public virtual IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
Fault fault = null;
NameValueCollection parameters = new NameValueCollection();
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Wait for result
yield return Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection col)
{
parameters = col;
},
delegate(Exception e)
{
fault = Fault.FromException(e);
}
);
if(fault != null)
{
httpPost.ResponsePort.Post(fault);
yield break;
}
if (!string.IsNullOrEmpty(parameters["NewMode"]))
{
int mod = int.Parse(parameters["NewMode"]);
_biclops.setMode(mod);
}
if(!string.IsNullOrEmpty(parameters["pos1"]))
{
double newr = double.Parse(parameters["pos1"]);
_biclops.setJointPosition(0, newr);
}
if(!string.IsNullOrEmpty(parameters["pos2"]))
{
double newr = double.Parse(parameters["pos2"]);
_biclops.setJointPosition(1, newr);
}
HttpResponseType rsp = new HttpResponseType(HttpStatusCode.OK, _state, _transform);
httpPost.ResponsePort.Post(rsp);
SaveState(_state);
}
public virtual IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
string ErrorMessage = String.Empty;
Fault fault = null;
NameValueCollection parameters = new NameValueCollection();
// use helper to read from data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
//wait for result
yield return Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection col)
{
parameters = col;
},
delegate(Exception e)
{
fault = Fault.FromException(e);
LogError(null, "Error Processing from data", fault);
ErrorMessage += e;
}
);
if (fault != null)
{
httpPost.ResponsePort.Post(fault);
yield break;
}
bool validDelta = false;
double[] _delta = new double[2];
if (!string.IsNullOrEmpty(parameters["delta"]))
{
try
{
_delta[0] = double.Parse(parameters["delta"]);
_delta[1] = double.Parse(parameters["delta"]);
validDelta = true;
}
catch (Exception e)
{
string msg = "Could not parse Desired MaxDelta ref value: " + e.Message;
LogError(msg);
ErrorMessage += msg;
}
}
if (validDelta)
{
_state.MaxDelta.dat[0] = _delta[0];
_state.MaxDelta.dat[1] = _delta[1];
}
double[] _ref = new double[2];
bool validValues = true;
if (!string.IsNullOrEmpty(parameters["DesPan"]))
{
try
{
_ref[0] = double.Parse(parameters["DesPan"]);
}
catch (Exception e)
{
string msg = "Could not parse Desired Pan ref value: " + e.Message;
LogError(msg);
ErrorMessage += msg;
validValues = validValues && false;
}
}
if (!string.IsNullOrEmpty(parameters["DesTilt"]))
{
try
{
_ref[1] = double.Parse(parameters["DesTilt"]);
}
catch (Exception e)
{
string msg = "Could not parse Desired Tilt ref value: " + e.Message;
LogError(msg);
ErrorMessage += msg;
validValues = validValues && false;
}
}
if (!string.IsNullOrEmpty(parameters["lock"]))
{
try
{
_state.Lock = true;
}
catch (Exception e)
{
string msg = "Could not parse Lock check: " + e.Message;
LogError(msg);
ErrorMessage += msg;
}
}
else
{
Console.WriteLine("Lock set to false");
_state.Lock = false;
newDesiredJointPositions = true;
}
if (validValues)
{
// scale down here...
_state.DesiredJointAngles.dat[0] = _ref[0];
_state.DesiredJointAngles.dat[1] = _ref[1];
}
if (!string.IsNullOrEmpty(parameters["Home"]))
{
/*
Console.WriteLine("BiclopsRightCameraJointConfiguration::Home()");
_biclopsPort.Post(new biclops.Home());
_state.Lock = true;
Activate(
Arbiter.Choice(
_biclopsPort.Home(new biclops.HomeRequest()),
delegate(DefaultUpdateResponseType response)
{
LogError(LogGroups.Console, "got response from Bicops.Home");
//Console.WriteLine("got response from Biclops.Home");
},
delegate(W3C.Soap.Fault failure)
{
LogError(LogGroups.Console, "Fault posting Bicops.Home");
//Console.WriteLine("Fault posting SetJointPositionReference");
}));
*/
}
if (!string.IsNullOrEmpty(parameters["Park"]))
{
/*
Console.WriteLine("BiclopsRightCameraJointConfiguration::Park()");
_biclopsPort.Post(new biclops.Park());
*/
}
if (ErrorMessage == string.Empty)
{
httpPost.ResponsePort.Post(new HttpResponseType(HttpStatusCode.OK, _state, _transform));
}
else
{
fault = Fault.FromCodeSubcodeReason(FaultCodes.Receiver,
DsspFaultCodes.OperationFailed,
ErrorMessage);
httpPost.ResponsePort.Post(new Fault());
}
yield break;
}
public IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Wait for result
Activate(Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection parameters)
{
if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "MicrosoftGpsConfig"
)
{
if (parameters["buttonOk"] == "Search")
{
FindGpsConfig findConfig = new FindGpsConfig();
_mainPort.Post(findConfig);
Activate(
Arbiter.Choice(
Arbiter.Receive<MicrosoftGpsConfig>(false, findConfig.ResponsePort,
delegate(MicrosoftGpsConfig response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, findConfig.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Connect and Update")
{
MicrosoftGpsConfig config = (MicrosoftGpsConfig)_state.MicrosoftGpsConfig.Clone();
int port;
if (int.TryParse(parameters["CommPort"], out port) && port >= 0)
{
config.CommPort = port;
config.PortName = "COM" + port.ToString();
