public AdapterSpec(AdapterTypeEnum type, string name, ServiceInfoType serviceConfig)
{
Type = type;
Name = name;
Adapter = null;
ServiceConfig = serviceConfig;
}
public VectorAdapter(ServiceInfoType serviceRecord)
{
ServiceInfo = serviceRecord;
opPort = DssEnvironment.ServiceForwarder <vector.VectorOperations>(new Uri(serviceRecord.Service));
//if (opPort == null)
// throw new AdapterCreationException("Service forwarder port was null");
}
private void listDirectory_DoubleClick(object sender, EventArgs e)
{
ServiceInfoType[] list = listDirectory.Tag as ServiceInfoType[];
if (list != null &&
listDirectory.SelectedIndex >= 0 &&
listDirectory.SelectedIndex < list.Length)
{
// get the service path from the selected item
string[] tokens = ((string)listDirectory.SelectedItem).Split(new char[] { ' ' });
if (tokens.Length == 0)
{
return;
}
ServiceInfoType info = FindServiceInfoFromServicePath(tokens[tokens.Length - 1]);
if (info == null)
{
return;
}
if (info.Contract == drive.Contract.Identifier)
{
_eventsPort.Post(new OnConnectMotor(this, info.Service));
}
else if (info.Contract == sicklrf.Contract.Identifier)
{
_eventsPort.Post(new OnConnectSickLRF(this, info.Service));
}
else if (info.Contract == arm.Contract.Identifier)
{
_eventsPort.Post(new OnConnectArticulatedArm(this, info.Service));
}
}
}
IEnumerator <ITask> OnConnectHandler(OnConnect onConnect)
{
if (onConnect.DriveControl == _driveControl)
{
UriBuilder builder = new UriBuilder(onConnect.Service);
builder.Scheme = new Uri(ServiceInfo.Service).Scheme;
ds.DirectoryPort port = ServiceForwarder <ds.DirectoryPort>(builder.Uri);
ds.Get get = new ds.Get();
port.Post(get);
ServiceInfoType[] list = null;
yield return(Arbiter.Choice(get.ResponsePort,
delegate(ds.GetResponseType response)
{
list = response.RecordList;
},
delegate(Fault fault)
{
list = new ServiceInfoType[0];
LogError(fault);
}
));
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.ReplaceDirectoryList(list);
}
);
}
}
public NoContractFoundException(ServiceInfoType goal, List <string> targets) :
base("Could not find a contract of service " + goal.Service + " matching any compatible contracts: " +
String.Concat((from t in targets
select t + " ").ToArray()))
{
//Console.WriteLine("***" + this.ToString());
}
/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
public VectorAdapter(ServiceInfoType serviceRecord)
{
ServiceInfo = serviceRecord;
opPort = DssEnvironment.ServiceForwarder<vector.VectorOperations>(new Uri(serviceRecord.Service));
//if (opPort == null)
// throw new AdapterCreationException("Service forwarder port was null");
}
public void ServiceInfoType_To_CommonIPTVServiceV7ServiceInfoType()
{
//*** Arrange ***
var serviceInfoType = new ServiceInfoType
{
};
//*** Act ***
var apmaxSubscriberTypeV3 = ObjectFactory.CreateInstanceAndMap <ServiceInfoType, Common.IPTVServiceV7.ServiceInfoType>(_commonMapper, serviceInfoType);
Assert.IsNotNull(apmaxSubscriberTypeV3);
}
/// <summary>
/// Creates an instance of the service associated with this contract
/// </summary>
