IEnumerator <ITask> OnConnectMotorHandler(OnConnectMotor onConnectMotor)
{
if (onConnectMotor.DriveControl == _driveControl)
{
drive.EnableDriveRequest request = new drive.EnableDriveRequest(false);
if (_drivePort != null)
{
yield return(Arbiter.Choice(
_drivePort.EnableDrive(request),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault f)
{
LogError(f);
}
));
if (_motorShutdown != null)
{
PerformShutdown(ref _motorShutdown);
}
}
_drivePort = ServiceForwarder <drive.DriveOperations>(onConnectMotor.Service);
_motorShutdown = new Port <Shutdown>();
drive.ReliableSubscribe subscribe = new drive.ReliableSubscribe(
new ReliableSubscribeRequestType(10)
);
subscribe.NotificationPort = _driveNotify;
subscribe.NotificationShutdownPort = _motorShutdown;
_drivePort.Post(subscribe);
yield return(Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectMotor.Service);
},
delegate(Fault fault)
{
_motorShutdown = null;
LogError(fault);
}
));
request = new drive.EnableDriveRequest(true);
yield return(Arbiter.Choice(
_drivePort.EnableDrive(request),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault f)
{
LogError(f);
}
));
}
}
public virtual IEnumerator <ITask> ReliableSubscribeHandler(drive.ReliableSubscribe subscribe)
{
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
SendNotification <drive.Update>(_subMgrPort, subscribe.Body.Subscriber, _state);
}, null));
yield break;
}
public IEnumerator <ITask> ReliableSubscribeHandler(diffdrive.ReliableSubscribe subscribe)
{
Activate(Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
_subMgrPort.Post(new submgr.Submit(
subscribe.Body.Subscriber, DsspActions.UpdateRequest, _state, null));
},
delegate(Exception ex) { LogError(ex); }
));
yield break;
}
public IEnumerator <ITask> ReliableSubscribeHandler(drive.ReliableSubscribe subscribe)
{
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
Update update = new Update(_state);
SendNotificationToTarget <Update>(subscribe.Body.Subscriber, _subMgrPort, update);
},
delegate(Exception ex)
{
LogError(ex);
throw ex;
}
));
}
IEnumerator<ITask> OnConnectMotorHandler(OnConnectMotor onConnectMotor)
{
if (onConnectMotor.DriveControl == _driveControl)
{
drive.EnableDriveRequest request = new drive.EnableDriveRequest();
if (_drivePort != null)
{
yield return Arbiter.Choice(
_drivePort.EnableDrive(request),
delegate(DefaultUpdateResponseType response)
{
},
delegate(Fault f)
{
LogError(f);
}
);
if (_motorShutdown != null)
{
yield return PerformShutdown(ref _motorShutdown);
}
}
_drivePort = ServiceForwarder<drive.DriveOperations>(onConnectMotor.Service);
_motorShutdown = new Port<Shutdown>();
request.Enable = true;
yield return Arbiter.Choice(
_drivePort.EnableDrive(request),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault f)
{
LogError(f);
}
);
drive.ReliableSubscribe subscribe = new drive.ReliableSubscribe(
new ReliableSubscribeRequestType(10)
);
subscribe.NotificationPort = _driveNotify;
subscribe.NotificationShutdownPort = _motorShutdown;
_drivePort.Post(subscribe);
yield return Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectMotor.Service);
},
delegate(Fault fault)
{
_motorShutdown = null;
LogError(fault);
}
);
}
}
