public QwerkController connectToQwerk(UserSessionPrx userSessionPrx, string qwerkUserId)
{
// connect to the Qwerk
Trace.TraceInformation("Connecting to Qwerk [" + qwerkUserId + "]...");
try
{
this.userSessionPrx = userSessionPrx;
ObjectPrx objectPrx = userSessionPrx.connectToPeer(qwerkUserId);
if (objectPrx != null)
{
QwerkPrx qwerkPrx = QwerkPrxHelper.checkedCast(objectPrx);
if (qwerkPrx != null)
{
Trace.TraceInformation("Connection successful! (" + Util.identityToString(qwerkPrx.ice_getIdentity()) + ")");
return(new QwerkController(qwerkUserId, qwerkPrx, this));
}
else
{
Trace.TraceError(" Connection failed!");
}
}
else
{
Trace.TraceError(" connectToPeer() returned a null peer. Bummer.");
}
}
catch (PeerException e)
{
Trace.TraceError(" Connection failed due to a PeerException: {0}", e.reason);
throw e;
}
return(null);
}
public IEnumerator <ITask> DirectLoginHandler(DirectLogin login)
{
if (trace)
{
LogInfo("DirectLogin Received");
}
try
{
TerkUserPrx terkUserPrx = directCommunicator.connectToPeer(login.Body.PeerIdentifier);
if (trace)
{
LogInfo("Connect complete!");
}
QwerkPrx qwerkPrx = QwerkPrxHelper.uncheckedCast(terkUserPrx);
this.qwerkController = new QwerkController(login.Body.PeerIdentifier, qwerkPrx, directCommunicator);
}
catch (Exception e)
{
string failure = "Failed to connect to Qwerk '" + login.Body.PeerIdentifier + "': " + e;
LogInfo(failure);
login.ResponsePort.Post(generateFault(failure));
yield break;
}
login.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
public QwerkController(string qwerkUserId, QwerkPrx qwerkProxy, TerkCommunicator communicator)
{
this.qwerkProxy = qwerkProxy;
ServiceProvider serviceProvider = ServiceProviderFactory.getFactory().createServiceProvider(qwerkUserId,
qwerkProxy,
communicator);
ServiceFactory serviceFactory = new QwerkServiceFactory(qwerkProxy);
// note: the AnalogInputsService is created differently since there isn't really a service of type
// AnalogInputsService.TYPE_ID. Currently, the only way to get analog data is from Qwerk's getState() method. So,
// we use a special service factory (QwerkServiceFactory) which has a reference to the Qwerk proxy which is used
// to create the AnalogInputsService. This hackishness will change once we fix the API to fully support all
// services (if you poke through the code, you'll see that the DigitalIOService is a bit of a hack, too).
analogInputsService = (AnalogInputsService) serviceFactory.createService(AnalogInputsService.TYPE_ID, null);
digitalIOService = (DigitalIOService) serviceProvider.getService(DigitalIOService.TYPE_ID, serviceFactory);
motorService = (MotorService)serviceProvider.getService(MotorService.TYPE_ID, serviceFactory);
servoService = (ServoService)serviceProvider.getService(ServoService.TYPE_ID, serviceFactory);
videoStreamService = (VideoStreamService)serviceProvider.getService(VideoStreamService.TYPE_ID, serviceFactory);
}
public QwerkController(string qwerkUserId, QwerkPrx qwerkProxy, TerkCommunicator communicator)
{
this.qwerkProxy = qwerkProxy;
ServiceProvider serviceProvider = ServiceProviderFactory.getFactory().createServiceProvider(qwerkUserId,
qwerkProxy,
communicator);
ServiceFactory serviceFactory = new QwerkServiceFactory(qwerkProxy);
// note: the AnalogInputsService is created differently since there isn't really a service of type
// AnalogInputsService.TYPE_ID. Currently, the only way to get analog data is from Qwerk's getState() method. So,
// we use a special service factory (QwerkServiceFactory) which has a reference to the Qwerk proxy which is used
// to create the AnalogInputsService. This hackishness will change once we fix the API to fully support all
// services (if you poke through the code, you'll see that the DigitalIOService is a bit of a hack, too).
analogInputsService = (AnalogInputsService)serviceFactory.createService(AnalogInputsService.TYPE_ID, null);
digitalIOService = (DigitalIOService)serviceProvider.getService(DigitalIOService.TYPE_ID, serviceFactory);
motorService = (MotorService)serviceProvider.getService(MotorService.TYPE_ID, serviceFactory);
servoService = (ServoService)serviceProvider.getService(ServoService.TYPE_ID, serviceFactory);
videoStreamService = (VideoStreamService)serviceProvider.getService(VideoStreamService.TYPE_ID, serviceFactory);
}
internal AnalogInputsServiceImpl(QwerkPrx qwerkPrx)
{
this.qwerkPrx = qwerkPrx;
}
internal DigitalIOServiceImpl(DigitalOutControllerPrx proxy, QwerkPrx qwerkPrx)
{
this.proxy = proxy;
this.qwerkPrx = qwerkPrx;
}
internal QwerkServiceFactory(QwerkPrx qwerkProxy)
{
getTypeIdToServiceCreatorsMap().Add(AnalogInputsService.TYPE_ID, new AnalogInputServiceCreator(qwerkProxy));
getTypeIdToServiceCreatorsMap().Add(DigitalIOService.TYPE_ID, new DigitalIOServiceCreator(qwerkProxy));
getTypeIdToServiceCreatorsMap().Add(VideoStreamService.TYPE_ID, new VideoStreamServiceCreator());
}
internal DigitalIOServiceCreator(QwerkPrx qwerkProxy)
{
this.qwerkProxy = qwerkProxy;
}
internal AnalogInputServiceCreator(QwerkPrx qwerkProxy)
{
this.qwerkProxy = qwerkProxy;
}
internal QwerkServiceFactory(QwerkPrx qwerkProxy)
{
getTypeIdToServiceCreatorsMap().Add(AnalogInputsService.TYPE_ID, new AnalogInputServiceCreator(qwerkProxy));
getTypeIdToServiceCreatorsMap().Add(DigitalIOService.TYPE_ID, new DigitalIOServiceCreator(qwerkProxy));
getTypeIdToServiceCreatorsMap().Add(VideoStreamService.TYPE_ID, new VideoStreamServiceCreator());
}
internal DigitalIOServiceCreator(QwerkPrx qwerkProxy)
{
this.qwerkProxy = qwerkProxy;
}
internal AnalogInputServiceCreator(QwerkPrx qwerkProxy)
{
this.qwerkProxy = qwerkProxy;
}
internal AnalogInputsServiceImpl(QwerkPrx qwerkPrx)
{
this.qwerkPrx = qwerkPrx;
}
internal DigitalIOServiceImpl(DigitalOutControllerPrx proxy, QwerkPrx qwerkPrx)
{
this.proxy = proxy;
this.qwerkPrx = qwerkPrx;
}