/// <param name="contructorServicePort">Contractor Service that will create the instance</param>
/// <param name="partners">Optional list of service partners for new service instance</param>
/// <returns>Result PortSet for retrieving service creation response</returns>
public static DsspResponsePort<CreateResponse> CreateService(constructor.ConstructorPort contructorServicePort, params PartnerType[] partners)
{
DsspResponsePort<CreateResponse> result = new DsspResponsePort<CreateResponse>();
ServiceInfoType si = new ServiceInfoType(Contract.Identifier, null);
if (partners != null)
{
si.PartnerList = new List<PartnerType>(partners);
}
Microsoft.Dss.Services.Constructor.Create create =
new Microsoft.Dss.Services.Constructor.Create(si, result);
contructorServicePort.Post(create);
return result;
}
protected void readConfig(string configFile)
{
services = new List <ServiceInfoType>();
//adapterTypes = new Dictionary<AdapterTypes,ArrayList>();
adapterNames = new Dictionary <string, AdapterSpec>();
XPathNavigator nav = new XPathDocument(configFile).CreateNavigator();
// Add plain services to list
XPathNodeIterator startservices = nav.Select("//StartService");
foreach (XPathNavigator node in startservices)
{
services.Add(new ServiceInfoType(getChild(node, "Contract"), getChild(node, "Service")));
}
// Add adapters to list, and to dictionary
XPathNodeIterator adapters = nav.Select("//Adapter");
Console.WriteLine(adapters.Count + " adapters in config");
foreach (XPathNavigator node in adapters)
{
// Get the relevant info for this adapter
// Attributes
string sType = node.GetAttribute("type", "");
AdapterTypeEnum type = AdapterFactory.GetType(sType);
string name = node.GetAttribute("name", "");
// Children
string contract = getChild(node, "Contract", true);
string service = getChild(node, "Service");
// Add elements to the service array and dictionary
if (adapterNames.ContainsKey(name))
{
throw new ConfigException("Duplicate adapter name \"" + name + "\"");
}
else
{
// Add a null adapter for now. An adapter will be created when the service is actually started
ServiceInfoType serviceInfo = new ServiceInfoType(contract, service);
AdapterSpec adapterInfo = new AdapterSpec(type, name, serviceInfo);
adapterNames.Add(name, adapterInfo);
//adapterServices.Add(service, adapterInfo);
//services.Add(serviceInfo);
}
}
}
public void Can_Map_Provisioning_API_ServiceInfoType_To_ApMax_SubscriberTypeV4_ServiceInfoType()
{
//*** Arrange ***
var provSubscriberType = new ServiceInfoType
{
ApSystemId = null,
BillingServiceAddress = "111 my addres st Sioux Falls, SD 57111",
BillingServiceID = "2",
ServiceGuid = Guid.NewGuid().ToString(),
ServiceType = ServiceType.Iptv
};
//*** Act ***
var apmaxSubscriberTypeV3 = ObjectFactory.CreateInstanceAndMap <ServiceInfoType, Common.SubscriberV4.ServiceInfoType>(_commonMapper, provSubscriberType);
Assert.IsNotNull(apmaxSubscriberTypeV3);
}
/// <summary>
/// This is a helper mehtod that connects the Scribbler on the specified
/// COM port. It waits for the connection to complete, and re-throws any
/// exceptions generated by the Scribbler service.
