/// <summary>
/// Helper function to initialize Kinect camera.
/// </summary>
/// <returns>CCR Iterator</returns>
protected IEnumerator <ITask> InitializeKinect()
{
var finishedInitialization = new SuccessFailurePort();
ThreadPool.QueueUserWorkItem(
param =>
{
try
{
this.InitializeKinectDevice();
finishedInitialization.Post(SuccessResult.Instance);
}
catch (Exception e)
{
LogError(e);
finishedInitialization.Post(new Exception(Resources.InitializeFailed));
}
});
yield return(finishedInitialization.Choice(
success =>
{
base.Start();
this.StartPollingBehavior();
// Merge the internal update ports into the main interleave
MainPortInterleave.CombineWith(
new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive(
true,
this.alternateContractUpdatePort,
this.OnUpdateAlternates)),
new ConcurrentReceiverGroup(
Arbiter.Receive(
true,
this.scheduleNextFrameReadPort,
this.OnScheduleNextFrameRead))));
LogInfo(Resources.Initialized);
},
fault =>
{
LogError(fault);
base.StartFailed();
}));
}
public IEnumerator <ITask> SubscribeHandler(Subscribe subscribe)
{
SuccessFailurePort responsePort = SubscribeHelper(this.submgrPort, subscribe.Body, subscribe.ResponsePort);
yield return(responsePort.Choice());
var success = (SuccessResult)responsePort;
if (success != null)
{
SendNotificationToTarget <Replace>(subscribe.Body.Subscriber, this.submgrPort, this.state);
}
yield break;
}
/// <summary>
/// Shutdown or kill process
/// </summary>
/// <returns>ITask enumerator</returns>
private IEnumerator <ITask> ShutdownSuccessfullyOrKillProcess()
{
var shutdownOrTimedOut = new SuccessFailurePort();
Activate(TimeoutPort(DefaultProcessTimeout).Receive(dateTime => shutdownOrTimedOut.Post(new Exception())));
Activate(shutdownOrTimedOut.Choice(
success => { }, /*cleanly shutdown*/
failure => /*timed out*/ System.Diagnostics.Process.GetCurrentProcess().Kill()));
ControlPanelPort.Post(new DsspDefaultDrop());
Activate(Arbiter.ReceiveWithIterator <DsspDefaultDrop>(false, this.mainPort, this.DropHandler));
shutdownOrTimedOut.Post(SuccessResult.Instance);
yield break;
}