public virtual IEnumerator<ITask> AttachAndSubscribeHandler(AttachAndSubscribe attach)
{
AttachResponse response;
// Disconnect request
if (attach.Body.Registration.Connection.Port == LegoNxtPort.NotConnected)
{
// Check if the sensor was already registered.
UnregisterDevice(attach.Body.Registration.ServiceUri);
response = new AttachResponse(attach.Body.Registration.Connection, attach.Body.Registration.DeviceModel);
attach.ResponsePort.Post(response);
yield break;
}
// Invalid Ports, return a fault
if (attach.Body.Registration.Connection.Port == LegoNxtPort.AnyMotorPort
|| attach.Body.Registration.Connection.Port == LegoNxtPort.AnySensorPort
|| attach.Body.Registration.Connection.Port == LegoNxtPort.A
|| attach.Body.Registration.Connection.Port == LegoNxtPort.B
|| attach.Body.Registration.Connection.Port == LegoNxtPort.C
|| attach.Body.Registration.Connection.Port == LegoNxtPort.EncoderA
|| attach.Body.Registration.Connection.Port == LegoNxtPort.EncoderB
|| attach.Body.Registration.Connection.Port == LegoNxtPort.EncoderC)
{
attach.ResponsePort.Post(
Fault.FromException(
new ArgumentOutOfRangeException(
string.Format("Invalid {0} Port: {1}", attach.Body.Registration.DeviceModel, attach.Body.Registration.Connection))));
yield break;
}
// Convert all inherited LegoCommand types to LegoCommands.
NormalizeAttachRequest(attach.Body);
string priorUri = null;
string connectionKey = attach.Body.Registration.Connection.ToString();
if (_state.Runtime.Devices.ContainsKey(connectionKey))
{
priorUri = _state.Runtime.Devices[connectionKey].Registration.ServiceUri;
if (priorUri != attach.Body.Registration.ServiceUri)
UnregisterDevice(priorUri);
}
_state.Runtime.Devices[connectionKey] = attach.Body;
if (!string.IsNullOrEmpty(priorUri) && !priorUri.Equals(attach.Body.Registration.ServiceUri, StringComparison.InvariantCultureIgnoreCase))
{
// Send Notification to prior service that it has been disconnected
PortSet<DsspDefaultLookup, DsspDefaultDrop> priorServicePort = ServiceForwarder<PortSet<DsspDefaultLookup, DsspDefaultDrop>>(priorUri);
priorServicePort.Post(DsspDefaultDrop.Instance);
}
if (_state.Runtime.Connected)
{
if (attach.Body.InitializationCommands != null)
{
foreach (LegoCommand cmd in attach.Body.InitializationCommands.Commands)
{
// Send Initialization Sequence.
yield return Arbiter.Choice(_brickPort.SendCommand(cmd),
delegate(LegoResponse ok) { },
delegate(Fault fault) { LogError(fault); });
}
}
}
attach.Body.Registration.SubscriberUri = attach.Body.Subscriber;
attach.Body.Timestamp = DateTime.Now;
// Register for periodic Polling.
if (attach.Body.PollingCommands != null
&& attach.Body.PollingCommands.Commands != null
&& attach.Body.PollingCommands.Commands.Count > 0)
{
_pollingPort.Post(new PollingEntry(attach.Body));
}
response = new AttachResponse(attach.Body.Registration.Connection, attach.Body.Registration.DeviceModel);
yield return Arbiter.Choice(SelectiveSubscribe(attach),
delegate(SubscribeResponseType ok)
{
attach.ResponsePort.Post(response);
},
attach.ResponsePort.Post
);
yield break;
}
/// <summary>
/// Create a custom selective subscribe which filters on the
/// service uri of the subscriber.
/// </summary>
/// <param name="subscribe"></param>
/// <returns></returns>
private PortSet<SubscribeResponseType, Fault> SelectiveSubscribe(AttachAndSubscribe subscribe)
{
submgr.InsertSubscription insert = new submgr.InsertSubscription(subscribe.Body);
insert.Body.FilterType = submgr.FilterType.Default;
//List<submgr.QueryType> query = new List<submgr.QueryType>();
//query.Add(new submgr.QueryType(subscribe.Body.Registration.ServiceUri));
//insert.Body.QueryList = query.ToArray();
_subMgrPort.Post(insert);
return insert.ResponsePort;
}