/// </summary>
/// <param name="comPort"></param>
private static void connectWaitForScribbler(string comPort)
{
ManualResetEvent evt = new ManualResetEvent(false);
waitForService(new ServiceInfoType(scribbler.Contract.Identifier),
delegate(ServiceInfoType info) { brickService = info; evt.Set(); });
evt.WaitOne(Params.DefaultRecieveTimeout, false);
if (brickService == null)
{
throw new MyroInitException("Could not find Scribbler service");
}
var scribPort = DssEnvironment.ServiceForwarder <scribbler.ScribblerOperations>(new Uri(brickService.Service));
DispatcherQueue queue = new DispatcherQueue("init", new Dispatcher());
try
{
if (comPort != null)
{
int comNumber;
if (comPort.ToLower().StartsWith("com"))
{
comNumber = Int32.Parse(comPort.Substring(3));
}
else
{
throw new MyroInitException("COM port string must be of the format com2, com5, etc.");
}
RSUtils.ReceiveSync(queue, scribPort.Replace(new scribbler.ScribblerState()
{
ComPort = comNumber
}), Params.DefaultRecieveTimeout);
}
DssEnvironment.LogInfo("calling reconnect...");
RSUtils.ReceiveSync(queue, scribPort.Reconnect(), Params.DefaultRecieveTimeout);
DssEnvironment.LogInfo("reconnect returned");
}
catch (Exception)
{
throw;
}
finally
{
queue.Dispose();
}
}
private T tryCreateAdapter()
{
lock (this)
{
try
{
// Query the service initially
PortSet <LookupResponse, Fault> responsePort = new PortSet <LookupResponse, Fault>();
DssEnvironment.ServiceForwarderUnknownType(new Uri("dssp.tcp://localhost/" + Name)).PostUnknownType(
new DsspDefaultLookup()
{
Body = new LookupRequestType(), ResponsePort = responsePort
});
ServiceInfoType responseRecord = RSUtils.ReceiveSync(responsePort, Myro.Utilities.Params.DefaultRecieveTimeout);
// Try to find a working contract for each adapter
foreach (var factory in adapterFactories)
{
try
{
ServiceInfoType serviceRecord = RSUtils.FindCompatibleContract(responseRecord, factory.SupportedContracts);
T ret = (T)factory.Create(serviceRecord);
Console.WriteLine("Attached to " + serviceRecord.Service + " as \"" + Name + "\"");
return(ret);
}
catch (NoContractFoundException) { }
}
// If we haven't returned already in the loop, we didn't find
// an adapter that works.
throw new NoAdapterFoundException(responseRecord);
}
catch (NoAdapterFoundException)
{
throw;
}
catch (Exception e)
{
DssEnvironment.LogError("Error querying or attaching to " + "dssp.tcp://localhost/" + Name + ": " + e.ToString());
throw;
}
}
}
IEnumerator <ITask> OnStartServiceHandler(OnStartService onStartService)
{
if (onStartService.DriveControl == _driveControl &&
onStartService.Constructor != null)
{
cs.ConstructorPort port = ServiceForwarder <cs.ConstructorPort>(onStartService.Constructor);
ServiceInfoType request = new ServiceInfoType(onStartService.Contract);
cs.Create create = new cs.Create(request);
port.Post(create);
string service = null;
yield return(Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse response)
{
service = response.Service;
},
delegate(Fault fault)
{
LogError(fault);
}
));
if (service == null)
{
yield break;
}
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.StartedSickLRF();
}
);
}
}
/// <summary>
/// This method searches for a primary or alternate contract of the
/// service that is present in the contracts list. Requires a
/// taskQueue to activate tasks on. Throws NoContractFoundException
/// if one cannot be found.
/// </summary>
/// <param name="taskQueue"></param>
/// <param name="service"></param>
/// <param name="contracts"></param>
/// <returns></returns>
public static ServiceInfoType FindCompatibleContract(ServiceInfoType serviceRecord, List <string> contracts)
{
ServiceInfoType ret = null;
int retIndex = Int32.MaxValue;
// See if we can understand the primary contract
int i = contracts.FindIndex(
(s => serviceRecord.Contract.Equals(s, StringComparison.Ordinal)));
if (i >= 0 && i < retIndex)
{
ret = serviceRecord;
retIndex = i;
}
// Now try each alternate contract
foreach (var part in serviceRecord.PartnerList)
{
// Alternate contract services have a name of "AlternateContractService".
