public virtual IEnumerator<ITask> ReserveDevicePortHandler(ReserveDevicePort reservation)
{
//Debugger.Break();
AttachResponse response;
// If the device will be detached.
if (reservation.Body.Connection.Port == LegoNxtPort.NotConnected)
{
response = new AttachResponse(reservation.Body.Connection, reservation.Body.DeviceModel);
reservation.ResponsePort.Post(response);
yield break;
}
switch (reservation.Body.Connection.Port)
{
case LegoNxtPort.A:
case LegoNxtPort.EncoderA:
reservation.Body.Connection.Port = LegoNxtPort.MotorA;
break;
case LegoNxtPort.B:
case LegoNxtPort.EncoderB:
reservation.Body.Connection.Port = LegoNxtPort.MotorB;
break;
case LegoNxtPort.C:
case LegoNxtPort.EncoderC:
reservation.Body.Connection.Port = LegoNxtPort.MotorC;
break;
case LegoNxtPort.AnyMotorPort:
case LegoNxtPort.AnySensorPort:
lock(_state.Runtime.Devices)
{
// See if the device is already attached.
foreach (AttachRequest device in _state.Runtime.Devices.Values)
{
if (device.Registration != null
&& device.Registration.ServiceUri != null
&& device.Registration.ServiceUri.Equals(reservation.Body.ServiceUri, StringComparison.InvariantCultureIgnoreCase))
{
response = new AttachResponse(device.Registration.Connection, reservation.Body.DeviceModel);
reservation.ResponsePort.Post(response);
yield break;
}
}
}
if (reservation.Body.Connection.Port == LegoNxtPort.AnyMotorPort)
{
// Use the next available Motor Port
if (!_state.Runtime.Devices.ContainsKey(LegoNxtPort.MotorA.ToString())
|| string.IsNullOrEmpty(_state.Runtime.Devices[LegoNxtPort.MotorA.ToString()].Registration.ServiceUri))
reservation.Body.Connection.Port = LegoNxtPort.MotorA;
else if (!_state.Runtime.Devices.ContainsKey(LegoNxtPort.MotorB.ToString())
|| string.IsNullOrEmpty(_state.Runtime.Devices[LegoNxtPort.MotorB.ToString()].Registration.ServiceUri))
reservation.Body.Connection.Port = LegoNxtPort.MotorB;
else if (!_state.Runtime.Devices.ContainsKey(LegoNxtPort.MotorC.ToString())
|| string.IsNullOrEmpty(_state.Runtime.Devices[LegoNxtPort.MotorC.ToString()].Registration.ServiceUri))
reservation.Body.Connection.Port = LegoNxtPort.MotorC;
else
reservation.Body.Connection.Port = LegoNxtPort.NotConnected;
}
else if (reservation.Body.Connection.Port == LegoNxtPort.AnySensorPort)
{
if (reservation.Body.DeviceType == LegoDeviceType.DigitalSensor)
{
bool done = !_state.Runtime.Connected;
yield return Arbiter.Receive(false, TestPortForI2CSensor(LegoNxtPort.Sensor1, reservation.Body.DeviceModel),
delegate(bool success)
{
if (success)
reservation.Body.Connection.Port = LegoNxtPort.Sensor1;
done = success;
});
//if (!done)
// yield return Arbiter.Receive(false, TestPortForI2CSensor(LegoNxtPort.Sensor2, reservation.Body.DeviceModel),
// delegate(bool success)
// {
// if (success)
// reservation.Body.Connection.Port = LegoNxtPort.Sensor2;
// done = success;
// });
//if (!done)
// yield return Arbiter.Receive(false, TestPortForI2CSensor(LegoNxtPort.Sensor3, reservation.Body.DeviceModel),
// delegate(bool success)
// {
// if (success)
// reservation.Body.Connection.Port = LegoNxtPort.Sensor3;
// done = success;
// });
//if (!done)
//{
// LogInfo(LogGroups.Console, "Checking for I2C Sensor on Port 4");
// yield return Arbiter.Receive(false, TestPortForI2CSensor(LegoNxtPort.Sensor4, reservation.Body.DeviceModel),
// delegate(bool success)
// {
// LogInfo(LogGroups.Console, "Found I2C Sensor on Port 4: " + success.ToString());
// if (success)
// reservation.Body.Connection.Port = LegoNxtPort.Sensor4;
// done = success;
// });
//}
}
}
break;
}
