public static void Init(string manifestFile, int httpPort, int dsspPort)
{
if (bank == null)
{
Robot.httpPort = httpPort;
Robot.dsspPort = dsspPort;
FileAttributes att = File.GetAttributes(manifestFile);
if ((att & (FileAttributes.Device | FileAttributes.Directory | FileAttributes.Offline)) != 0)
{
throw new IOException("Manifest file is not a normal file");
}
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(httpPort, dsspPort, "file://" + manifestFile);
Console.WriteLine("Done");
bank = new AdapterBank(new List <IAdapterFactory>()
{
new Myro.Adapters.DriveAdapterFactory(),
new Myro.Adapters.VectorAdapterFactory(),
new Myro.Adapters.WebcamAdapterFactory(),
new Myro.Adapters.CamControlAdapterFactory()
});
driveAdapter = bank.GetAdapterSpec <DriveAdapter>("drive");
soundAdapter = bank.GetAdapterSpec <VectorAdapter>("tonegen");
webcamAdapter = bank.GetAdapterSpec <WebcamAdapter>("webcam");
camcontrolAdapter = bank.GetAdapterSpec <CamControlAdapter>("camcontrol");
}
else
{
throw new Exception("Myro is already initialized");
}
}
private void ConductorSvr_Load(object sender, EventArgs e)
{
if (IsPortInUse(ProtocolType.Tcp, 50000) || IsPortInUse(ProtocolType.Tcp, 50001))
{
System.Windows.Forms.MessageBox.Show("Tcp port 50000 or 50001 is in use, please check it.", "URWPGSim2D Server");
System.Diagnostics.Process.GetCurrentProcess().Kill(); // 没有数据需要保存直接结束当前进程
}
// 调试时在同一节点上启动Server服务和Client服务
string[] strArrManifestFileNames = new string[2] {
Application.StartupPath + "\\Sim2DSvr.manifest.xml",
Application.StartupPath + "\\Sim2DClt.manifest.xml",
};
//DssEnvironment.Initialize(50000, 50001, strArrManifestFileNames);
// 在50000/50001这组端口上启动一个DSS Node并初始化Server服务实例
string strServerManifestFileName = Application.StartupPath + "\\Sim2DSvr.manifest.xml";
DssEnvironment.Initialize(50000, 50001, strServerManifestFileName);
// 等待当前Dss Node上的某Dss Service发生Drop事件执行DssEnvironment.Shutdown命令
DssEnvironment.WaitForShutdown();
// 退出客户端启动引导程序界面不再显示
Application.Exit();
}
public VectorAdapter(ServiceInfoType serviceRecord)
{
ServiceInfo = serviceRecord;
opPort = DssEnvironment.ServiceForwarder <vector.VectorOperations>(new Uri(serviceRecord.Service));
//if (opPort == null)
// throw new AdapterCreationException("Service forwarder port was null");
}
/// <summary>
/// Overrides RobotBrain Bind function to implement addition LEDAdapter functions.
/// </summary>
protected override void Bind()
{
base.Bind();
//Bind to scribbler specific sensors
//Specialized LED array
directory.Query dquery = new directory.Query(new directory.QueryRequestType(
new Microsoft.Dss.ServiceModel.Dssp.ServiceInfoType("http://www.roboteducation.org/scribblerledarray.html")));
//Uri direcURI = DssEnvironment.FindService(directory.Contract.Identifier);
//TODO: remove the line below once the above line works
Uri direcURI = new Uri("http://localhost:" + httpPort + "/directory");
directory.DirectoryPort dport = DssEnvironment.ServiceForwarder <directory.DirectoryPort>(direcURI);
dport.Post(dquery);
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice(dquery.ResponsePort,
delegate(directory.QueryResponseType success)
{
sledadapter = new ScribblerLEDArrayAdapter(success.RecordList[0].Service);
},
delegate(Fault fault) { }
)
);
}
private void startServices()
{
// Build a list of the "StartService"s and the "Adapter" services
List <ServiceInfoType> allServices = new List <ServiceInfoType>(services);
foreach (var adapter in adapterNames.Values)
{
if (adapter.ServiceConfig.Contract != null)
{
allServices.Add(adapter.ServiceConfig);
}
}
// Start them all
foreach (var service in allServices)
{
if (service.Contract != null)
{
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice <CreateResponse, Fault>(
DssEnvironment.CreateService(service),
delegate(CreateResponse success)
{
Console.WriteLine("* Created * " + success.Service);
},
delegate(Fault failure)
{
Console.WriteLine("*** FAULT *** creating " + service.Service + ": " + failure.Reason);
}));
}
}
}
/// <summary>
/// This method searches for a primary or alternate contract of the
/// service that is present in the contracts list. Requires a
/// taskQueue to activate tasks on. Throws NoContractFoundException
/// in a Fault if one cannot be found.
