlayTone(startTone));
//debug
//ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_INFO);
//SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
//_scribblerComPort.Post(sendcmd);
//fix state
_state.MotorLeft = 100;
_state.MotorRight = 100;
_state.LEDLeft = false;
_state.LEDRight = false;
_state.LEDCenter = false;
}
else
{
//no scribbler found. Open state page for manual settings.
//OpenServiceInBrowser();
}
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
//for HttpPost
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
// Publish the service to the local Node Directory
DirectoryInsert();
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <SetMotors>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIterator <SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIterator <SetAllLEDs>(true, _mainPort, SetAllLEDsHandler),
Arbiter.ReceiveWithIterator <PlayTone>(true, _mainPort, PlayToneHandler),
Arbiter.ReceiveWithIterator <SetName>(true, _mainPort, SetNameHandler),
Arbiter.ReceiveWithIterator <ScribblerResponseMessage>(true, _mainPort, ScribblerResponseHandler)
),
new ConcurrentReceiverGroup()
));
}
public virtual IEnumerator<ITask> ReplaceHandler(Replace replace)
{
//if (_state.ComPort != replace.Body.ComPort)
//{
// _state = replace.Body;
// var ePort = new Port<Exception>();
// Dispatcher.AddCausality(new Causality("connect to scribbler", ePort));
// Activate(ePort.Receive(delegate(Exception e) { replace.ResponsePort.Post(RSUtils.FaultOfException(e)); }));
// yield return new IterativeTask(ConnectToScribbler);
// replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
//}
//else
//{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
//}
yield break;
}
public virtual IEnumerator <ITask> ReplaceHandler(Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
//initialize state
_state = new ScribblerState();
_state.ComPort = 0;
_state.RobotName = null;
//motors initially stopped
_state.MotorLeft = 100;
_state.MotorRight = 100;
SaveState(_state);
}
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//_mainPort.PostUnknownType(new Reconnect());
//open Scribbler Communications port
//if (ConnectToScribbler())
//{
// Listen for a single Serial port request with an acknowledgement
//debug
//ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_INFO);
//SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
//_scribblerComPort.Post(sendcmd);
//}
//else
//{
//no scribbler found. Open state page for manual settings.
//OpenServiceInBrowser();
//}
Activate(Arbiter.ReceiveWithIterator<SendScribblerCommand>(false, _scribblerComPort, SendScribblerCommandHandler));
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
//for HttpPost
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
// Publish the service to the local Node Directory
DirectoryInsert();
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIteratorFromPortSet<SetMotors>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIteratorFromPortSet<SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIteratorFromPortSet<SetAllLEDs>(true, _mainPort, SetAllLEDsHandler),
Arbiter.ReceiveWithIteratorFromPortSet<PlayTone>(true, _mainPort, PlayToneHandler),
Arbiter.ReceiveWithIteratorFromPortSet<SetName>(true, _mainPort, SetNameHandler),
Arbiter.ReceiveWithIteratorFromPortSet<ScribblerResponseMessage>(true, _mainPort, ScribblerResponseHandler),
Arbiter.ReceiveWithIteratorFromPortSet<SetLoud>(true, _mainPort, SetLoudHandler),
Arbiter.ReceiveWithIteratorFromPortSet<SetLEDFront>(true, _mainPort, SetLEDFrontHandler),
Arbiter.ReceiveWithIteratorFromPortSet<SetLEDBack>(true, _mainPort, SetLEDBackHandler),
Arbiter.ReceiveWithIteratorFromPortSet<Reconnect>(true, _mainPort, ReconnectHandler)
),
new ConcurrentReceiverGroup()));
// These handlers do not use the state, so can run concurrently to those above.
Activate(Arbiter.ReceiveWithIteratorFromPortSet<GetObstacle>(true, _mainPort, GetObstacleHandler));
Activate(Arbiter.ReceiveWithIteratorFromPortSet<GetImage>(true, _mainPort, GetImageHandler));
Activate(Arbiter.ReceiveWithIteratorFromPortSet<GetCamParam>(true, _mainPort, GetCamParamHandler));
Activate(Arbiter.ReceiveWithIteratorFromPortSet<SetCamParam>(true, _mainPort, SetCamParamHandler));
Activate(Arbiter.ReceiveWithIteratorFromPortSet<SendScribblerCommand>(true, _mainPort, SendScribblerCommandHandlerExternal));
Activate(Arbiter.ReceiveWithIteratorFromPortSet<HttpPost>(true, _mainPort, HttpPostHandler));
// These don't use the state either.
// GetWindow has to set up the window, then retrieve it, so it must run one at a time.
Activate(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIteratorFromPortSet<GetWindow>(true, _mainPort, GetWindowHandler)
),
new ConcurrentReceiverGroup()
));
}