// If we weren't able to assign the Port, exit
if ( reservation.Body.Connection.Port == LegoNxtPort.NotConnected
|| reservation.Body.Connection.Port == LegoNxtPort.AnyMotorPort
|| reservation.Body.Connection.Port == LegoNxtPort.AnySensorPort
|| reservation.Body.Connection.Port == LegoNxtPort.A
|| reservation.Body.Connection.Port == LegoNxtPort.B
|| reservation.Body.Connection.Port == LegoNxtPort.C
|| reservation.Body.Connection.Port == LegoNxtPort.EncoderA
|| reservation.Body.Connection.Port == LegoNxtPort.EncoderB
|| reservation.Body.Connection.Port == LegoNxtPort.EncoderC)
{
reservation.Body.Connection.Port = LegoNxtPort.NotConnected;
}
else // Reserve the connection
{
_state.Runtime.Devices[reservation.Body.Connection.ToString()] = new AttachRequest(reservation.Body);
}
response = new AttachResponse(reservation.Body.Connection, reservation.Body.DeviceModel);
reservation.ResponsePort.Post(response);
yield break;
}
public async Task Attach(CancellationToken cancellationToken)
{
System.Diagnostics.Debug.Assert(CurrentState == State.Idle);
SocketPermission permission = new SocketPermission(
NetworkAccess.Connect,
TransportType.Tcp,
kServerHostname,
kServerPort);
permission.Demand();
IPAddress ipAddress = new IPAddress(new byte[] { 127, 0, 0, 1 });
IPEndPoint ipEndPoint = new IPEndPoint(ipAddress, kServerPort);
socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream,
ProtocolType.Tcp);
socket.Blocking = false;
socket.NoDelay = true;
socket.ReceiveBufferSize = 1024 * 1024;
socket.SendBufferSize = 1024 * 1024;
socket.ReceiveTimeout = 0;
socket.SendTimeout = 0;
OnStateChanged(State.Attaching);
while (true)
{
Task task = Task.Factory.FromAsync(socket.BeginConnect, socket.EndConnect, ipEndPoint, null);
try {
await task.WithCancellation(cancellationToken);
} catch (OperationCanceledException) {
socket.Close();
socket = null;
OnStateChanged(State.Idle);
return;
} catch (SocketException e) {
if (e.SocketErrorCode == SocketError.ConnectionRefused)
{
// Not found - emulator may still be starting.
System.Diagnostics.Debug.WriteLine("Connection refused; trying again...");
continue;
}
OnStateChanged(State.Idle);
return;
}
break;
}
// Start recv pump.
Dispatch.Issue(() => ReceivePump());
var fbb = BeginRequest();
AttachRequest.StartAttachRequest(fbb);
int requestDataOffset = AttachRequest.EndAttachRequest(fbb);
var response = await CommitRequest(fbb, RequestData.AttachRequest, requestDataOffset);
System.Diagnostics.Debug.Assert(response.ResponseDataType ==
ResponseData.AttachResponse);
var attachResponse = new AttachResponse();
response.GetResponseData(attachResponse);
// Open mmap to share memory.
memoryHandle = FileMapping.OpenFileMapping(
FileMapAccess.FILE_MAP_ALL_ACCESS, false, attachResponse.MemoryFile);
if (memoryHandle.IsInvalid)
{
System.Diagnostics.Debug.Fail("Unable to open target memory");
Detach();
return;
}
// Open mmap to code cache.
codeCacheHandle =
FileMapping.OpenFileMapping(FileMapAccess.FILE_MAP_ALL_ACCESS, false,
attachResponse.CodeCacheFile);
if (codeCacheHandle.IsInvalid)
{
System.Diagnostics.Debug.Fail("Unable to open target code cache");
Detach();
return;
}
codeCachePtr = FileMapping.MapViewOfFileEx(
codeCacheHandle, FileMapAccess.FILE_MAP_ALL_ACCESS, 0, 0,
attachResponse.CodeCacheSize, attachResponse.CodeCacheBase);
// Setup the memory system. This maps the emulator memory into our address
// space.
if (!Memory.InitializeMapping(memoryHandle))
{
Detach();
return;
}
OnStateChanged(State.Attached);
}
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;
}