/// </summary>
/// <param name="taskQueue"></param>
/// <param name="service"></param>
/// <param name="contracts"></param>
/// <returns></returns>
public static PortSet <ServiceInfoType, Fault> FindCompatibleContract(DispatcherQueue taskQueue, Uri service, List <string> contracts)
{
PortSet <ServiceInfoType, Fault> returnPort = new PortSet <ServiceInfoType, Fault>();
PortSet <LookupResponse, Fault> responsePort = new PortSet <LookupResponse, Fault>();
//Console.WriteLine("RSUtils: Querying " + service);
DssEnvironment.ServiceForwarderUnknownType(service).PostUnknownType(
new DsspDefaultLookup()
{
Body = new LookupRequestType(), ResponsePort = responsePort
});
Arbiter.Activate(taskQueue, Arbiter.Choice <LookupResponse, Fault>(
responsePort,
delegate(LookupResponse resp)
{
try
{
//Console.WriteLine("RSUtils: Got response");
returnPort.Post(FindCompatibleContract(resp, contracts));
}
catch (NoContractFoundException e)
{
returnPort.Post(FaultOfException(e));
}
},
delegate(Fault failure)
{
returnPort.Post(failure);
}));
return(returnPort);
}
public static void shutdown()
{
if (bank != null)
{
bank.Dispose();
DssEnvironment.Shutdown();
DssEnvironment.WaitForShutdown();
}
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service to know when the motors are enabled
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
RSUtils.ReceiveSync(taskQueue, drivePort.Subscribe(driveNotificationPort), Params.DefaultRecieveTimeout);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
private void Initialize()
{
// Initialize Dss using the Scribbler base manifest
DssEnvironment.Initialize(50000, 50001,
@"C:\\Microsoft Robotics Studio (1.5)\\samples\\IPRE\\Scribbler\\Scribbler\\Batch Files\\IPRE.Scribbler.standard.manifest.xml"
);
Arbiter.Receive <DateTime>(true, _timerPort, ConnectToScribbler);
_timerPort.Post(DateTime.Now);
autolock.WaitOne();
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
drivePort.Subscribe(driveNotificationPort);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
public Robot(string manifestFile)
{
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(50000, 50001, "file://" + Path.GetFullPath(manifestFile));
Console.WriteLine("Done");
bank = new AdapterBank(new List <IAdapterFactory>()
{
new Myro.Adapters.DriveAdapterFactory(),
new Myro.Adapters.VectorAdapterFactory()
});
Sensors = new MyroSensors(bank);
Movement = new MyroMovement(bank);
Sound = new MyroSound(bank);
}
protected void updateAdapters()
{
var dirPort = DssEnvironment.ServiceForwarder <dirProxy.DirectoryPort>(new Uri("http://localhost:50000/directory"));
//Console.WriteLine("Querying directory");
//dirProxy.QueryRequest request = new dirProxy.QueryRequest();
//request.QueryRecord = new ServiceInfoType();
Arbiter.ExecuteToCompletion(DssEnvironment.TaskQueue,
Arbiter.Choice <dirProxy.GetResponse, Fault>(
dirPort.Get(),
delegate(dirProxy.GetResponse success)
{
// See if each service matches a known one from the config file, if so, make an adapter
//Console.WriteLine("Checking " + success.RecordList.Length + " services");
foreach (var rec in success.RecordList)
{
//Uri foundUri = new Uri(rec.Service);
AdapterSpec adapterSpec = null;
//Console.WriteLine("Checking " + rec.Service);
foreach (var adapter in adapterNames.Values)
{
//Console.WriteLine("Comparing " + rec.Service + " to " + adapter.ServiceInfo.Service);
//Uri testUri = new Uri(adapter.ServiceInfo.Service);
//if (Uri.Compare(foundUri, testUri, UriComponents.Path, UriFormat.UriEscaped, StringComparison.InvariantCultureIgnoreCase) == 0)
if (rec.Service.EndsWith(adapter.ServiceConfig.Service))
{
