/// <summary>
/// Replace Handler sets Dashboard State
/// </summary>
/// <param name="replace"></param>
IEnumerator<ITask> ReplaceHandler(Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(dssp.DefaultReplaceResponseType.Instance);
yield break;
}
/// <summary>
/// Entry Point for the Dashboard Service
/// </summary>
protected override void Start()
{
// TT - Added code to create a default State if no
// config file exists
if (_state == null)
{
_state = new StateType();
_state.Log = false;
_state.LogFile = "";
_state.Machine = "";
_state.Port = 0;
}
// TT - Version 2 - The options "bag"
// This is tacky, but we need to set the default values
// in case there is no existing config.xml file
if (_state.Options == null)
{
_state.Options = new GUIOptions();
_state.Options.DeadZoneX = 80;
_state.Options.DeadZoneY = 80;
_state.Options.TranslateScaleFactor = 1.0;
_state.Options.RotateScaleFactor = 0.5;
_state.Options.ShowLRF = false;
_state.Options.ShowArm = false;
_state.Options.DisplayMap = false;
// Updated in later versions with more options
// These values are in mm
_state.Options.RobotWidth = 300;
_state.Options.MaxLRFRange = 8192;
_state.Options.DriveDistance = 300;
// Speed is in mm/sec???
_state.Options.MotionSpeed = 100;
// Angle is in degrees
_state.Options.RotateAngle = 45;
// Camera update interval in milliseconds
// Note that this is only required for the
// simulated webcam because it does not provide
// updates when you subscribe
_state.Options.CameraInterval = 250;
}
if (_state.Options.CameraInterval < 100)
_state.Options.CameraInterval = 100;
// Handlers that need write or exclusive access to state go under
// the exclusive group. Handlers that need read or shared access, and can be
// concurrent to other readers, go to the concurrent group.
// Other internal ports can be included in interleave so you can coordinate
// intermediate computation with top level handlers.
Activate(Arbiter.Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive<DsspDefaultDrop>(false, _mainPort, DropHandler)
),
new ExclusiveReceiverGroup
(
Arbiter.ReceiveWithIterator<Replace>(true, _mainPort, ReplaceHandler),
Arbiter.ReceiveWithIterator<OnLoad>(true, _eventsPort, OnLoadHandler),
Arbiter.Receive<OnClosed>(true, _eventsPort, OnClosedHandler),
Arbiter.ReceiveWithIterator<OnChangeJoystick>(true, _eventsPort, OnChangeJoystickHandler),
Arbiter.Receive<OnLogSetting>(true, _eventsPort, OnLogSettingHandler),
// TT - Added this handler for Connection parameters
Arbiter.Receive<OnConnectSetting>(true, _eventsPort, OnConnectSettingHandler),
// TT - Added this handler for Options
Arbiter.Receive<OnOptionSettings>(true, _eventsPort, OnOptionSettingsHandler),
// TT - Added this handler for Webcam
Arbiter.ReceiveWithIterator<OnConnectWebCam>(true, _eventsPort, OnConnectWebCamHandler),
Arbiter.ReceiveWithIterator<cam.UpdateFrame>(true, _webCamNotify, CameraUpdateFrameHandler)
),
new ConcurrentReceiverGroup
(
Arbiter.Receive<DsspDefaultLookup>(true,_mainPort,DefaultLookupHandler),
Arbiter.ReceiveWithIterator<Get>(true, _mainPort, GetHandler),
// TT Dec-2006 - Updated for V1.0
Arbiter.ReceiveWithIterator<game.Replace>(true, _gameControllerNotify, JoystickReplaceHandler),
Arbiter.ReceiveWithIterator<sicklrf.Replace>(true, _laserNotify, OnLaserReplaceHandler),
Arbiter.ReceiveWithIterator<OnConnect>(true, _eventsPort, OnConnectHandler),
Arbiter.ReceiveWithIterator<drive.Update>(true, _driveNotify, OnDriveUpdateNotificationHandler),
Arbiter.ReceiveWithIterator<OnConnectMotor>(true, _eventsPort, OnConnectMotorHandler),
Arbiter.ReceiveWithIterator<OnMove>(true, _eventsPort, OnMoveHandler),
// TT May-2007 - Added Rotate and Translate
Arbiter.ReceiveWithIterator<OnRotate>(true, _eventsPort, OnRotateHandler),
Arbiter.ReceiveWithIterator<OnTranslate>(true, _eventsPort, OnTranslateHandler),
Arbiter.ReceiveWithIterator<OnEStop>(true, _eventsPort, OnEStopHandler),
Arbiter.ReceiveWithIterator<OnStartService>(true, _eventsPort, OnStartServiceHandler),
Arbiter.ReceiveWithIterator<OnConnectSickLRF>(true, _eventsPort, OnConnectSickLRFHandler),
Arbiter.Receive<OnDisconnectSickLRF>(true, _eventsPort, OnDisconnectSickLRFHandler),
Arbiter.ReceiveWithIterator<OnConnectArticulatedArm>(true, _eventsPort, OnConnectArticulatedArmHandler),
Arbiter.ReceiveWithIterator<OnApplyJointParameters>(true, _eventsPort, OnApplyJointParametersHandler)
)
));
DirectoryInsert();
WinFormsServicePort.Post(new RunForm(CreateForm));
}
