/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
InitializeState();
// Set up the reliable port using DSS forwarder to ensure exception and timeout conversion to fault.
_reliableMainPort = ServiceForwarder<NxtBrickOperations>(this.ServiceInfo.Service);
// Make the service visible immediately
DirectoryInsert();
// Handle some handlers all the time -- even during initialization and exclusive handlers.
Activate<ITask>(
Arbiter.ReceiveWithIterator<Get>(true, _internalMainPort, GetHandler),
Arbiter.Receive<HttpGet>(true, _internalMainPort, HttpGetHandler),
Arbiter.Receive<DsspDefaultLookup>(true, _internalMainPort, base.DefaultLookupHandler),
Arbiter.ReceiveWithIterator<LegoSensorUpdate>(true, _internalMainPort, LegoSensorUpdateHandler)
);
// Start initializing the communications service
DsspResponsePort<CreateResponse> nxtCommunicationResponse = CreateNxtCommunicationService();
// Activate on all operations.
// Operations which require a connection to the hardware will throw a fault.
Interleave initializationInterleave = new Interleave(
new TeardownReceiverGroup(
Arbiter.ReceiveWithIterator<CreateResponse>(false, nxtCommunicationResponse, ServiceInitialization),
Arbiter.ReceiveWithIterator<DsspDefaultDrop>(false, _internalMainPort, DropHandler)
),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator<AttachAndSubscribe>(true, _internalMainPort, AttachAndSubscribeHandler),
Arbiter.ReceiveWithIterator<ReserveDevicePort>(true, _internalMainPort, ReserveDevicePortHandler),
Arbiter.ReceiveWithIterator<Subscribe>(true, _internalMainPort, SubscribeHandler),
Arbiter.ReceiveWithIterator<Detach>(true, _internalMainPort, DetachHandler),
Arbiter.ReceiveWithIterator <AdjustPollingFrequency>(true, _internalMainPort, AdjustPollingFrequencyHandler)
),
new ConcurrentReceiverGroup());
// Wait on this interleave until a CreateResponse is posted to nxtCommunicationResponse port.
Activate(initializationInterleave);
// Set up a seperate interleave which processes I2C Commands one at a time.
Activate(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator<SendLowSpeedCommand>(true, _internalI2CPort, I2cLowSpeedCommandHandler)),
new ConcurrentReceiverGroup()));
}
/// <summary>
/// Service Initialization
/// Connect to the Brick and then open up the service for all requests
/// </summary>
/// <returns></returns>
public virtual IEnumerator<ITask> ServiceInitialization(CreateResponse createResponse)
{
// Set up the _brickPort to our communications service
_brickPort = ServiceForwarder<comm.LegoCommOperations>(createResponse.Service);
// Subscribe to the communications port.
yield return Arbiter.Choice(_brickPort.Subscribe(_brickNotificationPort),
EmptyHandler<SubscribeResponseType>,
EmptyHandler<Fault>);
// If the SerialPort is not set, start the service,
// but do not attempt to connect to the actual hardware.
bool done = (_state.Configuration.SerialPort == 0);
if (!done)
{
// If we are not done yet, attempt to connect to the hardware.
NxtBrickOperations _initPort = new NxtBrickOperations();
PortSet<DefaultUpdateResponseType, Fault> _initResponse = new PortSet<DefaultUpdateResponseType, Fault>();
ConnectToHardware connectToHardware = new ConnectToHardware(_state.Configuration, _initResponse);
_initPort.Post(connectToHardware);
// Special one time handler to connect to the hardware before we open up the service to receive messages.
Activate<ITask>(
Arbiter.ReceiveWithIterator<ConnectToHardware>(false, _initPort, ConnectToHardwareHandler),
new Interleave(
new TeardownReceiverGroup(
Arbiter.ReceiveWithIterator<DefaultUpdateResponseType>(false, _initResponse, InitializationComplete),
Arbiter.ReceiveWithIterator<Fault>(false, _initResponse, InitializationComplete),
Arbiter.ReceiveWithIterator<DsspDefaultDrop>(false, _internalMainPort, DropHandler)
),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator<AttachAndSubscribe>(true, _internalMainPort, AttachAndSubscribeHandler),
Arbiter.ReceiveWithIterator<ReserveDevicePort>(true, _internalMainPort, ReserveDevicePortHandler),
Arbiter.ReceiveWithIterator<Subscribe>(true, _internalMainPort, SubscribeHandler),
Arbiter.ReceiveWithIterator<Detach>(true, _internalMainPort, DetachHandler),
Arbiter.ReceiveWithIterator<AdjustPollingFrequency>(true, _internalMainPort, AdjustPollingFrequencyHandler)
),
new ConcurrentReceiverGroup())
);
}
else
{
SpawnIterator<DefaultUpdateResponseType>(DefaultUpdateResponseType.Instance, InitializationComplete);
}
yield break;
}
