/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//open Scribbler Communications port
_scribblerComm = new ScribblerComm();
_scribblerComPort = new ScribblerDataPort();
_scribblerComPort = _scribblerComm.Open(6, 38400);
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <SensorNotification>(true, _scribblerComPort, SensorNotificationHandler),
Arbiter.ReceiveWithIterator <SetMotor>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIterator <Ping>(true, _mainPort, PingHandler),
Arbiter.ReceiveWithIterator <SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIterator <PlayTone>(true, _mainPort, PlayToneHandler)
),
new ConcurrentReceiverGroup()
));
//play startup tone
_scribblerComm.SendCommand(new ScribblerCommand((byte)ScribblerHelper.Commands.SET_SPEAKER, 20, 100, 200));
}
protected override void Start()
{
LogVerbose(LogGroups.Console, "Configuring Lego Contact Sensor Array... ");
#region Initialize Service State
bool saveState = false;
if (_bumperConfigState == null)
{
_bumperConfigState = new LegoNxtBumperState();
_bumperConfigState.ContactSensorArrayState = new bumper.ContactSensorArrayState();
saveState = true;
}
else if (_bumperConfigState.Status != LegoNxtBumperStatus.Uninitialized)
{
_bumperConfigState.Status = LegoNxtBumperStatus.Uninitialized;
saveState = true;
}
if (saveState)
{
SaveState(_bumperConfigState);
saveState = false;
}
#endregion
// Listen for each of my handlers
Interleave mainInterleave = ActivateDsspOperationHandlers();
// Add the internal only handlers
mainInterleave.CombineWith(
new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive <UpdateStatus>(true, _internalPort, UpdateStatusHandler)
),
new ConcurrentReceiverGroup()));
// Publish the service to the local Node Directory
DirectoryInsert();
#region Wait for Configuration to be completed
Port <bool> donePort = new Port <bool>();
SpawnIterator <Port <bool> >(donePort, InitializeBumperConnection);
Activate(Arbiter.Receive(false, donePort,
delegate(bool success)
{
if (success)
{
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
}
else
{
LogError(LogGroups.Console, "LEGO Bumper service failed to start.");
_mainPort.Post(new DsspDefaultDrop());
}
}));
#endregion
}
private void subscribeCamera(CameraInfo argCi)
{
// Subscribe to the simulator camera, using a handler
// that will only update the GUI if this camera is
// selected (because there is currently no way to
// unsubscribe from a camera.
//if (ci.Camera.IsRealTimeCamera)
//{
CameraInfo ci = argCi;
ci.Port = new Port <System.Drawing.Bitmap>();
ci.Camera.Subscribe(ci.Port);
Interleave interleave = new Interleave(new ExclusiveReceiverGroup(), new ConcurrentReceiverGroup());
interleave.CombineWith(
new Interleave(new ExclusiveReceiverGroup(
Arbiter.Receive(true, ci.Port,
delegate(System.Drawing.Bitmap inbmp)
{
if (interleave.PendingExclusiveCount <= 1 && curCamera == ci)
{
if (DateTime.Now.Subtract(lastFrameTime).Milliseconds >= frameInterval)
{
lastFrameTime = DateTime.Now;
updateImageDisplay(inbmp);
}
}
})),
new ConcurrentReceiverGroup()));
Arbiter.Activate(throttledQueue, interleave);
//}
//else
//{
// // If it's not a real time camera, we have to start a loop
// // to query it
// new Thread(new ThreadStart(delegate()
// {
// var resultPort = new PortSet<System.Drawing.Bitmap, Exception>();
// while (shouldStay)
// {
// if (curCamera == ci)
// {
// // The throttledQueue has only 1 thread, so concurrent execution
// // will not happen here if the updateImageDisplay handler cannot
// // keep up with the rate at which we're querying frames.
