/// <summary>
/// Handles incoming set motor messages
/// </summary>
private IEnumerator <ITask> SetMotorHandler(SetMotors message)
{
if (!_state.Connected)
{
message.ResponsePort.Post(new Fault());
yield break;
}
//debug
if (message.Body.LeftSpeed < 0 || message.Body.LeftSpeed > 200 || message.Body.RightSpeed < 0 || message.Body.RightSpeed > 200)
{
LogError("Scribbler SetMotorHandler: target power set incorrect");
}
//update state
_state.MotorLeft = message.Body.LeftSpeed;
_state.MotorRight = message.Body.RightSpeed;
//send command
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.SET_MOTORS, (byte)_state.MotorRight, (byte)_state.MotorLeft);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
yield return(Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
//initialize notify list
List <string> notify = new List <string>();
notify.Add("MOTORS");
// notify general subscribers
subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest));
// notify selective subscribers
submgr.Submit sub = new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest, notify.ToArray());
subMgrPort.Post(sub);
//reply to say we are done
message.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
));
yield break;
}
public IEnumerator <ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost.Body.Context);
_httpUtilities.Post(readForm);
// Wait for result
Activate(Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection parameters)
{
if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerConfig")
{
if (parameters["buttonOk"] == "Change" && _state.Connected)
{
SetNameBody newname = new SetNameBody(parameters["Name"]);
SetName newnamemessage = new SetName(newname);
_mainPort.Post(newnamemessage);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, newnamemessage.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, newnamemessage.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
else if (parameters["buttonOk"] == "Connect" && _state.Connected)
{
//close down this connection to make a new connection below
PollTimer.Close();
System.Threading.Thread.Sleep(100);
_scribblerCom.Close();
_state.Connected = false;
}
if (parameters["buttonOk"] == "Connect" && !_state.Connected)
{
int port = 0;
int.TryParse(parameters["ComPort"], out port);
string name = parameters["Name"];
if (!string.IsNullOrEmpty(name) && name.Length > 8)
{
name = name.Substring(0, 8);
}
_state.ComPort = port;
_state.RobotName = name;
//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);
PlayTone playToneMessage = new PlayTone(startTone);
_mainPort.Post(playToneMessage);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, playToneMessage.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, playToneMessage.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
else
{
HttpPostFailure(httpPost, "Connection to Scribbler failed");
}
}
}
else if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerSensors")
{
if (parameters["buttonOk"] == "Poll" && _state.Connected)
{
ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_ALL);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, sendcmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerMotors")
{
if (parameters["buttonOk"] == "Set" && _state.Connected)
{
int left = _state.MotorLeft;
int right = _state.MotorRight;
int.TryParse(parameters["LeftMotor"], out left);
int.TryParse(parameters["RightMotor"], out right);
SetMotorsBody setMotorsBody = new SetMotorsBody(left, right);
SetMotors setMotorsRequest = new SetMotors(setMotorsBody);
_mainPort.Post(setMotorsRequest);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, setMotorsRequest.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
else if (parameters["buttonOk"] == "All Stop" && _state.Connected)
{
SetMotorsBody setMotorsBody = new SetMotorsBody(100, 100);
SetMotors setMotorsRequest = new SetMotors(setMotorsBody);
_mainPort.Post(setMotorsRequest);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, setMotorsRequest.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerLEDs")
{
if (parameters["buttonOk"] == "Set" && _state.Connected)
{
bool left = ((parameters["LeftLED"] ?? "off") == "on");
bool center = ((parameters["CenterLED"] ?? "off") == "on");
bool right = ((parameters["RightLED"] ?? "off") == "on");
SetAllLedsBody leds = new SetAllLedsBody(left, center, right);
SetAllLEDs setAllLeds = new SetAllLEDs(leds);
_mainPort.Post(setAllLeds);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, setAllLeds.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, setAllLeds.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ScribblerSpeaker")
{
if (parameters["buttonOk"] == "Play" && _state.Connected)
{
int tone1 = 0;
int tone2 = 0;
int duration = 0;
int.TryParse(parameters["Tone1"], out tone1);
int.TryParse(parameters["Tone2"], out tone2);
int.TryParse(parameters["Duration"], out duration);
PlayToneBody playTone = new PlayToneBody(duration, tone1, tone2);
PlayTone playToneMessage = new PlayTone(playTone);
_mainPort.Post(playToneMessage);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, playToneMessage.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, playToneMessage.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, "Unknown Http Post");
}
},
delegate(Exception Failure)
{
LogError(Failure.Message);
})
);
yield break;
}