/// <summary>
/// SpeechRecognizerState HTTP query handler
/// </summary>
/// <param name="query"></param>
/// <returns></returns>
private IEnumerator <ITask> SpeechRecognizerStateHttpQueryHandler(HttpQuery query)
{
// Send SpeechRecognizerStateQuery message to own service
SpeechRecognizerStateQuery srStateQuery = new SpeechRecognizerStateQuery();
_mainPort.Post(srStateQuery);
DsspResponsePort <sr.SpeechRecognizerState> srStateResponse = srStateQuery.ResponsePort;
yield return((Choice)srStateResponse);
Fault srStateFault = (Fault)srStateResponse;
if (srStateFault != null)
{
LogError(srStateFault);
query.ResponsePort.Post(new HttpResponseType(
HttpStatusCode.InternalServerError,
srStateFault
));
yield break;
}
// Return SpeechRecognizerStateQuery result
query.ResponsePort.Post(new HttpResponseType(
HttpStatusCode.OK,
(sr.SpeechRecognizerState)srStateResponse
));
yield break;
}
private DsspResponsePort <vector.CallbackResponseType> setLoud()
{
var responsePort = new DsspResponsePort <vector.CallbackResponseType>();
Activate(Arbiter.Choice(_scribblerPort.SetLoud(_state.GetBool(3)),
delegate(DefaultUpdateResponseType success) { responsePort.Post(vector.CallbackResponseType.Instance); },
delegate(Fault failure) { responsePort.Post(failure); }));
return(responsePort);
}
/// <summary>
/// Creates an instance of the service associated with this contract
/// </summary>
/// <param name="contructorServicePort">Contractor Service that will create the instance</param>
/// <param name="partners">Optional list of service partners for new service instance</param>
/// <returns>Result PortSet for retrieving service creation response</returns>
public static DsspResponsePort<CreateResponse> CreateService(constructor.ConstructorPort contructorServicePort, params PartnerType[] partners)
{
DsspResponsePort<CreateResponse> result = new DsspResponsePort<CreateResponse>();
ServiceInfoType si = new ServiceInfoType(Contract.Identifier, null);
if (partners != null)
{
si.PartnerList = new List<PartnerType>(partners);
}
Microsoft.Dss.Services.Constructor.Create create =
new Microsoft.Dss.Services.Constructor.Create(si, result);
contructorServicePort.Post(create);
return result;
}
/// <summary>
/// Events HTTP query handler
/// </summary>
/// <param name="query"></param>
/// <param name="parameters"></param>
/// <returns></returns>
private IEnumerator <ITask> EventsHttpQueryHandler(HttpQuery query, NameValueCollection parameters)
{
// Parse timestamp (TryParse sets the timestamp to zero if parsing fails)
long timestamp;
long.TryParse(parameters["timestamp"], out timestamp);
// Send EventsQuery message to own service
EventsQueryRequestType eventsQueryRequest = new EventsQueryRequestType();
eventsQueryRequest.NewerThanTimestamp = timestamp;
EventsQuery eventsQuery = new EventsQuery();
eventsQuery.Body = eventsQueryRequest;
_mainPort.Post(eventsQuery);
DsspResponsePort <EventsQueryResponse> eventsResponse = eventsQuery.ResponsePort;
yield return((Choice)eventsResponse);
Fault eventsFault = (Fault)eventsResponse;
if (eventsFault != null)
{
LogError(eventsFault);
query.ResponsePort.Post(new HttpResponseType(
HttpStatusCode.InternalServerError,
eventsFault
));
yield break;
}
// Return EventsQuery result
query.ResponsePort.Post(new HttpResponseType(
HttpStatusCode.OK,
(EventsQueryResponse)eventsResponse
));
yield break;
}
private DsspResponsePort <vector.CallbackResponseType> playTone()
{
var responsePort = new DsspResponsePort <vector.CallbackResponseType>();
brick.PlayToneBody play = new brick.PlayToneBody()
{
Frequency1 = (int)Math.Round(_state.Values[0]),
Frequency2 = (int)Math.Round(_state.Values[1]),
Duration = (int)Math.Round(_state.Values[2])
};
if (play.Frequency1 < 0 || play.Frequency2 < 0 || play.Duration < 0)
{
responsePort.Post(RSUtils.FaultOfException(new ArgumentOutOfRangeException()));
}
else
{
Activate(Arbiter.Choice(_scribblerPort.PlayTone(play),
delegate(DefaultUpdateResponseType success) { responsePort.Post(vector.CallbackResponseType.Instance); },
delegate(Fault failure) { responsePort.Post(failure); }));
}
return(responsePort);
}
public Subscribe(SubscribeRequestType body, DsspResponsePort <SubscribeResponseType> responsePort)
: base(body, responsePort)
{
}
public SetAllElements(SetAllRequestType body, DsspResponsePort <DefaultUpdateResponseType> responsePort) : base(body, responsePort)