//Console.WriteLine("* Assigned * " + rec.Service + " to " + adapter.ServiceInfo.Service);
if (adapterSpec == null)
{
adapterSpec = adapter;
}
else
{
Console.WriteLine("WARNING: duplicate service: " + rec.Service + " (already had one for " + adapter.ServiceConfig.Service + ")");
}
}
}
if (adapterSpec != null)
{
AdapterFactory.CreateAdapterIfNeeded(adapterSpec, rec);
}
}
},
delegate(Fault fault)
{
Console.WriteLine("AdapterBank: Fault querying directory: " + fault.Reason);
}));
}
private void ConductorClt_Load(object sender, EventArgs e)
{
DssRuntimeConfiguration dssConfig = new DssRuntimeConfiguration();
dssConfig.PublicHttpPort = 0;
dssConfig.PublicTcpPort = 0;
int port = 40000;
do // 从TCP端口40000起查找尚未被占用的端口
{
while (IsPortInUse(ProtocolType.Tcp, port))
{
port++;
}
if (dssConfig.PublicHttpPort == 0)
{
dssConfig.PublicHttpPort = port;
port++;
}
else
{
dssConfig.PublicTcpPort = port;
}
} while (dssConfig.PublicHttpPort == 0 || dssConfig.PublicTcpPort == 0);
// 调试时在同一节点上启动Server服务和Client服务
string[] strArrManifestFileNames = new string[2] {
Application.StartupPath + "\\Sim2DSvr.manifest.xml",
Application.StartupPath + "\\Sim2DClt.manifest.xml",
};
//DssEnvironment.Initialize(dssConfig, strArrManifestFileNames);
// 在50000/50001这组端口上启动一个DSS Node并初始化Server服务实例
string strServerManifestFileName = Application.StartupPath + "\\Sim2DSvr.manifest.xml";
//DssEnvironment.Initialize(dssConfig, strServerManifestFileName);
// 在40000/40001这组端口上启动一个DSS Node并初始化Client服务实例
string strClientManifestFileName = Application.StartupPath + "\\Sim2DClt.manifest.xml";
DssEnvironment.Initialize(dssConfig, strClientManifestFileName);
// 等待当前Dss Node上的某Dss Service发生Drop事件执行DssEnvironment.Shutdown命令
DssEnvironment.WaitForShutdown();
// 退出客户端启动引导程序界面不再显示
Application.Exit();
}
/// <summary>
/// This is an internal helper method that starts the DSS environment,
/// using the manifest file specified in the MyroConfigFiles argument.
/// </summary>
/// <param name="config"></param>
private static void startDSS(MyroConfigFiles config)
{
string manifestFile = Path.Combine(Path.Combine(Params.ConfigPath, config.BaseName + ".manifest"), config.BaseName + ".manifest.xml");
Robot.httpPort = config.MyroConfiguration.HttpPort;
Robot.dsspPort = config.MyroConfiguration.DsspPort;
FileAttributes att = File.GetAttributes(manifestFile);
if ((att & (FileAttributes.Device | FileAttributes.Directory | FileAttributes.Offline)) != 0)
{
throw new IOException("Manifest file is not a normal file");
}
Console.Write("Starting DSS environment...");
DssEnvironment.Initialize(httpPort, dsspPort, "file://" + manifestFile);
Console.WriteLine("Done");
}
/// <summary>
/// Intialization Routine. Called by constructor.
/// </summary>
protected virtual void Initialize()
{
XPathDocument xpdoc = new XPathDocument(configFile);
XPathNavigator xpnav = xpdoc.CreateNavigator();
manifestFile = xpnav.SelectSingleNode("//ManifestFile/URI").Value;
httpPort = int.Parse(xpnav.SelectSingleNode("//DssEnvironment/HttpPort").Value);
soapPort = int.Parse(xpnav.SelectSingleNode("//DssEnvironment/SoapPort").Value);
verbosity = int.Parse(xpnav.SelectSingleNode("//Verbosity/Level").Value);
// Initialize Dss manifest
DssEnvironment.Initialize(httpPort, soapPort, manifestFile);
// Wait for 30 seconds for the DssEnvironment to completely load all services
// TODO: utilize config file to remove the sleep
Thread.Sleep(10000);
}
/// <summary>
/// This is a helper mehtod that connects the Scribbler on the specified
/// COM port. It waits for the connection to complete, and re-throws any
/// exceptions generated by the Scribbler service.