if (part.Name.Name.StartsWith("AlternateContractService"))
{
i = contracts.FindIndex(
(s => part.Contract.Equals(s, StringComparison.Ordinal)));
if (i >= 0 && i < retIndex)
{
ret = part;
retIndex = i;
}
}
}
if (ret != null)
{
return(ret);
}
else
{
throw new NoContractFoundException(serviceRecord, contracts);
}
}
public static void CreateAdapterIfNeeded(AdapterSpec adapterSpec, ServiceInfoType serviceRecord)
{
Monitor.Enter(adapterSpec);
try
{
if (adapterSpec.Adapter == null)
{
switch (adapterSpec.Type)
{
case AdapterTypeEnum.Vector:
adapterSpec.Adapter = (IAdapter <Object>)(new Adapters.VectorAdapter(serviceRecord));
break;
case AdapterTypeEnum.Drive:
adapterSpec.Adapter = (IAdapter <Object>)(new Adapters.DriveAdapter(serviceRecord));
break;
default:
throw new Exception("Adapter type " + GetTypeName(adapterSpec.Type) + " not yet supported");
}
}
else
{
//Console.WriteLine("*** ERROR *** Adapter for this AdapterSpec already has been created");
}
}
catch (Exception e)
{
Console.WriteLine("*** ERROR *** " + e);
}
finally
{
//Console.WriteLine("Unlocking");
Monitor.Exit(adapterSpec);
}
}
/// <summary>
/// Helper method that waits for a service to start and runs a handler when it does.
/// This subscribes to and queries the DSS directory.
/// </summary>
/// <param name="serviceInfo"></param>
/// <param name="handler"></param>
private static void waitForService(ServiceInfoType serviceInfo, Handler <ServiceInfoType> handler)
{
var dirPort = DssEnvironment.ServiceForwarder <directory.DirectoryPort>(new Uri("dssp.tcp://localhost/directory"));
var notPort = new directory.DirectoryPort();
// Keep this flag to only run the handler once
bool ranHandler = false;
Object lockObj = new Object();
// Subscribe first, then query, to make sure we don't miss the service registering itself
DssEnvironment.LogInfo("Subscribing to directory");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Choice(
dirPort.Subscribe(
new directory.SubscribeRequest()
{
QueryRecordList = new List <ServiceInfoType>()
{
serviceInfo
},
NotificationCount = 1
},
notPort,
typeof(directory.Insert)),
delegate(SubscribeResponseType r)
{
DssEnvironment.LogInfo("Subscribed to directory!");
// Run handler if the service starts and we get the subscription notification
DssEnvironment.LogInfo("Activating subscription receive");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Receive <directory.Insert>(false, notPort,
delegate(directory.Insert ins)
{
DssEnvironment.LogInfo("Got subscription notification!");
lock (lockObj)
{
if (ranHandler == false)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(ins.Body.Record); })).Start();
ranHandler = true;
}
}
}));
},
delegate(Fault f)
{
lock (lockObj)
{
if (ranHandler == false)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(null); })).Start();
ranHandler = true;
}
}
DssEnvironment.LogError("Fault received while subscribing to directory: " + Strings.FromFault(f));
}));
// Query directory, run handler if the service is already started
DssEnvironment.LogInfo("Querying directory");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Choice(
dirPort.Query(new directory.QueryRequest()
{
QueryRecord = serviceInfo
}),
delegate(directory.QueryResponse r)
{
DssEnvironment.LogInfo("Queried directory!");
lock (lockObj)
{
if (ranHandler == false && r.RecordList.Length > 0)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(r.RecordList[0]); })).Start();
ranHandler = true;
}
}
},
delegate(Fault f)
{
//lock (lockObj)
//{
// if (ranHandler == false)
// {
// new Thread(new ThreadStart(delegate() { handler.Invoke(null); })).Start();
// ranHandler = true;
// }
//}
DssEnvironment.LogError("Fault received while querying directory: " + Strings.FromFault(f));
}));
}
public NoAdapterFoundException(ServiceInfoType record)
: base("Could not find an adapter for " + record.Service + ", with contract " + record.Contract)
{
}
/// <summary>
/// See documentation for IAdapterFactory in IAdapter.cs
/// </summary>
public IAdapter Create(ServiceInfoType service)
{
return new VectorAdapter(service);
}
IEnumerator<ITask> OnStartServiceHandler(OnStartService onStartService)
{
if (onStartService.DriveControl == _driveControl &&
onStartService.Constructor != null)
{
cs.ConstructorPort port = ServiceForwarder<cs.ConstructorPort>(onStartService.Constructor);
ServiceInfoType request = new ServiceInfoType(onStartService.Contract);
cs.Create create = new cs.Create(request);
port.Post(create);
string service = null;
yield return Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse response)
{
service = response.Service;
},
delegate(Fault fault)
{
LogError(fault);
}
);
if (service == null)
{
yield break;
}
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.StartedSickLRF();
}
);
}
}
/// <summary>
/// Helper method that waits for a service to start and runs a handler when it does.