// ci.Camera.CaptureScene(System.Drawing.Imaging.ImageFormat.Bmp, resultPort);
// Arbiter.Activate(throttledQueue, Arbiter.Choice(resultPort,
// updateImageDisplay,
// delegate(Exception e)
// {
// Console.WriteLine(e);
// }));
// }
// Thread.Sleep(frameInterval);
// }
// })).Start();
//}
}
/// <summary>
/// Subscribe to appropriate sensor type and port on NXT
/// </summary>
private void SubscribeToNXT()
{
// Create a notification port
legoNXT.LegoNxtOperations _notificationPort = new legoNXT.LegoNxtOperations();
//create a custom subscription request
legoNXT.CustomSubscribeRequestType request = new legoNXT.CustomSubscribeRequestType();
//select only the sensor and port we want
//NOTE: this name must match the NXT sensor name. (see NXT readme)
request.Sensors = new Collection <legoNXT.SensorDefinition>();
legoNXT.SensorDefinition sensor = new legoNXT.SensorDefinition();
sensor.Type = legoNXT.SensorDefinition.SensorType.Encoder;
sensor.Port = _state.HardwareIdentifier;
request.Sensors.Add(sensor);
//Subscribe to the NXT and wait for a response
Activate(
Arbiter.Choice(_legoPort.SelectiveSubscribe(request, _notificationPort),
delegate(SubscribeResponseType Rsp)
{
//update our state with subscription status
_subscribed = true;
LogInfo(sensor.Type + sensor.Port + " subscription success");
//Subscription was successful, start listening for sensor change notifications
_mainInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive <legoNXT.Configure>(true, _notificationPort, SensorNotificationHandler)
),
new ConcurrentReceiverGroup()
));
//Activate(
//);
},
delegate(Fault F)
{
LogError(sensor.Type + sensor.Port + "subscription failed");
}
)
);
}
/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new ChrUm6OrientationSensorState();
_state.ChrUm6OrientationSensorConfig = new ChrUm6OrientationSensorConfig();
_state.ChrUm6OrientationSensorConfig.CommPort = 0;
SaveState(_state);
}
else
{
// Clear old Chr readings
_state.Quaternion = null;
}
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
if (_state.ChrUm6OrientationSensorConfig == null)
{
_state.ChrUm6OrientationSensorConfig = new ChrUm6OrientationSensorConfig();
}
// Publish the service to the local Node Directory
DirectoryInsert();
_chrConnection = new ChrConnection(_state.ChrUm6OrientationSensorConfig, _chrDataPort);
SpawnIterator(ConnectToChrUm6OrientationSensor);
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
mainInterleave.CombineWith(new Interleave(new ExclusiveReceiverGroup(
Arbiter.Receive <short[]>(true, _chrDataPort, DataReceivedHandler),
Arbiter.Receive <Exception>(true, _chrDataPort, ExceptionHandler),
Arbiter.Receive <string>(true, _chrDataPort, MessageHandler)
),
new ConcurrentReceiverGroup()));
//base.Start(); -- can't have it here, we already started mainInterleave and added to directory via DirectoryInsert
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
//initialize state
_state = new ScribblerState();
_state.ComPort = 0;
_state.RobotName = null;
//motors initially stopped
_state.MotorLeft = 100;
_state.MotorRight = 100;
SaveState(_state);
}
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//open Scribbler Communications port
if (ConnectToScribbler())
{
// Listen for a single Serial port request with an acknowledgement
Activate(Arbiter.ReceiveWithIterator <SendScribblerCommand>(false, _scribblerComPort, SendScribblerCommandHandler));
PollTimer = new System.Timers.Timer();
PollTimer.Interval = TimerDelay;
PollTimer.AutoReset = true;
PollTimer.Elapsed += new System.Timers.ElapsedEventHandler(PollTimer_Elapsed);
PollTimer.Start();
//play startup tone
PlayToneBody startTone = new PlayToneBody(200, 1000, 2000);
_mainPort.Post(new PlayTone(startTone));
//debug
//ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_INFO);
//SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
//_scribblerComPort.Post(sendcmd);
//fix state
_state.MotorLeft = 100;
_state.MotorRight = 100;
_state.LEDLeft = false;
_state.LEDRight = false;
_state.LEDCenter = false;
}
else
{
//no scribbler found. Open state page for manual settings.