/// </summary>
/// <param name="comPort"></param>
private static void connectWaitForScribbler(string comPort)
{
ManualResetEvent evt = new ManualResetEvent(false);
waitForService(new ServiceInfoType(scribbler.Contract.Identifier),
delegate(ServiceInfoType info) { brickService = info; evt.Set(); });
evt.WaitOne(Params.DefaultRecieveTimeout, false);
if (brickService == null)
{
throw new MyroInitException("Could not find Scribbler service");
}
var scribPort = DssEnvironment.ServiceForwarder <scribbler.ScribblerOperations>(new Uri(brickService.Service));
DispatcherQueue queue = new DispatcherQueue("init", new Dispatcher());
try
{
if (comPort != null)
{
int comNumber;
if (comPort.ToLower().StartsWith("com"))
{
comNumber = Int32.Parse(comPort.Substring(3));
}
else
{
throw new MyroInitException("COM port string must be of the format com2, com5, etc.");
}
RSUtils.ReceiveSync(queue, scribPort.Replace(new scribbler.ScribblerState()
{
ComPort = comNumber
}), Params.DefaultRecieveTimeout);
}
DssEnvironment.LogInfo("calling reconnect...");
RSUtils.ReceiveSync(queue, scribPort.Reconnect(), Params.DefaultRecieveTimeout);
DssEnvironment.LogInfo("reconnect returned");
}
catch (Exception)
{
throw;
}
finally
{
queue.Dispose();
}
}
private T tryCreateAdapter()
{
lock (this)
{
try
{
// Query the service initially
PortSet <LookupResponse, Fault> responsePort = new PortSet <LookupResponse, Fault>();
DssEnvironment.ServiceForwarderUnknownType(new Uri("dssp.tcp://localhost/" + Name)).PostUnknownType(
new DsspDefaultLookup()
{
Body = new LookupRequestType(), ResponsePort = responsePort
});
ServiceInfoType responseRecord = RSUtils.ReceiveSync(responsePort, Myro.Utilities.Params.DefaultRecieveTimeout);
// Try to find a working contract for each adapter
foreach (var factory in adapterFactories)
{
try
{
ServiceInfoType serviceRecord = RSUtils.FindCompatibleContract(responseRecord, factory.SupportedContracts);
T ret = (T)factory.Create(serviceRecord);
Console.WriteLine("Attached to " + serviceRecord.Service + " as \"" + Name + "\"");
return(ret);
}
catch (NoContractFoundException) { }
}
// If we haven't returned already in the loop, we didn't find
// an adapter that works.
throw new NoAdapterFoundException(responseRecord);
}
catch (NoAdapterFoundException)
{
throw;
}
catch (Exception e)
{
DssEnvironment.LogError("Error querying or attaching to " + "dssp.tcp://localhost/" + Name + ": " + e.ToString());
throw;
}
}
}
protected void subscribeDirectory()
{
var dirPort = DssEnvironment.ServiceForwarder <dirProxy.DirectoryPort>(new Uri("http://localhost:50000/directory"));
var resPort = new dirProxy.DirectoryPort();
Arbiter.ExecuteToCompletion(DssEnvironment.TaskQueue,
Arbiter.Choice <SubscribeResponseType, Fault>(
dirPort.Subscribe(resPort, null),
delegate(SubscribeResponseType success)
{
Console.WriteLine("AdapterBank subscribed to directory service");
},
delegate(Fault failure)
{
throw new Exception("Could not subscribe to directory service: " + failure.Reason);
}));
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <dirProxy.Insert>(true, resPort, directoryInsertHandler));
}
void ConnectToScribbler(DateTime dt)
{
Uri driveUri = null;
// Look for any active generic drive contract service running
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice(DssEnvironment.DirectoryQuery(drive.Contract.Identifier),
delegate(ServiceInfoType success)
{
driveUri = new Uri(success.Service);
Console.WriteLine("================\n" + driveUri);
// Initialize the port and subscribe to the service
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(driveUri);
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
drivePort.Subscribe(driveNotificationPort);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate)
);
autolock.Set();
},
delegate(W3C.Soap.Fault failure)
{
// Request failed. Sleep for 1 sec and look for 30 times.
if (++attemptCount >= 30)
{
DssEnvironment.LogError("Unable to find Drive Service, aborting - Press <Enter>");
Console.ReadLine();
DssEnvironment.Shutdown();
}
else
{
// Post a timer message that expires in 30 seconds
TimeSpan timeout = new TimeSpan(0, 0, 30);
DssEnvironment.TaskQueue.EnqueueTimer(timeout, _timerPort);
}
}
));
}
/// <summary>
/// Intialization Routine. Called by constructor.