/// This subscribes to and queries the DSS directory.
/// </summary>
/// <param name="serviceInfo"></param>
/// <param name="handler"></param>
private static void waitForService(ServiceInfoType serviceInfo, Handler<ServiceInfoType> handler)
{
var dirPort = DssEnvironment.ServiceForwarder<directory.DirectoryPort>(new Uri("dssp.tcp://localhost/directory"));
var notPort = new directory.DirectoryPort();
// Keep this flag to only run the handler once
bool ranHandler = false;
Object lockObj = new Object();
// Subscribe first, then query, to make sure we don't miss the service registering itself
DssEnvironment.LogInfo("Subscribing to directory");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Choice(
dirPort.Subscribe(
new directory.SubscribeRequest()
{
QueryRecordList = new List<ServiceInfoType>() { serviceInfo },
NotificationCount = 1
},
notPort,
typeof(directory.Insert)),
delegate(SubscribeResponseType r)
{
DssEnvironment.LogInfo("Subscribed to directory!");
// Run handler if the service starts and we get the subscription notification
DssEnvironment.LogInfo("Activating subscription receive");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Receive<directory.Insert>(false, notPort,
delegate(directory.Insert ins)
{
DssEnvironment.LogInfo("Got subscription notification!");
lock (lockObj)
{
if (ranHandler == false)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(ins.Body.Record); })).Start();
ranHandler = true;
}
}
}));
},
delegate(Fault f)
{
lock (lockObj)
{
if (ranHandler == false)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(null); })).Start();
ranHandler = true;
}
}
DssEnvironment.LogError("Fault received while subscribing to directory: " + Strings.FromFault(f));
}));
// Query directory, run handler if the service is already started
DssEnvironment.LogInfo("Querying directory");
Arbiter.Activate(DssEnvironment.TaskQueue, Arbiter.Choice(
dirPort.Query(new directory.QueryRequest() { QueryRecord = serviceInfo }),
delegate(directory.QueryResponse r)
{
DssEnvironment.LogInfo("Queried directory!");
lock (lockObj)
{
if (ranHandler == false && r.RecordList.Length > 0)
{
new Thread(new ThreadStart(delegate() { handler.Invoke(r.RecordList[0]); })).Start();
ranHandler = true;
}
}
},
delegate(Fault f)
{
//lock (lockObj)
//{
// if (ranHandler == false)
// {
// new Thread(new ThreadStart(delegate() { handler.Invoke(null); })).Start();
// ranHandler = true;
// }
//}
DssEnvironment.LogError("Fault received while querying directory: " + Strings.FromFault(f));
}));
}
/// <summary>
/// This is a helper mehtod that connects the Scribbler on the specified
/// COM port. It waits for the connection to complete, and re-throws any
/// exceptions generated by the Scribbler service.
