protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <analog.AnalogSensorOperations>(new Uri(serviceUri));
}
/// <summary>
/// Process Brick State
/// </summary>
/// <param name="brickState"></param>
private IEnumerator <ITask> ProcessBrickState(brick.NxtBrickState brickState)
{
foreach (string key in brickState.Runtime.Devices.Keys)
{
brick.AttachRequest device = brickState.Runtime.Devices[key];
if (device.Registration.DeviceType != LegoDeviceType.AnalogSensor &&
device.Registration.DeviceType != LegoDeviceType.DigitalSensor)
{
continue;
}
PortSet <DsspDefaultLookup, DsspDefaultGet> lookupPort = ServiceForwarder <PortSet <DsspDefaultLookup, DsspDefaultGet> >(device.Registration.ServiceUri);
DsspDefaultLookup lu = new DsspDefaultLookup();
lookupPort.Post(lu);
yield return(Arbiter.Choice(lu.ResponsePort,
delegate(LookupResponse luResponse)
{
foreach (PartnerType pt in luResponse.PartnerList)
{
// See if this service supports the analog sensor contract
if (pt.Contract == analog.Contract.Identifier)
{
// Check if we have already processed this one.
if (_sensorList.ContainsKey(pt.Service))
{
break;
}
string name = device.Registration.Name;
string model = device.Registration.DeviceModel;
int hardwareIdentifier = NxtCommon.HardwareIdentifier(device.Registration.Connection.Port);
LogVerbose(LogGroups.Console, string.Format("Configuring {0}:{1} on {2} with analog service at {3}", model, name, hardwareIdentifier, pt.Service));
analog.AnalogSensorOperations sensorPort = ServiceForwarder <analog.AnalogSensorOperations>(pt.Service);
Activate(Arbiter.Choice(sensorPort.Subscribe(_analogSensorNotificationsPort),
delegate(SubscribeResponseType response)
{
// Keep track of the subscription manager response
// so that we can unsubscribe later.
_sensorList.Add(pt.Service, response);
},
delegate(Fault fault)
{
LogError(LogGroups.Console, string.Format("Failure subscribing to {0} on port {1}.", model, hardwareIdentifier));
}));
foreach (SensorConfiguration cfg in _state.SensorConfiguration)
{
if (cfg.DeviceModel != model)
{
continue;
}
SensorRange range = new SensorRange(hardwareIdentifier, model, name, cfg.RangeName);
PortConfiguration portConfig = new PortConfiguration(hardwareIdentifier, range.ContactSensorName, cfg.SuccessRangeMin, cfg.SuccessRangeMax);
portConfig.AnalogSensorServiceUri = pt.Service;
if (portConfig != null)
{
_state.RuntimeConfiguration.Add(range, portConfig);
}
}
break;
}
}
},
delegate(Fault f) { }));
}
}