}
int baud;
if (int.TryParse(parameters["BaudRate"], out baud) && GpsConnection.ValidBaudRate(baud))
{
config.BaudRate = baud;
}
config.CaptureHistory = ((parameters["CaptureHistory"] ?? "off") == "on");
config.CaptureNmea = ((parameters["CaptureNmea"] ?? "off") == "on");
config.RetrackNmea = ((parameters["RetrackNmea"] ?? "off") == "on");
Console.WriteLine(string.Format("Switches: CaptureHistory={0} CaptureNmea={1} RetrackNmea={2}", config.CaptureHistory, config.CaptureNmea, config.RetrackNmea));
Configure configure = new Configure(config);
_mainPort.Post(configure);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, configure.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, configure.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, null);
}
},
delegate(Exception Failure)
{
LogError(Failure.Message);
})
);
yield break;
}
public IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Wait for result
Activate(Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection parameters)
{
if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "ChrUm6OrientationSensorConfig"
)
{
if (parameters["buttonOk"] == "Search")
{
FindChrConfig findConfig = new FindChrConfig();
_mainPort.Post(findConfig);
Activate(
Arbiter.Choice(
Arbiter.Receive<ChrUm6OrientationSensorConfig>(false, findConfig.ResponsePort,
delegate(ChrUm6OrientationSensorConfig response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, findConfig.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Connect")
{
ChrUm6OrientationSensorConfig config = (ChrUm6OrientationSensorConfig)_state.ChrUm6OrientationSensorConfig.Clone();
int port;
if (int.TryParse(parameters["CommPort"], out port) && port >= 0)
{
config.CommPort = port;
config.PortName = "COM" + port.ToString();
}
int baud;
if (int.TryParse(parameters["BaudRate"], out baud) && ChrConnection.ValidBaudRate(baud))
{
config.BaudRate = baud;
}
Configure configure = new Configure(config);
_mainPort.Post(configure);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, configure.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, configure.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Refresh Data")
{
HttpPostSuccess(httpPost);
}
else if (parameters["buttonOk"] == "Set Accelerometer Reference Vector")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand() { Command = "SetAccelRefVector" };
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Set Magnetometer Reference Vector")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand() { Command = "SetMagnRefVector" };
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Zero Rate Gyros")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand() { Command = "ZeroRateGyros" };
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, null);
}
},
delegate(Exception Failure)
{
LogError(Failure.Message);
})
);
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;
}
public IEnumerator <ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Wait for result
Activate(Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection parameters)
{
if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ChrUm6OrientationSensorConfig"
)
{
if (parameters["buttonOk"] == "Search")
{
FindChrConfig findConfig = new FindChrConfig();
_mainPort.Post(findConfig);
Activate(
Arbiter.Choice(
Arbiter.Receive <ChrUm6OrientationSensorConfig>(false, findConfig.ResponsePort,
delegate(ChrUm6OrientationSensorConfig response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, findConfig.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Connect")
{
ChrUm6OrientationSensorConfig config = (ChrUm6OrientationSensorConfig)_state.ChrUm6OrientationSensorConfig.Clone();
int port;
if (int.TryParse(parameters["CommPort"], out port) && port >= 0)
{
config.CommPort = port;
config.PortName = "COM" + port.ToString();
}
int baud;
if (int.TryParse(parameters["BaudRate"], out baud) && ChrConnection.ValidBaudRate(baud))
{
config.BaudRate = baud;
}
Configure configure = new Configure(config);
_mainPort.Post(configure);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, configure.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, configure.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Refresh Data")
{
HttpPostSuccess(httpPost);
}
else if (parameters["buttonOk"] == "Set Accelerometer Reference Vector")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand()
{
Command = "SetAccelRefVector"
};
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Set Magnetometer Reference Vector")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand()
{
Command = "SetMagnRefVector"
};
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Zero Rate Gyros")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand()
{
Command = "ZeroRateGyros"
};
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, null);
}
},
delegate(Exception Failure)
{
LogError(Failure.Message);
})
);
yield break;
}
public IEnumerator <ITask> HttpPostHandler(HttpPost httpPost)