/// </summary>
/// <param name="comPort"></param>
private static void connectWaitForScribbler(string comPort)
{
ManualResetEvent evt = new ManualResetEvent(false);
waitForService(new ServiceInfoType(scribbler.Contract.Identifier),
delegate(ServiceInfoType info) { brickService = info; evt.Set(); });
evt.WaitOne(Params.DefaultRecieveTimeout, false);
if (brickService == null)
throw new MyroInitException("Could not find Scribbler service");
var scribPort = DssEnvironment.ServiceForwarder<scribbler.ScribblerOperations>(new Uri(brickService.Service));
DispatcherQueue queue = new DispatcherQueue("init", new Dispatcher());
try
{
if (comPort != null)
{
int comNumber;
if (comPort.ToLower().StartsWith("com"))
comNumber = Int32.Parse(comPort.Substring(3));
else
throw new MyroInitException("COM port string must be of the format com2, com5, etc.");
RSUtils.ReceiveSync(queue, scribPort.Replace(new scribbler.ScribblerState()
{
ComPort = comNumber
}), Params.DefaultRecieveTimeout);
}
DssEnvironment.LogInfo("calling reconnect...");
RSUtils.ReceiveSync(queue, scribPort.Reconnect(), Params.DefaultRecieveTimeout);
DssEnvironment.LogInfo("reconnect returned");
}
catch (Exception)
{
throw;
}
finally
{
queue.Dispose();
}
}
public IAdapter Create(ServiceInfoType service)
{
return(new VectorAdapter(service));
}
public void ReplaceDirectoryList(ServiceInfoType[] list)
{
listDirectory.BeginUpdate();
try
{
listDirectory.Tag = list;
listDirectory.Items.Clear();
if (list.Length > 0)
{
UriBuilder node = new UriBuilder(list[0].Service);
node.Path = null;
lblNode.Text = node.Host + ":" + node.Port;
txtMachine.Text = node.Host;
txtPort.Text = node.Port.ToString();
linkDirectory.Enabled = true;
}
else
{
lblNode.Text = string.Empty;
linkDirectory.Enabled = false;
}
foreach (ServiceInfoType info in list)
{
if (info.Contract == sicklrf.Contract.Identifier ||
info.Contract == drive.Contract.Identifier ||
info.Contract == arm.Contract.Identifier ||
info.Contract == pxsonar.Contract.Identifier ||
info.Contract == pxbumper.Contract.Identifier ||
info.Contract == pxPanTilt.Contract.Identifier ||
info.Contract == webcam.Contract.Identifier ||
info.Contract == pxGPS.Contract.Identifier )
// info.Contract == vision.Contract.Identifier)
{
Uri serviceUri = new Uri(info.Service);
listDirectory.Items.Add(serviceUri.AbsolutePath);
}
}
if (ServiceByContract(sicklrf.Contract.Identifier) == null)
{
btnStartLRF.Enabled = true;
btnConnectLRF.Enabled = false;
}
else
{
btnStartLRF.Enabled = false;
btnConnectLRF.Enabled = true;
}
if (ServiceByContract(pxsonar.Contract.Identifier) == null)
{
btnStartSonar.Enabled = true;
btnConnectSonar.Enabled = false;
}
else
{
btnStartSonar.Enabled = false;
btnConnectSonar.Enabled = true;
}
if (ServiceByContract(webcam.Contract.Identifier) == null)
{
btnCamConnect.Enabled = false;
btnCamDisconnect.Enabled = false;
}
else
{
btnCamConnect.Enabled = true;
}
/*
if (ServiceByContract(vision.Contract.Identifier) == null)
{
btnConnectVision.Enabled = false;
btnDisconnectVision.Enabled = false;
}
else
{
btnConnectVision.Enabled = true;
btnDisconnectVision.Enabled = false;
}
*/
}
finally
{
listDirectory.EndUpdate();
}
}
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);
}
}
/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
/// <param name="serviceRecord"></param>
public FlukeControlAdapter(ServiceInfoType service)
{
this.ServiceInfo = service;
opPort = DssEnvironment.ServiceForwarder <fluke.CamControlOperations>(new Uri(service.Service));
}
/// <summary>
/// See documentation for IAdapterFactory in IAdapter.cs
/// </summary>
public IAdapter Create(ServiceInfoType service)
{
return new DriveAdapter(service);
}
/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
/// <param name="serviceRecord"></param>
public FlukeControlAdapter(ServiceInfoType service)
{
this.ServiceInfo = service;
opPort = DssEnvironment.ServiceForwarder<fluke.CamControlOperations>(new Uri(service.Service));