{
}
public SetByKey(SetByKeyRequestType body, DsspResponsePort <DefaultUpdateResponseType> responsePort) : base(body, responsePort)
{
}
public GetAllElements(GetAllElementsRequestType body, DsspResponsePort <GetAllElementsResponseType> responsePort) : base(body, responsePort)
{
}
public GetByKey(GetByKeyRequestType body, DsspResponsePort <GetElementResponseType> responsePort) : base(body, responsePort)
{
}
public SetLoud(SetLoudBody body, DsspResponsePort <DefaultUpdateResponseType> respPort) : base(body, respPort)
{
}
private DsspResponsePort<vector.CallbackResponseType> setLoud()
{
var responsePort = new DsspResponsePort<vector.CallbackResponseType>();
Activate(Arbiter.Choice(_scribblerPort.SetLoud(_state.GetBool(3)),
delegate(DefaultUpdateResponseType success) { responsePort.Post(vector.CallbackResponseType.Instance); },
delegate(Fault failure) { responsePort.Post(failure); }));
return responsePort;
}
private DsspResponsePort<vector.CallbackResponseType> playTone()
{
var responsePort = new DsspResponsePort<vector.CallbackResponseType>();
brick.PlayToneBody play = new brick.PlayToneBody()
{
Frequency1 = (int)Math.Round(_state.Values[0]),
Frequency2 = (int)Math.Round(_state.Values[1]),
Duration = _state.Values[2]
};
if (play.Frequency1 < 0 || play.Frequency2 < 0 || play.Duration < 0)
responsePort.Post(RSUtils.FaultOfException(new ArgumentOutOfRangeException()));
else
Activate(Arbiter.Choice(_scribblerPort.PlayTone(play),
delegate(DefaultUpdateResponseType success) { responsePort.Post(vector.CallbackResponseType.Instance); },
delegate(Fault failure) { responsePort.Post(failure); }));
return responsePort;
}
/// <summary>
/// SpeechRecognizerGui Get Operation
/// </summary>
public Get(GetRequestType body, DsspResponsePort <SpeechRecognizerGuiState> responsePort) :
base(body, responsePort)
{
}
IEnumerator <ITask> AddArticulatedArm()
{
Vector3 position = new Vector3(0, 0, 0);
// Create an instance of our custom arm entity.
// Source code for this entity can be found under
// Samples\Simulation\Entities\Entities.cs
KukaLBR3Entity entity = new KukaLBR3Entity(position);
// Name the entity
entity.State.Name = "LBR3Arm";
// Insert entity in simulation.
SimulationEngine.GlobalInstancePort.Insert(entity);
// create simulated arm service
DsspResponsePort <CreateResponse> resultPort = CreateService(
Microsoft.Robotics.Services.Simulation.LBR3Arm.Proxy.Contract.Identifier,
Microsoft.Robotics.Simulation.Partners.CreateEntityPartner("http://localhost/" + entity.State.Name));
// asynchronously handle service creation result.
yield return(Arbiter.Choice(resultPort,
delegate(CreateResponse rsp)
{
_armServicePort = ServiceForwarder <arm.ArticulatedArmOperations>(rsp.Service);
},
delegate(Fault fault)
{
LogError(fault);
}));
if (_armServicePort == null)
{
yield break;
}
// we re-issue the get until we get a response with a fully initialized state
do
{
yield return(Arbiter.Receive(false, TimeoutPort(1000), delegate(DateTime signal) { }));
yield return(Arbiter.Choice(
_armServicePort.Get(new GetRequestType()),
delegate(arm.ArticulatedArmState state)
{
_cachedArmState = state;
},
delegate(Fault f)
{
LogError(f);
}));
// exit on error
if (_cachedArmState == null)
{
yield break;
}
} while (_cachedArmState.Joints == null);
// Start a timer that will move the arm in a loop
// Comment out the line below if you want to control
// the arm through SimpleDashboard
// Spawn<DateTime>(DateTime.Now, MoveArm);
}
public Replace(VectorState body, DsspResponsePort <DefaultReplaceResponseType> responsePort)
: base(body, responsePort)
{
}
public SetAll(SetAllRequestType body, DsspResponsePort <DefaultReplaceResponseType> responsePort)
: base(body, responsePort)
{
}
/// <summary>
/// Creates an instance of the LEGO NXT Communications service.
/// </summary>
/// <returns>Result PortSet for retrieving service creation response</returns>
private DsspResponsePort<CreateResponse> CreateNxtCommunicationService()
{
DsspResponsePort<CreateResponse> createResponsePort = new DsspResponsePort<CreateResponse>();
ServiceInfoType si = new ServiceInfoType(comm.Contract.Identifier, null);
Microsoft.Dss.Services.Constructor.Create create =
new Microsoft.Dss.Services.Constructor.Create(si, createResponsePort);
base.ConstructorPort.Post(create);
return createResponsePort;
}
