/// <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) { }
)
);
}
public VectorAdapter(ServiceInfoType serviceRecord)
{
ServiceInfo = serviceRecord;
opPort = DssEnvironment.ServiceForwarder <vector.VectorOperations>(new Uri(serviceRecord.Service));
//if (opPort == null)
// throw new AdapterCreationException("Service forwarder port was null");
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
drivePort.Subscribe(driveNotificationPort);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service to know when the motors are enabled
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
RSUtils.ReceiveSync(taskQueue, drivePort.Subscribe(driveNotificationPort), Params.DefaultRecieveTimeout);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
protected void updateAdapters()
{
var dirPort = DssEnvironment.ServiceForwarder <dirProxy.DirectoryPort>(new Uri("http://localhost:50000/directory"));
//Console.WriteLine("Querying directory");
//dirProxy.QueryRequest request = new dirProxy.QueryRequest();
//request.QueryRecord = new ServiceInfoType();
Arbiter.ExecuteToCompletion(DssEnvironment.TaskQueue,
Arbiter.Choice <dirProxy.GetResponse, Fault>(
dirPort.Get(),
delegate(dirProxy.GetResponse success)
{
// See if each service matches a known one from the config file, if so, make an adapter
//Console.WriteLine("Checking " + success.RecordList.Length + " services");
foreach (var rec in success.RecordList)
{
//Uri foundUri = new Uri(rec.Service);
AdapterSpec adapterSpec = null;
//Console.WriteLine("Checking " + rec.Service);
foreach (var adapter in adapterNames.Values)
{
//Console.WriteLine("Comparing " + rec.Service + " to " + adapter.ServiceInfo.Service);
//Uri testUri = new Uri(adapter.ServiceInfo.Service);
//if (Uri.Compare(foundUri, testUri, UriComponents.Path, UriFormat.UriEscaped, StringComparison.InvariantCultureIgnoreCase) == 0)
if (rec.Service.EndsWith(adapter.ServiceConfig.Service))
{
//Console.WriteLine("* Assigned * " + rec.Service + " to " + adapter.ServiceInfo.Service);
if (adapterSpec == null)
{
adapterSpec = adapter;
}
else
{
Console.WriteLine("WARNING: duplicate service: " + rec.Service + " (already had one for " + adapter.ServiceConfig.Service + ")");
}
}
}
if (adapterSpec != null)
{
AdapterFactory.CreateAdapterIfNeeded(adapterSpec, rec);
}
}
},
delegate(Fault fault)
{
Console.WriteLine("AdapterBank: Fault querying directory: " + fault.Reason);
}));
}
/// <summary>
/// This is a helper mehtod that connects the Scribbler on the specified
/// COM port. It waits for the connection to complete, and re-throws any
/// exceptions generated by the Scribbler service.
/// </summary>
/// <param name="comPort"></param>
private static void connectWaitForScribbler(string comPort)
{
ManualResetEvent evt = new ManualResetEvent(false);
waitForService(new ServiceInfoType(scribbler.Contract.Identifier),
delegate(ServiceInfoType info) { brickService = info; evt.Set(); });
evt.WaitOne(Params.DefaultRecieveTimeout, false);
if (brickService == null)
{
throw new MyroInitException("Could not find Scribbler service");
}
var scribPort = DssEnvironment.ServiceForwarder <scribbler.ScribblerOperations>(new Uri(brickService.Service));
DispatcherQueue queue = new DispatcherQueue("init", new Dispatcher());
try
{
if (comPort != null)
{
int comNumber;
if (comPort.ToLower().StartsWith("com"))
{
comNumber = Int32.Parse(comPort.Substring(3));
}
else
{
throw new MyroInitException("COM port string must be of the format com2, com5, etc.");
}
RSUtils.ReceiveSync(queue, scribPort.Replace(new scribbler.ScribblerState()
{
ComPort = comNumber
}), Params.DefaultRecieveTimeout);
}
DssEnvironment.LogInfo("calling reconnect...");
RSUtils.ReceiveSync(queue, scribPort.Reconnect(), Params.DefaultRecieveTimeout);
DssEnvironment.LogInfo("reconnect returned");
}
catch (Exception)
{
throw;
}
finally
{
queue.Dispose();
}
}
void ConnectToScribbler(DateTime dt)
{
Uri driveUri = null;
// Look for any active generic drive contract service running
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice(DssEnvironment.DirectoryQuery(drive.Contract.Identifier),
delegate(ServiceInfoType success)
{
driveUri = new Uri(success.Service);
Console.WriteLine("================\n" + driveUri);
// Initialize the port and subscribe to the service
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(driveUri);
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
drivePort.Subscribe(driveNotificationPort);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate)
);
autolock.Set();
},
delegate(W3C.Soap.Fault failure)
{
// Request failed. Sleep for 1 sec and look for 30 times.