}
/// <summary>
/// See documentation for IAdapterFactory in IAdapter.cs
/// </summary>
public IAdapter Create(ServiceInfoType service)
{
return new FlukeControlAdapter(service);
}
public IAdapter Create(ServiceInfoType service)
{
return(new WebcamAdapter(service));
}
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
{
NameValueCollection parameters = formData.Parameters;
if (parameters["StartDashboard"] != null)
{
string Dashboardcontract = "http://schemas.microsoft.com/robotics/2006/01/simpledashboard.html";
ServiceInfoType info = new ServiceInfoType(Dashboardcontract);
cons.Create create = new cons.Create(info);
create.TimeSpan = DsspOperation.DefaultShortTimeSpan;
ConstructorPort.Post(create);
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 WebcamAdapter(ServiceInfoType serviceInfo)
{
ServiceInfo = serviceInfo;
opPort = DssEnvironment.ServiceForwarder <webcam.WebCamOperations>(new Uri(serviceInfo.Service));
}
/// <summary>
/// See documentation for IAdapterFactory in IAdapter.cs
/// </summary>
public IAdapter Create(ServiceInfoType service)
{
return new WebcamAdapter(service);
}
IEnumerator <ITask> InitializeCamera()
{
ServiceInfoType info = null;
Fault fault = null;
yield return(Arbiter.Choice(
_blobTrackerPort.DsspDefaultLookup(),
delegate(LookupResponse success)
{
info = success;
},
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
LogError(null, "Lookup failed on BlobTracker partner", fault);
yield break;
}
PartnerType camera = FindPartner(
new XmlQualifiedName("WebCam", bt.Contract.Identifier),
info.PartnerList
);
if (camera == null ||
string.IsNullOrEmpty(camera.Service))
{
LogError("No camera partner found for BlobTracker");
yield break;
}
_webCamPort = ServiceForwarder <cam.WebCamOperations>(camera.Service);
yield return(Arbiter.Choice(
_webCamPort.Subscribe(_webCamNotify, typeof(cam.UpdateFrame)),
delegate(SubscribeResponseType success) { },
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
LogError(null, "Failed to subscribe to webcam", fault);
yield break;
}
yield return(Arbiter.Choice(
_blobTrackerPort.Subscribe(_blobTrackerNotify),
delegate(SubscribeResponseType success) { },
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
LogError(null, "Failed to subscribe to blob tracker", fault);
yield break;
}
RunForm runForm = new RunForm(CreateVisualization);
WinFormsServicePort.Post(runForm);
yield return(Arbiter.Choice(
runForm.pResult,
delegate(SuccessResult success) { },
delegate(Exception e)
{
fault = Fault.FromException(e);
}
));
if (fault != null)
{
LogError(null, "Failed to Create Visualization window", fault);
yield break;
}
base.MainPortInterleave.CombineWith(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive <cam.UpdateFrame>(true, _webCamNotify, CameraUpdateFrameHandler),
Arbiter.Receive <bt.ImageProcessed>(true, _blobTrackerNotify, BlobTrackerImageProcessedHandler),
Arbiter.Receive <Shutdown>(true, _shutdownPort, ShutdownHandler)
),
new ConcurrentReceiverGroup(
Arbiter.Receive <bt.DeleteBin>(true, _blobTrackerNotify, EmptyHandler),
Arbiter.Receive <bt.InsertBin>(true, _blobTrackerNotify, EmptyHandler),
Arbiter.Receive <bt.UpdateBin>(true, _blobTrackerNotify, EmptyHandler)
)
)
);
}
/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
public WebcamAdapter(ServiceInfoType serviceInfo)
{
ServiceInfo = serviceInfo;
opPort = DssEnvironment.ServiceForwarder<webcam.WebCamOperations>(new Uri(serviceInfo.Service));
}
/// <summary>
/// Tries to subscribe to an auto partner single contract, or throws an exception
/// if we don't support the contract. Also starts a 1-second poll that continues
/// until publishers send non-zero-length arrays.
/// </summary>
/// <param name="def"></param>
/// <param name="serviceInfo"></param>
private void subscribeAutoSingle(AutoDefinition def, ServiceInfoType serviceInfo)
{
// Check for each contract we know about and subscribe.
