/// <summary>
///
/// </summary>
/// <param name="builder"></param>
/// <param name="middlewaretype"></param>
/// <param name="args"></param>
/// <returns></returns>
public static IControlLoopBuilder Use(this IControlLoopBuilder builder, Type middlewaretype, params object[] args)
{
if (builder is null)
{
throw new ArgumentNullException(nameof(builder));
}
if (middlewaretype is null)
{
throw new ArgumentNullException(nameof(middlewaretype));
}
builder.Use(point =>
{
if (!typeof(IControlLoopMiddleware).IsAssignableFrom(middlewaretype))
{
throw new ArgumentException($"{middlewaretype.Name} must be implementing { typeof(IControlLoopMiddleware).Name}.");
}
var conArgs = new object[args.Length + 1];
conArgs[0] = point;
Array.Copy(args, 0, conArgs, 1, args.Length);
var middleware = ActivatorUtilities.CreateInstance(builder.ApplicationServices, middlewaretype, conArgs) as IControlLoopMiddleware
?? throw new Exception(); //Todo: Change Exception to a more meaningful exception.
return(middleware.InvokeAsync);
});
return(builder);
}
/// <summary>
///
/// </summary>
/// <typeparam name="TMiddelware"></typeparam>
/// <param name="builder"></param>
/// <param name="args"></param>
/// <returns></returns>
public static IControlLoopBuilder Use <TMiddelware>(this IControlLoopBuilder builder, params object[] args) where TMiddelware : IControlLoopMiddleware
{
if (builder is null)
{
throw new ArgumentNullException(nameof(builder));
}
builder.Use(typeof(TMiddelware), args);
return(builder);
}
public static IControlLoopBuilder Invoke(this IControlLoopBuilder builder, Func <IDroneServerContext, ControlPoint, Task> middleware)
{
if (builder is null)
{
throw new ArgumentNullException(nameof(builder));
}
if (middleware is null)
{
throw new ArgumentNullException(nameof(middleware));
}
builder.Use <InlineMiddleware>(builder.ApplicationServices.GetRequiredService <IDroneServerContext>(), middleware);
return(builder);
}
