/// <summary>
/// UploadSrgsFile HTTP post handler
/// </summary>
/// <param name="postData"></param>
/// <param name="post"></param>
/// <returns></returns>
private IEnumerator <ITask> UploadSrgsFileHttpPostHandler(HttpPostRequestData postData, HttpPost post)
{
string mountPointFileLocation = postData.Parameters["MountPointSaveLocation"];
if (string.IsNullOrEmpty(mountPointFileLocation))
{
PostHttpPostParameterError(post, "No mount point save location was specified");
yield break;
}
HttpPostFile file = postData.Files["SrgsFile"];
if (file == null)
{
PostHttpPostParameterError(post, "No SRGS file uploaded");
yield break;
}
// Write file to mount service
SuccessFailurePort writerResponsePort = new SuccessFailurePort();
yield return(new IterativeTask(delegate
{
return WriteFileToMountService(
mountPointFileLocation,
file.InputStream,
writerResponsePort
);
}));
Exception writeException = (Exception)writerResponsePort;
if (writeException != null)
{
LogWarning(writeException);
post.ResponsePort.Post(new HttpResponseType(
HttpStatusCode.BadRequest,
Fault.FromException(writeException)
));
yield break;
}
// Use newly uploaded file
NameValueCollection parameters = new NameValueCollection();
parameters["SrgsFileLocation"] = mountPointFileLocation;
yield return(new IterativeTask(delegate
{
return UseExistingSrgsFileHttpPostHandler(
parameters,
post
);
}));
// UseExistingSrgsFileHttpPostHandler already took care of posting
// a result on the response port
yield break;
}
public IEnumerator <ITask> HttpPostHandler(HttpPost post)
{
HttpPostRequestData request = post.GetHeader <HttpPostRequestData>();
NameValueCollection collection = null;
if (request == null)
{
LogError("No form data available with HttpPost");
}
else
{
collection = request.Parameters;
string location = collection["Location"];
if (location != null)
{
_state.CameraImageLocation = new Uri(location);
yield return(Arbiter.Choice(
SaveState(_state),
delegate(DefaultReplaceResponseType success) { },
delegate(Fault fault)
{
LogError(null, "Unable to save state", fault);
}
));
}
}
yield return(new IterativeTask <HttpListenerContext, PortSet <HttpResponseType, Fault> >(
post.Body.Context,
post.ResponsePort,
HttpHandler
));
}
public void HttpPostHandler(HttpPost httpPost)
{
HttpPostRequestData formData = httpPost.GetHeader <HttpPostRequestData>();
try
{
DsspOperation operation = formData.TranslatedOperation;
if (operation is DriveDistance)
{
_mainPort.Post((DriveDistance)operation);
}
else if (operation is SetDrivePower)
{
_mainPort.Post((SetDrivePower)operation);
}
else if (operation is RotateDegrees)
{
_mainPort.Post((RotateDegrees)operation);
}
else if (operation is EnableDrive)
{
_mainPort.Post((EnableDrive)operation);
}
else if (operation is AllStop)
{
_mainPort.Post((AllStop)operation);
}
else if (operation is ResetEncoders)
{
_mainPort.Post((ResetEncoders)operation);
}
else
{
NameValueCollection parameters = formData.Parameters;
if (parameters["StartDashboard"] != null)
{
string Dashboardcontract = "http://schemas.microsoft.com/robotics/2006/01/simpledashboard.user.html";
ServiceInfoType info = new ServiceInfoType(Dashboardcontract);
cons.Create create = new cons.Create(info);
create.TimeSpan = DsspOperation.DefaultShortTimeSpan;
ConstructorPort.Post(create);
Activate(Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse createResponse) { },
delegate(Fault f) { LogError(f); }
));
}
else if (parameters["DrivePower"] != null)
{
double power = double.Parse(parameters["Power"]);
SetDrivePowerRequest drivepower = new SetDrivePowerRequest();
drivepower.LeftWheelPower = power;
drivepower.RightWheelPower = power;
_mainPort.Post(new SetDrivePower(drivepower));
}
else
{
throw new InvalidOperationException();
}
}
HttpPostSuccess(httpPost);
}
catch
{
HttpPostFailure(httpPost);
}
}
public IEnumerator <ITask> HttpPostHandler(HttpPost post)
{
// Use helper to read form data
ReadAllFormData readForm = new ReadAllFormData(post);
_httpUtilities.Post(readForm);
yield return((Choice)readForm.ResultPort);
Exception exception = (Exception)readForm.ResultPort;
if (exception != null)
{
LogError(exception);
post.ResponsePort.Post(new HttpResponseType(
HttpStatusCode.OK,
Fault.FromException(exception)
));
yield break;
}
HttpPostRequestData postData = (HttpPostRequestData)readForm.ResultPort;
NameValueCollection parameters = postData.Parameters;
string cmd = parameters["cmd"];
if (cmd != null)
{
cmd = cmd.ToLowerInvariant();
switch (cmd)
{
case "savedictionary":
yield return(new IterativeTask(
delegate
{
return SaveDictionaryHttpPostHandler(parameters, post);
}
));
yield break;
case "uploadsrgsfile":
yield return(new IterativeTask(
delegate
{
return UploadSrgsFileHttpPostHandler(postData, post);
}
));
yield break;
case "useexistingsrgsfile":
yield return(new IterativeTask(
delegate
{
return UseExistingSrgsFileHttpPostHandler(parameters, post);
}
));
yield break;
}
}
PostHttpPostParameterError(post, "Unknown post command");
yield break;
}