{
ReadFormData readForm = new ReadFormData(httpPost);
_utilities.Post(readForm);
PortSet <NameValueCollection, Exception> readFormResponsePort = readForm.ResultPort;
yield return((Choice)readFormResponsePort);
Exception exception = (Exception)readFormResponsePort;
if (exception != null)
{
LogError(exception);
httpPost.ResponsePort.Post(Fault.FromException(exception));
yield break;
}
NameValueCollection collection = (NameValueCollection)readFormResponsePort;
string voice = collection["Voice"];
string rate = collection["Rate"];
string volume = collection["Volume"];
string speechText = collection["SpeechText"];
PortSet <DefaultUpdateResponseType, Fault> responsePort = null;
if (!string.IsNullOrEmpty(voice))
{
SetVoice setVoice = new SetVoice(new SetVoiceRequest(voice));
SpawnIterator(setVoice, SetVoiceHandler);
responsePort = setVoice.ResponsePort;
}
else if (!string.IsNullOrEmpty(rate))
{
int rateInt;
if (int.TryParse(rate, out rateInt))
{
SetRate setRate = new SetRate();
setRate.Body.Rate = rateInt;
SpawnIterator(setRate, SetRateHandler);
responsePort = setRate.ResponsePort;
}
}
else if (!string.IsNullOrEmpty(volume))
{
int volumeInt;
if (int.TryParse(volume, out volumeInt))
{
SetVolume setVolume = new SetVolume();
setVolume.Body.Volume = volumeInt;
SpawnIterator(setVolume, SetVolumeHandler);
responsePort = setVolume.ResponsePort;
}
}
else if (!string.IsNullOrEmpty(speechText))
{
SayText sayText = new SayText(new SayTextRequest(speechText));
SpawnIterator(sayText, SayTextHandler);
responsePort = sayText.ResponsePort;
}
if (responsePort != null)
{
yield return((Choice)responsePort);
Fault fault = (Fault)responsePort;
if (fault != null)
{
LogError("Unable to perform post operation", fault);
httpPost.ResponsePort.Post(fault);
yield break;
}
}
httpPost.ResponsePort.Post(new HttpResponseType(
HttpStatusCode.OK,
_state,
base.StateTransformPath // Use the transform declared on the State
));
yield break;
}
public IEnumerator <ITask> HttpPostHandler(HttpPost post)
{
Fault fault = null;
NameValueCollection collection = null;
ReadFormData readForm = new ReadFormData(post);
_utilitiesPort.Post(readForm);
yield return(Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection col)
{
collection = col;
},
delegate(Exception e)
{
fault = Fault.FromException(e);
LogError(null, "Error processing form data", fault);
}
));
if (fault != null)
{
post.ResponsePort.Post(fault);
yield break;
}
if (!string.IsNullOrEmpty(collection["ChangeCamera"]))
{
string device = string.Empty;
try
{
device = collection["Camera"];
}
catch (Exception e)
{
fault = Fault.FromException(e);
LogError(null, "Error reading form data", fault);
}
if (fault != null)
{
post.ResponsePort.Post(fault);
yield break;
}
UpdateDeviceRequest request = new UpdateDeviceRequest();
request.Selected.DevicePath = device;
UpdateDevice update = new UpdateDevice();
update.Body = request;
SpawnIterator(update, UpdateDeviceHandler);
yield return(Arbiter.Choice(
update.ResponsePort,
delegate(DefaultUpdateResponseType success)
{
SaveState(_state);
},
delegate(Fault f)
{
fault = f;
LogError(null, "Unable to change camera", fault);
}
));
}
else if (!string.IsNullOrEmpty(collection["ChangeFormat"]))
{
int formatIndex = 0;
Format format = null;
try
{
formatIndex = int.Parse(collection["CaptureFormat"]);
format = _state.Selected.SupportedFormats[formatIndex - 1];
}
catch (Exception e)
{
fault = Fault.FromException(e);
LogError(null, "Error parsing form data", fault);
}
if (fault != null)
{
post.ResponsePort.Post(fault);
yield break;
}
UpdateFormat update = new UpdateFormat();
update.Body = format;
SpawnIterator(update, UpdateFormatHandler);
yield return(Arbiter.Choice(
update.ResponsePort,
delegate(DefaultUpdateResponseType success)
{
SaveState(_state);
},
delegate(Fault f)
{
fault = f;
LogError(null, "Unable to change format", fault);
}
));
}
if (fault != null)
{
post.ResponsePort.Post(fault);
yield break;
}
post.ResponsePort.Post(new HttpResponseType(HttpStatusCode.OK, _state, _transform));
yield break;
}
public IEnumerator <ITask> OnHttpPost(HttpPost httpPost)
{
HttpListenerContext context = httpPost.Body.Context;
NameValueCollection parameters = null;
Fault fault = null;
try
{
ReadFormData readForm = new ReadFormData(httpPost);
_utilitiesPort.Post(readForm);
yield return(Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection success)
{
parameters = success;
},
delegate(Exception e)
{
LogError("Error reading form data", e);
fault = Fault.FromException(e);
}
));
if (fault != null)
{
yield break;
}
string name = string.Empty;
string deleteName = null;
string expandName = null;
int left = 0;
int top = 0;
int width = 0;
int height = 0;
int deleteY = 0;
int deleteCb = 0;
int deleteCr = 0;
double threshold = 1.0;
int minBlobSize = 0;
bool showPartial = false;
bool despeckle = false;
bool updateSettings = false;
bool save = false;
foreach (string key in parameters.Keys)
{
if (key.StartsWith("Delete."))
