public static void shutdown()
{
if (bank != null)
{
bank.Dispose();
DssEnvironment.Shutdown();
DssEnvironment.WaitForShutdown();
}
}
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>
/// 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;
}
public void DropHandler(DsspDefaultDrop drop)
{
DssEnvironment.ControlPanelPort.Shutdown();
DssEnvironment.Shutdown();
}
public void Shutdown()
{
DssEnvironment.Shutdown();
bank.Dispose();
}
