void ShutdownInternalService()
{
if (_queue != null)
{
if (_streamPort != null)
{
_streamPort.Post(new Shutdown());
_streamPort = null;
}
ResourceManagerPort.Post(new FreeExecutionResource(_queue));
_queue = null;
}
}
void DropHandler(DsspDefaultDrop drop)
{
try
{
if (_link != null)
{
// release dispatcher queue resource
ResourceManagerPort.Post(new FreeExecutionResource(_link.TaskQueue));
_link.Close();
_link = null;
}
}
finally
{
base.DefaultDropHandler(drop);
}
}
Choice InitializeInternalService()
{
AllocateExecutionResource allocExecRes = new AllocateExecutionResource(0, "Srv1Camera");
ResourceManagerPort.Post(allocExecRes);
return(Arbiter.Choice(
allocExecRes.Result,
delegate(ExecutionAllocationResult result)
{
_queue = result.TaskQueue;
},
delegate(Exception e)
{
LogError(e);
}
));
}
Choice InitializeInternalService()
{
AllocateExecutionResource allocExecRes = new AllocateExecutionResource(
true,
1,
"WebCamResourceGroup",
ServiceInfo.Service
);
ResourceManagerPort.Post(allocExecRes);
return(Arbiter.Choice(
allocExecRes.Result,
delegate(ExecutionAllocationResult result)
{
_queue = result.TaskQueue;
},
delegate(Exception e)
{
LogError(e);
}
));
}
void DropHandler(DsspDefaultDrop drop)
{
Tracer.Trace("TrackRoamerBrickProximityBoardService::DropHandler()");
_state.LinkState = "Dropping service - Closing link to Proximity Board";
_state.IsConnected = false;
try
{
if (_pbCommander != null)
{
// release dispatcher queue resource
ResourceManagerPort.Post(new FreeExecutionResource(_pbCommander.TaskQueue));
_pbCommander.Close();
_pbCommander = null;
_state.IsConnected = false;
}
}
finally
{
base.DefaultDropHandler(drop);
}
}
/// <summary>
/// Start conversation with the SickLRF device.
/// </summary>
IEnumerator <ITask> StartLRF(int timeout, int comPort)
{
Tracer.Trace("SickLRF::StartLRF() comPort=" + comPort);
if (timeout > 0)
{
//
// caller asked us to wait <timeout> milliseconds until we start.
//
yield return(Arbiter.Receive(false, TimeoutPort(timeout),
delegate(DateTime dt)
{
LogInfo("Done Waiting");
}
));
}
if (_queue == null)
{
//
// The internal services run on their own dispatcher, we need to create that (once)
//
AllocateExecutionResource allocExecRes = new AllocateExecutionResource(0, "SickLRF");
ResourceManagerPort.Post(allocExecRes);
yield return(Arbiter.Choice(
allocExecRes.Result,
delegate(ExecutionAllocationResult result)
{
_queue = result.TaskQueue;
},
delegate(Exception e)
{
LogError(e);
}
));
}
string comName;
if (comPort <= 0)
{
//
// We default to COM4, because
// a) that was our previous behavior and
// b) the hardware that we have uses COM4
//
comName = "COM4";
}
else
{
comName = "COM" + comPort;
}
_link = new CommLink(_queue ?? TaskQueue, comName, _internalPort);
_link.Parent = ServiceInfo.Service;
_link.Console = ConsoleOutputPort;
FlushPortSet(_internalPort);
yield return(
Arbiter.Choice(
_link.Open(),
delegate(SuccessResult success)
{
LogInfo("Opened link to LRF");
},
delegate(Exception exception)
{
LogError(exception);
}
)
);
}
/// <summary>
/// Start conversation with the TrackRoamer Proximity Board device.
/// </summary>
IEnumerator <ITask> StartProximityBoard(int timeout)
{
Tracer.Trace(string.Format("TrackRoamerBrickProximityBoardService::StartProximityBoard() timeout={0} ms", timeout));
_state.LinkState = "Initializing";
if (timeout > 0)
{
//
// caller asked us to wait <timeout> milliseconds until we start.
//
yield return(Arbiter.Receive(false, TimeoutPort(timeout),
delegate(DateTime dt)
{
LogInfo(string.Format("StartProximityBoard() - Done Waiting {0} ms", timeout));
}
));
}
if (_pbCommanderTaskQueue == null)
{
//
// The internal services run on their own dispatcher, we need to create that (once)
//
AllocateExecutionResource allocExecRes = new AllocateExecutionResource(0, "TrackRoamerProximityBoard");
ResourceManagerPort.Post(allocExecRes);
yield return(Arbiter.Choice(
allocExecRes.Result,
delegate(ExecutionAllocationResult result)
{
_pbCommanderTaskQueue = result.TaskQueue;
},
delegate(Exception e)
{
LogError(e);
}
));
}
_pbCommander = new ProximityBoardCcrServiceCommander(_pbCommanderTaskQueue ?? TaskQueue, _pbCommanderDataEventsPort, _state.VendorId, _state.ProductId);
_pbCommander.Parent = ServiceInfo.Service;
_pbCommander.Console = ConsoleOutputPort;
_state.IsConnected = false;
// Open is an empty operatiion, but we need to flush the internal queue - so let it be.
FlushPortSet(_pbCommanderDataEventsPort);
bool failed = false;
yield return(
Arbiter.Choice(
_pbCommander.Open(),
delegate(SuccessResult success)
{
_state.LinkState = "Initializing - link opened";
LogInfo("Opened link to Proximity Board");
},
delegate(Exception exception)
{
_state.LinkState = "Error Initializing - could not open link";
failed = true;
LogError(exception);
}
)
);
if (failed)
{
yield break;
}
//
// Set the servo sweep rate:
//
yield return(
Arbiter.Choice(
_pbCommander.SetServoSweepRate(),
delegate(SuccessResult success)
{
_state.LinkState = "Servo Sweep Rate Set";
LogInfo(_state.LinkState);
},
delegate(Exception exception)
{
_state.LinkState = "Error Initializing - could not set Servo Sweep Rate";
failed = true;
LogError(exception);
}
)
);
if (failed)
{
yield break;
}
//
// start continuous measurements.
//
yield return(
Arbiter.Choice(
_pbCommander.SetContinuous(),
delegate(SuccessResult success)
{
_state.LinkState = "Started Continuous Measurement";
_state.IsConnected = true;
LogInfo(_state.LinkState);
},
delegate(Exception failure)
{
_state.LinkState = "Error Initializing - could not start Continuous Measurement";
_pbCommanderDataEventsPort.Post(failure);
failed = true;
}
)
);
if (failed)
{
yield break;
}
// somehow the board skips commands on startup, send it twice after a wait:
yield return(Arbiter.Receive(false, TimeoutPort(1000),
delegate(DateTime dt)
{
}
));
//
// start continuous measurements - try 2.
//
yield return(
Arbiter.Choice(
_pbCommander.SetContinuous(),
delegate(SuccessResult success)
{
_state.LinkState = "Started Continuous Measurement";
_state.IsConnected = true;
LogInfo(_state.LinkState);
},
delegate(Exception failure)
{
_state.LinkState = "Error Initializing - could not start Continuous Measurement";
_pbCommanderDataEventsPort.Post(failure);
failed = true;
}
)
);
if (failed)
{
yield break;
}
}