{
string[] segments = key.Split('.');
deleteName = segments[1];
deleteY = int.Parse(segments[2]);
deleteCb = int.Parse(segments[3]);
deleteCr = int.Parse(segments[4]);
}
else if (key.StartsWith("ExpandY."))
{
string[] segments = key.Split('.');
expandName = segments[1];
deleteY = int.Parse(segments[2]);
deleteCb = int.Parse(segments[3]);
deleteCr = int.Parse(segments[4]);
}
else
{
switch (key)
{
case "Save":
save = true;
break;
case "Threshold":
threshold = double.Parse(parameters[key]);
break;
case "ShowPartial":
showPartial = parameters[key] == "on";
break;
case "Despeckle":
despeckle = parameters[key] == "on";
break;
case "UpdateSettings":
updateSettings = true;
break;
case "MinBlobSize":
minBlobSize = int.Parse(parameters[key]);
break;
case "New.Left":
left = int.Parse(parameters[key]);
break;
case "New.Top":
top = int.Parse(parameters[key]);
break;
case "New.Width":
width = int.Parse(parameters[key]);
break;
case "New.Height":
height = int.Parse(parameters[key]);
break;
case "New.Name":
name = parameters[key].Trim();
break;
default:
break;
}
}
}
if (save)
{
yield return(Arbiter.Choice(
SaveState(_state.SmallCopy),
EmptyHandler,
EmptyHandler
));
}
else if (!string.IsNullOrEmpty(deleteName))
{
ColorDefinition definition = new ColorDefinition(deleteName, deleteY, deleteCb, deleteCr);
RemoveColorDefinition remove = new RemoveColorDefinition(definition);
OnRemoveColorDefinition(remove);
}
else if (!string.IsNullOrEmpty(expandName))
{
ColorDefinition definition = new ColorDefinition(expandName, deleteY, deleteCb, deleteCr);
ColorSet set = _state.Colors.Find(definition.Compare);
if (set != null)
{
ColorDefinition existing = set.Colors.Find(definition.CompareColor);
definition.SigmaCb = existing.SigmaCb;
definition.SigmaCr = existing.SigmaCr;
if (existing.SigmaY < 1)
{
definition.SigmaY = 2;
}
else
{
definition.SigmaY = 3 * existing.SigmaY / 2;
}
}
UpdateColorDefinition update = new UpdateColorDefinition(definition);
OnUpdateColorDefinition(update);
}
else if (updateSettings)
{
UpdateSettings update = new UpdateSettings(
new Settings(
threshold,
showPartial,
despeckle,
minBlobSize
)
);
OnUpdateSettings(update);
}
else
{
webcam.QueryFrameResponse response = null;
yield return(Arbiter.Choice(
_webcamPort.QueryFrame(),
delegate(webcam.QueryFrameResponse success)
{
response = success;
},
delegate(Fault failure)
{
LogError("Unable to query frame for update", failure);
}
));
if (response == null)
{
yield break;
}
int right = left + width;
int bottom = top + height;
byte[] data = response.Frame;
int stride = data.Length / response.Size.Height;
int rowOffset = left * 3;
int offset;
int r, g, b;
int[] yProjection = new int[256];
int[] cbProjection = new int[256];
int[] crProjection = new int[256];
int count = 0;
double yMean = 0;
double cbMean = 0;
double crMean = 0;
for (int y = top; y < bottom; y++)
{
offset = rowOffset + y * stride;
for (int x = left; x < right; x++)
{
b = data[offset++];
g = data[offset++];
r = data[offset++];
ColorDefinition pixel = new ColorDefinition(r, g, b, "pixel");
yProjection[pixel.Y]++;
cbProjection[pixel.Cb]++;
crProjection[pixel.Cr]++;
count++;
yMean += pixel.Y;
cbMean += pixel.Cb;
crMean += pixel.Cr;
}
}
if (count <= 16)
{
LogError("The area was too small to generalize a color");
yield break;
}
yMean /= count;
cbMean /= count;
crMean /= count;
double ySigma = CalculateStdDev(yMean, yProjection, count);
double cbSigma = CalculateStdDev(cbMean, cbProjection, count);
double crSigma = CalculateStdDev(crMean, crProjection, count);
ColorDefinition definition = new ColorDefinition(
name,
(int)Math.Round(yMean),
(int)Math.Round(cbMean),
(int)Math.Round(crMean)
);
definition.SigmaY = (int)Math.Max(1, Math.Round(2 * ySigma));
