IEnumerator <ITask> OnConnectHandler(OnConnect onConnect)
{
if (onConnect.DriveControl == _driveControl)
{
UriBuilder builder = new UriBuilder(onConnect.Service);
builder.Scheme = new Uri(ServiceInfo.Service).Scheme;
ds.DirectoryPort port = ServiceForwarder <ds.DirectoryPort>(builder.Uri);
ds.Get get = new ds.Get();
port.Post(get);
ServiceInfoType[] list = null;
yield return(Arbiter.Choice(get.ResponsePort,
delegate(ds.GetResponseType response)
{
list = response.RecordList;
},
delegate(Fault fault)
{
list = new ServiceInfoType[0];
LogError(fault);
}
));
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.ReplaceDirectoryList(list);
}
);
}
}
/// <summary>
/// Overrides RobotBrain Bind function to implement addition LEDAdapter functions.
/// </summary>
protected override void Bind()
{
base.Bind();
//Bind to scribbler specific sensors
//Specialized LED array
directory.Query dquery = new directory.Query(new directory.QueryRequestType(
new Microsoft.Dss.ServiceModel.Dssp.ServiceInfoType("http://www.roboteducation.org/scribblerledarray.html")));
//Uri direcURI = DssEnvironment.FindService(directory.Contract.Identifier);
//TODO: remove the line below once the above line works
Uri direcURI = new Uri("http://localhost:" + httpPort + "/directory");
directory.DirectoryPort dport = DssEnvironment.ServiceForwarder <directory.DirectoryPort>(direcURI);
dport.Post(dquery);
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice(dquery.ResponsePort,
delegate(directory.QueryResponseType success)
{
sledadapter = new ScribblerLEDArrayAdapter(success.RecordList[0].Service);
},
delegate(Fault fault) { }
)
);
}
/// <summary>
/// Searches service directory for a service with the specified contract. On success binds it to an Adapter object and inserts it in the
/// adapters lookup dictionary.
/// </summary>
/// <param name="contract">The contract of the service</param>
/// <returns>Nothing</returns>
protected virtual IEnumerator <ITask> DirectorySearch(string contract)
{
directory.Query dquery = new directory.Query(new directory.QueryRequestType(
new Microsoft.Dss.ServiceModel.Dssp.ServiceInfoType(contract)));
//Uri direcURI = DssEnvironment.FindService(directory.Contract.Identifier);
//TODO: remove the line below once the above line works
Uri direcURI = new Uri("http://localhost:" + httpPort + "/directory");
directory.DirectoryPort dport = DssEnvironment.ServiceForwarder <directory.DirectoryPort>(direcURI);
dport.Post(dquery);
yield return(Arbiter.Choice(
dquery.ResponsePort,
delegate(directory.QueryResponseType success)
{
switch (contract)
{
case drive.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new DriveAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.DriveAdapter, list);
break;
}
case analog.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new AnalogSensorAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.AnalogSensorAdapter, list);
break;
}
case contact.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new ContactSensorArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.ContactSensorArrayAdapter, list);
break;
}
case analogArray.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new AnalogSensorArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.AnalogSensorArrayAdapter, list);
break;
}
case tonegen.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new ToneGeneratorAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.ToneGeneratorAdapter, list);
break;
}
case ledarray.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new LEDArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.LEDArrayAdapter, list);
break;
}
case sonar.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new SonarAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.SonarAdapter, list);
break;
}
}
},
delegate(Fault fault) { }
));
yield break;
}
private IEnumerator <ITask> OnStartup()
{
#region CODECLIP 02-3
PartnerType remote = FindPartner("Remote");
ds.DirectoryPort remoteDir = DirectoryPort;
if (remote != null && !string.IsNullOrEmpty(remote.Service))
{
remoteDir = ServiceForwarder <ds.DirectoryPort>(remote.Service);
}
#endregion
#region CODECLIP 02-4
cs.ConstructorPort remoteConstructor = ConstructorPort;
ds.Query query = new ds.Query(
new ds.QueryRequestType(
new ServiceInfoType(cs.Contract.Identifier)
)
);
remoteDir.Post(query);
yield return((Choice)query.ResponsePort);
ds.QueryResponseType queryRsp = query.ResponsePort;
if (queryRsp != null)
{
remoteConstructor = ServiceForwarder <cs.ConstructorPort>(queryRsp.RecordList[0].Service);
}
#endregion
#region CODECLIP 02-5
string clockService = null;
cs.Create create = new cs.Create(new ServiceInfoType(rst4.Contract.Identifier));
remoteConstructor.Post(create);
yield return((Choice)create.ResponsePort);
CreateResponse createRsp = create.ResponsePort;
if (createRsp != null)
{
clockService = createRsp.Service;
}
else
{
LogError((Fault)create.ResponsePort);
yield break;
}
_clockPort = ServiceForwarder <rst4.ServiceTutorial4Operations>(clockService);
#endregion
rst4.Get get;
yield return(_clockPort.Get(GetRequestType.Instance, out get));
rst4.ServiceTutorial4State state = get.ResponsePort;
if (state != null)
{
ServiceTutorial7State initState = new ServiceTutorial7State();
PartnerType partner = FindPartner("Local");
if (partner != null)
{
initState.Clocks.Add(partner.Service);
}
initState.Clocks.Add(clockService);
Replace replace = new Replace();
replace.Body = initState;
_mainPort.Post(replace);
}
else
{
LogError("Unable to Get state from ServiceTutorial4", (Fault)get.ResponsePort);
yield break;
}
rst4.Subscribe subscribe;
yield return(_clockPort.Subscribe(_clockNotify, out subscribe));
if ((Fault)subscribe.ResponsePort != null)
{
LogError("Unable to subscribe to remote ServiceTutorial4", (Fault)subscribe.ResponsePort);
}
yield return(_localClockPort.Subscribe(_localClockNotify, out subscribe));
if ((Fault)subscribe.ResponsePort != null)
{
LogError("Unable to subscribe to local ServiceTutorial4", (Fault)subscribe.ResponsePort);
}
}
