/// <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
}
public IEnumerator <ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Wait for result
Activate(Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection parameters)
{
if (!string.IsNullOrEmpty(parameters["Action"]) &&
parameters["Action"] == "ChrUm6OrientationSensorConfig"
)
{
if (parameters["buttonOk"] == "Search")
{
FindChrConfig findConfig = new FindChrConfig();
_mainPort.Post(findConfig);
Activate(
Arbiter.Choice(
Arbiter.Receive <ChrUm6OrientationSensorConfig>(false, findConfig.ResponsePort,
delegate(ChrUm6OrientationSensorConfig response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, findConfig.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Connect")
{
ChrUm6OrientationSensorConfig config = (ChrUm6OrientationSensorConfig)_state.ChrUm6OrientationSensorConfig.Clone();
int port;
if (int.TryParse(parameters["CommPort"], out port) && port >= 0)
{
config.CommPort = port;
config.PortName = "COM" + port.ToString();
}
int baud;
if (int.TryParse(parameters["BaudRate"], out baud) && ChrConnection.ValidBaudRate(baud))
{
config.BaudRate = baud;
}
Configure configure = new Configure(config);
_mainPort.Post(configure);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, configure.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, configure.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Refresh Data")
{
HttpPostSuccess(httpPost);
}
else if (parameters["buttonOk"] == "Set Accelerometer Reference Vector")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand()
{
Command = "SetAccelRefVector"
};
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Set Magnetometer Reference Vector")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand()
{
Command = "SetMagnRefVector"
};
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Zero Rate Gyros")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand()
{
Command = "ZeroRateGyros"
};
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive <Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, null);
}
},
delegate(Exception Failure)
{
LogError(Failure.Message);
})
);
yield break;
}