/// </summary>
protected virtual void Initialize()
{
XPathDocument xpdoc = new XPathDocument(configFile);
XPathNavigator xpnav = xpdoc.CreateNavigator();
manifestFile = xpnav.SelectSingleNode("//ManifestFile/URI").Value;
httpPort = int.Parse(xpnav.SelectSingleNode("//DssEnvironment/HttpPort").Value);
soapPort = int.Parse(xpnav.SelectSingleNode("//DssEnvironment/SoapPort").Value);
verbosity = int.Parse(xpnav.SelectSingleNode("//Verbosity/Level").Value);
// Initialize Dss manifest
String manifestFileFull = Path.Combine(Path.GetDirectoryName(Path.GetFullPath(configFile)), manifestFile);
Console.WriteLine("Starting DSS environment with manifest: " + manifestFileFull);
DssEnvironment.Initialize(httpPort, soapPort, manifestFileFull);
//Console.WriteLine("Done");
// Wait for 30 seconds for the DssEnvironment to completely load all services
// TODO: utilize config file to remove the sleep
Thread.Sleep(10000);
}
/// <summary>
/// Shut down the DSS node and MSRDS services. This method waits
/// for everything to shut down before returning.
/// </summary>
public static void Shutdown()
{
LastStateChange = RobotStateChange.SHUTDOWN;
try
{
if (bank != null)
{
bank.Dispose();
}
}
catch (Exception) { }
try
{
DssEnvironment.Shutdown();
DssEnvironment.WaitForShutdown();
}
catch (Exception) { }
LastStateChange = RobotStateChange.SHUTDOWN_COMPLETE;
}
protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <analogArray.AnalogSensorOperations>(new Uri(serviceUri));
Console.WriteLine("Analog sensor array adapter: " + serviceUri);
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
ledPort = DssEnvironment.ServiceForwarder <ledarray.LedarrayOperations>(new Uri(serviceUri));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
tonePort = DssEnvironment.ServiceForwarder <tonegen.ToneGeneratorOperations>(new Uri(serviceUri));
}
public WebcamAdapter(ServiceInfoType serviceInfo)
{
ServiceInfo = serviceInfo;
opPort = DssEnvironment.ServiceForwarder <webcam.WebCamOperations>(new Uri(serviceInfo.Service));
}
public void DropHandler(DsspDefaultDrop drop)
{
DssEnvironment.ControlPanelPort.Shutdown();
DssEnvironment.Shutdown();
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
ttsPort = DssEnvironment.ServiceForwarder <tts.SpeechTextOperations>(new Uri(serviceUri));
}
/// <summary>
/// Searches service directory for a service with the specified contract. On success binds it to an Adapter object and inserts it in the
/// adapters lookup dictionary.
/// </summary>
/// <param name="contract">The contract of the service</param>
/// <returns>Nothing</returns>
protected virtual IEnumerator <ITask> DirectorySearch(string contract)
{
directory.Query dquery = new directory.Query(new directory.QueryRequestType(
new Microsoft.Dss.ServiceModel.Dssp.ServiceInfoType(contract)));
//Uri direcURI = DssEnvironment.FindService(directory.Contract.Identifier);
//TODO: remove the line below once the above line works
Uri direcURI = new Uri("http://localhost:" + httpPort + "/directory");
directory.DirectoryPort dport = DssEnvironment.ServiceForwarder <directory.DirectoryPort>(direcURI);
dport.Post(dquery);
yield return(Arbiter.Choice(
dquery.ResponsePort,
delegate(directory.QueryResponseType success)
{
switch (contract)
{
case drive.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new DriveAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.DriveAdapter, list);
break;
}
case analog.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new AnalogSensorAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.AnalogSensorAdapter, list);
break;
}
case contact.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new ContactSensorArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.ContactSensorArrayAdapter, list);
break;
}
case analogArray.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new AnalogSensorArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.AnalogSensorArrayAdapter, list);
break;
}
case tonegen.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new ToneGeneratorAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.ToneGeneratorAdapter, list);
break;
}
case ledarray.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new LEDArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.LEDArrayAdapter, list);
break;
}
case sonar.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new SonarAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.SonarAdapter, list);
break;
}
}
},
delegate(Fault fault) { }
));
yield break;
}
protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <sonar.SonarOperations>(new Uri(serviceUri));
}
protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <contact.ContactSensorArrayOperations>(new Uri(serviceUri));
}
