/// <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);
}
// 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();
// 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();
}
//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)
{
_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;
//_state.LightLeftConfig = new SensorConfig();
//_state.LightRightConfig = new SensorConfig();
//_state.LightCenterConfig = new SensorConfig();
SaveState(_state);
}
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// 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));
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator<SetMotor>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIterator<SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIterator<PlayTone>(true, _mainPort, PlayToneHandler),
//Arbiter.ReceiveWithIterator<ConfigureSensor>(true, _mainPort, ConfigureSensorHandler),
Arbiter.ReceiveWithIterator<SetName>(true, _mainPort, SetNameHandler)
),
new ConcurrentReceiverGroup()
));
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 sendcmd = new PlayTone();
sendcmd.Body = startTone;
_mainPort.Post(sendcmd);
}
}
/// <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;
//_state.LightLeftConfig = new SensorConfig();
//_state.LightRightConfig = new SensorConfig();
//_state.LightCenterConfig = new SensorConfig();
SaveState(_state);
}
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// 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));
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <SetMotor>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIterator <SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIterator <PlayTone>(true, _mainPort, PlayToneHandler),
//Arbiter.ReceiveWithIterator<ConfigureSensor>(true, _mainPort, ConfigureSensorHandler),
Arbiter.ReceiveWithIterator <SetName>(true, _mainPort, SetNameHandler)
),
new ConcurrentReceiverGroup()
));
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 sendcmd = new PlayTone();
sendcmd.Body = startTone;
_mainPort.Post(sendcmd);
}
}
public virtual IEnumerator<ITask> ReplaceHandler(Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
