public GuideDriver()
{
driver = new UpDriver(DRIVER_ID);
driver.AddService("Animate").AddParameter("animation", UpService.ParameterType.MANDATORY);
driver.AddService("Pause");
driver.AddService("Resume");
driver.AddService("Reset");
}
public FeedbackDriver()
{
driver = new UpDriver(DRIVER_ID);
driver.AddService("RotateEuler").AddParameter("member", UpService.ParameterType.MANDATORY)
.AddParameter("rotation", UpService.ParameterType.MANDATORY);
driver.AddService("RotateQuaternion").AddParameter("member", UpService.ParameterType.MANDATORY)
.AddParameter("rotation", UpService.ParameterType.MANDATORY);
}
public TreeNode(UpDriver driver)
{
if (driver == null)
throw new System.ArgumentNullException("Driver cannot be null.");
this.driver = driver;
this.parent = new List<TreeNode>();
this.children = new List<TreeNode>();
}
public static UpDriver FromJSON(object obj)
{
IDictionary<string, object> json = obj as IDictionary<string, object>;
UpDriver d = new UpDriver(Util.JsonOptString(json, "name"));
d.services = ServicesFromJSON(json, "services");
d.events = ServicesFromJSON(json, "events");
d.equivalentDrivers = StringsFromJSON(json, "equivalent_drivers");
return d;
}
public DeviceDriver()
{
driver = new UpDriver("uos.DeviceDriver");
driver.AddService("listDrivers")
.AddParameter(DRIVER_NAME_KEY, UpService.ParameterType.OPTIONAL);
//driver.AddService("authenticate")
// .AddParameter(SECURITY_TYPE_KEY, UpService.ParameterType.MANDATORY);
driver.AddService("goodbye");
driver.AddService("handshake")
.AddParameter(DEVICE_KEY, UpService.ParameterType.MANDATORY);
driver.AddService("tellEquivalentDriver")
.AddParameter(DRIVER_NAME_KEY, UpService.ParameterType.MANDATORY);
}
private void AddToEquivalanceList(IList<object> jsonList, UpDriver upDriver)
{
IList<string> equivalentDrivers = upDriver.equivalentDrivers;
if (equivalentDrivers != null)
{
foreach (string equivalentDriver in equivalentDrivers)
{
UpDriver driver = gateway.driverManager.GetDriverFromEquivalanceTree(equivalentDriver);
if (driver != null)
AddToEquivalanceList(jsonList, driver);
}
}
jsonList.Add(upDriver.ToJSON());
}
/// <summary>
/// Adds the driver to the driverHash and to the equivalence tree.
/// </summary>
/// <param name="driver">Object representing the interface of the Driver to be added</param>
public void AddToEquivalenceTree(UpDriver driver)
{
TreeNode node = new TreeNode(driver);
List<string> equivalentDrivers = driver.equivalentDrivers;
HashSet<string> driversNotFound = new HashSet<string>();
if (equivalentDrivers != null)
{
foreach (string equivalentDriver in equivalentDrivers)
{
TreeNode parent = null;
if (!driverHash.TryGetValue(equivalentDriver, out parent))
driversNotFound.Add(equivalentDriver);
else
{
ValidateInterfaces(parent.driver.services, node.driver.services);
ValidateInterfaces(parent.driver.events, node.driver.events);
parent.AddChild(node);
}
}
}
else
tree.Add(node);
if (driversNotFound.Count > 0)
throw new DriverNotFoundException("Equivalent drivers not found.", driversNotFound);
driverHash[driver.name] = node;
}