//OpenServiceInBrowser();
}
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
//for HttpPost
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
// Publish the service to the local Node Directory
DirectoryInsert();
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <SetMotors>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIterator <SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIterator <SetAllLEDs>(true, _mainPort, SetAllLEDsHandler),
Arbiter.ReceiveWithIterator <PlayTone>(true, _mainPort, PlayToneHandler),
Arbiter.ReceiveWithIterator <SetName>(true, _mainPort, SetNameHandler),
Arbiter.ReceiveWithIterator <ScribblerResponseMessage>(true, _mainPort, ScribblerResponseHandler)
),
new ConcurrentReceiverGroup()
));
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
//initialize state
_state = new ScribblerState();
_state.ComPort = 0;
_state.RobotName = null;
//motors initially stopped
_state.MotorLeft = 100;
_state.MotorRight = 100;
//_state.LightLeftConfig = new SensorConfig();
//_state.LightRightConfig = new SensorConfig();
//_state.LightCenterConfig = new SensorConfig();
SaveState(_state);
}
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//open Scribbler Communications port
if (ConnectToScribbler())
{
// Listen for a single Serial port request with an acknowledgement
Activate(Arbiter.ReceiveWithIterator <SendScribblerCommand>(false, _scribblerComPort, SendScribblerCommandHandler));
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <SetMotor>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIterator <SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIterator <PlayTone>(true, _mainPort, PlayToneHandler),
//Arbiter.ReceiveWithIterator<ConfigureSensor>(true, _mainPort, ConfigureSensorHandler),
Arbiter.ReceiveWithIterator <SetName>(true, _mainPort, SetNameHandler)
),
new ConcurrentReceiverGroup()
));
PollTimer = new System.Timers.Timer();
PollTimer.Interval = TimerDelay;
PollTimer.AutoReset = true;
PollTimer.Elapsed += new System.Timers.ElapsedEventHandler(PollTimer_Elapsed);
PollTimer.Start();
//play startup tone
PlayToneBody startTone = new PlayToneBody(200, 1000, 2000);
PlayTone sendcmd = new PlayTone();
sendcmd.Body = startTone;
_mainPort.Post(sendcmd);
}
}
private void subscribeCamera(CameraInfo argCi)
{
// Subscribe to the simulator camera, using a handler
// that will only update the GUI if this camera is
// selected (because there is currently no way to
// unsubscribe from a camera.
//if (ci.Camera.IsRealTimeCamera)
//{
CameraInfo ci = argCi;
ci.Port = new Port<System.Drawing.Bitmap>();
ci.Camera.Subscribe(ci.Port);
Interleave interleave = new Interleave(new ExclusiveReceiverGroup(), new ConcurrentReceiverGroup());
interleave.CombineWith(
new Interleave(new ExclusiveReceiverGroup(
Arbiter.Receive(true, ci.Port,
delegate(System.Drawing.Bitmap inbmp)
{
if (interleave.PendingExclusiveCount <= 1 && curCamera == ci)
if (DateTime.Now.Subtract(lastFrameTime).Milliseconds >= frameInterval)
{
lastFrameTime = DateTime.Now;
updateImageDisplay(inbmp);
}
})),
new ConcurrentReceiverGroup()));
Arbiter.Activate(throttledQueue, interleave);
//}
//else
//{
// // If it's not a real time camera, we have to start a loop
// // to query it
// new Thread(new ThreadStart(delegate()
// {
// var resultPort = new PortSet<System.Drawing.Bitmap, Exception>();
// while (shouldStay)
// {
// if (curCamera == ci)
// {
// // The throttledQueue has only 1 thread, so concurrent execution
// // will not happen here if the updateImageDisplay handler cannot
// // keep up with the rate at which we're querying frames.
// ci.Camera.CaptureScene(System.Drawing.Imaging.ImageFormat.Bmp, resultPort);
// Arbiter.Activate(throttledQueue, Arbiter.Choice(resultPort,
// updateImageDisplay,
// delegate(Exception e)
// {
// Console.WriteLine(e);
// }));
// }
// Thread.Sleep(frameInterval);
// }
// })).Start();
//}
}
protected override void Start()
{
//configure default state
if (_state == null)
{
_state = new LegoNxtBatteryState();
_state.PollDelayTime = 10000; //10 seconds
_state.MaxBatteryPower = 9.0;
SaveState(_state);
}
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
//listen on alternate service port for requests and call the appropriate handler.
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <DsspDefaultDrop>(false, _batteryPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <battery.Replace>(true, _batteryPort, ReplaceHandler),
Arbiter.ReceiveWithIterator <battery.Subscribe>(true, _batteryPort, SubscribeHandler)
),
new ConcurrentReceiverGroup(
Arbiter.ReceiveWithIterator <battery.Get>(true, _batteryPort, GetHandler),
Arbiter.Receive <DsspDefaultLookup>(true, _batteryPort, DefaultLookupHandler)
)
));
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//wait until the nxt is connected to start polling for the battery level
// Create a temporary notification port
legoNXT.LegoNxtOperations _notificationPort = new legoNXT.LegoNxtOperations();
Activate(
Arbiter.Choice(_legoPort.Subscribe(_notificationPort),
delegate(SubscribeResponseType Rsp)
{
LogInfo("Lego NXT battery initial subscription success. Waiting for NXT to connect.");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive <legoNXT.Configure>(false, _notificationPort,
delegate(legoNXT.Configure msg)
{
//start polling
LogInfo("NXT Battery service notified of NXT connection");
_timerPort.Post(DateTime.Now);
Activate(Arbiter.Receive(true, _timerPort, TimerHandler));
})
);
},
delegate(Fault F)
{
LogError("Lego NXT battery initial subscription failed");
}
)
);
}