definition.SigmaCb = (int)Math.Max(1, Math.Round(2 * cbSigma));
definition.SigmaCr = (int)Math.Max(1, Math.Round(2 * crSigma));
if (!string.IsNullOrEmpty(expandName))
{
definition.Name = expandName;
UpdateColorDefinition update = new UpdateColorDefinition(definition);
OnUpdateColorDefinition(update);
}
else
{
AddColorDefinition add = new AddColorDefinition(definition);
OnAddColorDefinition(add);
}
}
}
finally
{
httpPost.ResponsePort.Post(new HttpResponseType(HttpStatusCode.OK, _state.SmallCopy, _transform));
}
}
public IEnumerator <ITask> OnHttpPost(HttpPost post)
{
Fault fault = null;
NameValueCollection parameters = null;
ReadFormData readForm = new ReadFormData(post);
_utilities.Post(readForm);
yield return(Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection success)
{
parameters = success;
},
delegate(Exception e)
{
fault = Fault.FromException(e);
}
));
string operation = parameters["Operation"];
if (operation == "UpdateControl")
{
UpdateControl message = new UpdateControl();
FlexControl update = message.Body;
update.Id = parameters["ID"];
update.Value = parameters["Value"];
update.Text = parameters["Text"];
FlexControl control = _state.Controls.Find(update.CompareId);
if (control == null)
{
post.ResponsePort.Post(Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.UnknownEntry,
"Cannot find control with ID: " + update.Id
));
yield break;
}
update.ControlType = control.ControlType;
yield return(Arbiter.ExecuteToCompletion(
TaskQueue,
new IterativeTask <UpdateControl>(message, OnUpdateControl)
));
post.ResponsePort.Post(new HttpResponseType(DefaultUpdateResponseType.Instance));
}
else if (operation == "ButtonPress")
{
ButtonPress message = new ButtonPress();
ButtonPressRequest request = message.Body;
request.Id = parameters["ID"];
request.Pressed = bool.Parse(parameters["Pressed"]);
OnButtonPress(message);
post.ResponsePort.Post(new HttpResponseType(DefaultUpdateResponseType.Instance));
}
else
{
fault = Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.MessageNotSupported,
"Unknown operation: " + operation
);
}
if (fault != null)
{
post.ResponsePort.Post(fault);
yield break;
}
}
/// <summary>
/// Http Post Handler. Handles http form inputs
/// </summary>
//[ServiceHandler(ServiceHandlerBehavior.Concurrent)]
public IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Read form data
NameValueCollection parameters = null;
yield return Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection p) { parameters = p; },
delegate(Exception e) { throw new Exception("Error reading form data", e); });
// Act on form data
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.PostUnknownType(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;
//HttpPostSuccess(httpPost);
}
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
LogInfo("connecting to scribbler...");
Reconnect rec = new Reconnect();
_mainPort.PostUnknownType(rec);
yield return Arbiter.Choice(rec.ResponsePort,
delegate(DefaultUpdateResponseType r)
{
LogInfo("connected, sending http reply");
HttpPostSuccess(httpPost);
LogInfo("http reply sent");
},
delegate(Fault f)
{
httpPost.ResponsePort.Post(f);
});
}
}
else if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "ScribblerSensors")
{
if (parameters["buttonOk"] == "Poll" && _state.Connected)
{
ScribblerCommand cmd = new ScribblerCommand(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.PostUnknownType(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.PostUnknownType(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.PostUnknownType(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.PostUnknownType(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");
}
yield break;
}
