public virtual IEnumerator <ITask> HttpGetSonarSensorHandler(dssphttp.HttpGet httpGet) { sonararray.Get get = new sonararray.Get(); this.altPort.Post(get); yield return(get.ResponsePort.Choice()); sonararray.SonarSensorArrayState sonararrayState = get.ResponsePort; httpGet.ResponsePort.Post(new dssphttp.HttpResponseType(sonararrayState)); yield break; }
public IEnumerator <ITask> GetSonarArrayHandler(sonararray.Get get) { var state = new sonararray.SonarSensorArrayState(); state.Sensors = new List <sonarsensor.SonarState>(this.sensorPorts.Length); // compose state on the fly by issuing N parallel GET requests to partners var getSensorState = new sonar.Get(); foreach (var port in this.sensorPorts) { state.Sensors.Add(null); port.Post(getSensorState); } ICollection <sonar.SonarState> 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) { state.Sensors[sensorState.HardwareIdentifier] = new sonarsensor.SonarState() { HardwareIdentifier = sensorState.HardwareIdentifier, AngularRange = sensorState.AngularRange, AngularResolution = sensorState.AngularResolution, DistanceMeasurement = sensorState.DistanceMeasurement, DistanceMeasurements = sensorState.DistanceMeasurements, MaxDistance = sensorState.MaxDistance, Pose = new PhysicalModel.Proxy.Pose { Orientation = new PhysicalModel.Proxy.Quaternion( sensorState.Pose.Orientation.X, sensorState.Pose.Orientation.Y, sensorState.Pose.Orientation.Z, sensorState.Pose.Orientation.W), Position = new PhysicalModel.Proxy.Vector3( sensorState.Pose.Position.X, sensorState.Pose.Position.Y, sensorState.Pose.Position.Z), }, TimeStamp = sensorState.TimeStamp, }; } var stateClone = state.Clone() as sonararray.SonarSensorArrayState; get.ResponsePort.Post(stateClone); yield break; }