public virtual IEnumerator <ITask> HttpGetInfraredSensorHandler(dssphttp.HttpGet httpGet)
{
infraredarray.Get get = new infraredarray.Get();
this.altPort.Post(get);
yield return(get.ResponsePort.Choice());
infraredarray.InfraredSensorArrayState infraredState = get.ResponsePort;
httpGet.ResponsePort.Post(new dssphttp.HttpResponseType(infraredState));
yield break;
}
public IEnumerator <ITask> GetHandler(infraredarray.Get get)
{
var state = new infraredarray.InfraredSensorArrayState();
state.Sensors = new List <infraredsensor.InfraredState>(this.sensorPorts.Length);
// compose state on the fly by issuing N parallel GET requests to partners
var getSensorState = new analogsensor.Get();
foreach (var port in this.sensorPorts)
{
state.Sensors.Add(null);
port.Post(getSensorState);
}
ICollection <analogsensor.AnalogSensorState> sensorStates = null;
ICollection <Fault> faults = null;
yield return(getSensorState.ResponsePort.MultipleItemReceive(
this.sensorPorts.Length,
(s, f) =>
{
sensorStates = s;
faults = f;
}));
if (faults != null && faults.Count > 0)
{
get.ResponsePort.Post(Fault.FromCodeSubcode(FaultCodes.Receiver, DsspFaultCodes.OperationFailed));
yield break;
}
foreach (var sensorState in sensorStates)
{
PhysicalModel.Proxy.Pose sensorPose;
switch (sensorState.HardwareIdentifier)
{
case 0:
sensorPose = this.LeftIRPose;
break;
case 1:
sensorPose = this.MiddleIRPose;
break;
case 2:
sensorPose = this.RightIRPose;
break;
default:
sensorPose = new PhysicalModel.Proxy.Pose();
break;
}
state.Sensors[sensorState.HardwareIdentifier] = new infraredsensor.InfraredState()
{
DistanceMeasurement = sensorState.RawMeasurement,
HardwareIdentifier = sensorState.HardwareIdentifier,
ManufacturerIdentifier = SimSensorManufacturer,
MaxDistance = int.MaxValue,
MinDistance = 0,
Pose = sensorPose,
TimeStamp = sensorState.TimeStamp
};
}
var stateClone = state.Clone() as infraredarray.InfraredSensorArrayState;
get.ResponsePort.Post(stateClone);
yield break;
}