if (++attemptCount >= 30)
{
DssEnvironment.LogError("Unable to find Drive Service, aborting - Press <Enter>");
Console.ReadLine();
DssEnvironment.Shutdown();
}
else
{
// Post a timer message that expires in 30 seconds
TimeSpan timeout = new TimeSpan(0, 0, 30);
DssEnvironment.TaskQueue.EnqueueTimer(timeout, _timerPort);
}
}
));
}
protected void subscribeDirectory()
{
var dirPort = DssEnvironment.ServiceForwarder <dirProxy.DirectoryPort>(new Uri("http://localhost:50000/directory"));
var resPort = new dirProxy.DirectoryPort();
Arbiter.ExecuteToCompletion(DssEnvironment.TaskQueue,
Arbiter.Choice <SubscribeResponseType, Fault>(
dirPort.Subscribe(resPort, null),
delegate(SubscribeResponseType success)
{
Console.WriteLine("AdapterBank subscribed to directory service");
},
delegate(Fault failure)
{
throw new Exception("Could not subscribe to directory service: " + failure.Reason);
}));
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <dirProxy.Insert>(true, resPort, directoryInsertHandler));
}
public WebcamAdapter(ServiceInfoType serviceInfo)
{
ServiceInfo = serviceInfo;
opPort = DssEnvironment.ServiceForwarder <webcam.WebCamOperations>(new Uri(serviceInfo.Service));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
ttsPort = DssEnvironment.ServiceForwarder <tts.SpeechTextOperations>(new Uri(serviceUri));
}
protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <contact.ContactSensorArrayOperations>(new Uri(serviceUri));
}
protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <analogArray.AnalogSensorOperations>(new Uri(serviceUri));
Console.WriteLine("Analog sensor array adapter: " + serviceUri);
}
/// <summary>
/// Helper method that waits for a service to start and runs a handler when it does.
/// This subscribes to and queries the DSS directory.
/// </summary>
/// <param name="serviceInfo"></param>
/// <param name="handler"></param>
private static void waitForService(ServiceInfoType serviceInfo, Handler <ServiceInfoType> handler)
{
var dirPort = DssEnvironment.ServiceForwarder <directory.DirectoryPort>(new Uri("dssp.tcp://localhost/directory"));
var notPort = new directory.DirectoryPort();
// Keep this flag to only run the handler once
bool ranHandler = false;
Object lockObj = new Object();
// Subscribe first, then query, to make sure we don't miss the service registering itself
DssEnvironment.LogInfo("Subscribing to directory");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Choice(
dirPort.Subscribe(
new directory.SubscribeRequest()
{
QueryRecordList = new List <ServiceInfoType>()
{
serviceInfo
},
NotificationCount = 1
},
notPort,
typeof(directory.Insert)),
delegate(SubscribeResponseType r)
{
DssEnvironment.LogInfo("Subscribed to directory!");
// Run handler if the service starts and we get the subscription notification
DssEnvironment.LogInfo("Activating subscription receive");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Receive <directory.Insert>(false, notPort,
delegate(directory.Insert ins)
{
DssEnvironment.LogInfo("Got subscription notification!");
lock (lockObj)
{
if (ranHandler == false)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(ins.Body.Record); })).Start();
ranHandler = true;
}
}
}));
},
delegate(Fault f)
{
lock (lockObj)
{
if (ranHandler == false)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(null); })).Start();
ranHandler = true;
}
}
DssEnvironment.LogError("Fault received while subscribing to directory: " + Strings.FromFault(f));
}));
// Query directory, run handler if the service is already started
DssEnvironment.LogInfo("Querying directory");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Choice(
dirPort.Query(new directory.QueryRequest()
{
QueryRecord = serviceInfo
}),
delegate(directory.QueryResponse r)
{
DssEnvironment.LogInfo("Queried directory!");
lock (lockObj)
{
if (ranHandler == false && r.RecordList.Length > 0)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(r.RecordList[0]); })).Start();
ranHandler = true;
}
}
},
delegate(Fault f)
{
//lock (lockObj)
//{
// if (ranHandler == false)
// {
// new Thread(new ThreadStart(delegate() { handler.Invoke(null); })).Start();
// ranHandler = true;
// }
//}
DssEnvironment.LogError("Fault received while querying directory: " + Strings.FromFault(f));
}));
}
protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <analogArray.AnalogSensorOperations>(new Uri(serviceUri));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
tonePort = DssEnvironment.ServiceForwarder <tonegen.ToneGeneratorOperations>(new Uri(serviceUri));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
ledPort = DssEnvironment.ServiceForwarder <ledarray.LedarrayOperations>(new Uri(serviceUri));
}
/// <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;
}
protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <sonar.SonarOperations>(new Uri(serviceUri));
}
/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
/// <param name="serviceRecord"></param>
public FlukeControlAdapter(ServiceInfoType service)
{
this.ServiceInfo = service;
opPort = DssEnvironment.ServiceForwarder <fluke.CamControlOperations>(new Uri(service.Service));
}