////////////////// Analog Sensor
if (serviceInfo.Contract.Equals(analog.Contract.Identifier))
{
var partnerPort = ServiceForwarder <analog.AnalogSensorOperations>(new Uri(serviceInfo.Service));
var notifyPort = new Port <analog.Replace>();
Activate(Arbiter.Choice(partnerPort.Subscribe(notifyPort, typeof(analog.Replace)),
delegate(SubscribeResponseType success)
{
MainPortInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive(true, notifyPort,
delegate(analog.Replace replace)
{ autoSubscribeNotificationHelper(def, new List <double>(1)
{
replace.Body.RawMeasurement
}, replace.Body.TimeStamp, false); }
)),
new ConcurrentReceiverGroup()));
},
delegate(Fault failure)
{
LogError("Fault while subscribing to auto partner", failure);
}));
}
////////////////// Analog Sensor Array
else if (serviceInfo.Contract.Equals(analogArray.Contract.Identifier))
{
var partnerPort = ServiceForwarder <analogArray.AnalogSensorOperations>(new Uri(serviceInfo.Service));
var notifyPort = new Port <analogArray.Replace>();
var pollPort = base.TimeoutPort(1000);
bool gotNonzeroState = false;
Activate(Arbiter.Receive(true, pollPort,
delegate(DateTime time)
{
if (gotNonzeroState == false)
{
Activate(Arbiter.Choice(partnerPort.Get(),
delegate(analogArray.AnalogSensorArrayState state) { notifyPort.Post(new analogArray.Replace(state)); },
delegate(Fault failure) { LogError("Vector got fault while trying to get polled state", failure); }));
TaskQueue.EnqueueTimer(TimeSpan.FromMilliseconds(1000.0), pollPort);
}
}));
Activate(Arbiter.Choice(partnerPort.Subscribe(notifyPort, typeof(analogArray.Replace)),
delegate(SubscribeResponseType success)
{
MainPortInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive(true, notifyPort,
delegate(analogArray.Replace replace)
{
if (replace.Body.Sensors.Count > 0)
{
gotNonzeroState = true;
}
autoSubscribeNotificationHelper(def,
new List <double>(from s in replace.Body.Sensors select s.RawMeasurement),
(replace.Body.Sensors.Count > 0 ? replace.Body.Sensors[0].TimeStamp : DateTime.Now), false);
})),
new ConcurrentReceiverGroup()));
},
delegate(Fault failure)
{
LogError("Fault while subscribing to auto partner", failure);
}));
}
////////////////// Contact Sensor
else if (serviceInfo.Contract.Equals(contact.Contract.Identifier))
{
var partnerPort = ServiceForwarder <contact.ContactSensorArrayOperations>(new Uri(serviceInfo.Service));
var notifyPort = new PortSet <contact.Replace, contact.Update>();
// Post an initial Replace notification to update the HW ID map (no, this is now done automatically)
//notifyPort.Post(new contact.Replace(RSUtils.ReceiveSync(TaskQueue, partnerPort.Get(), Params.defaultRecieveTimeout)));
var pollPort = base.TimeoutPort(1000);
bool gotNonzeroState = false;
Activate(Arbiter.Receive(true, pollPort,
delegate(DateTime time)
{
if (gotNonzeroState == false)
{
Activate(Arbiter.Choice(partnerPort.Get(),
delegate(contact.ContactSensorArrayState state) { notifyPort.Post(new contact.Replace(state)); },
delegate(Fault failure) { LogError("Vector got fault while trying to get polled state", failure); }));
TaskQueue.EnqueueTimer(TimeSpan.FromMilliseconds(1000.0), pollPort);
}
}));
Activate(Arbiter.Choice(partnerPort.Subscribe(notifyPort, typeof(contact.Replace), typeof(contact.Update)),
delegate(SubscribeResponseType success)
{
var contactHWIDMap = new Dictionary <int, int>();
MainPortInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive <contact.Replace>(true, notifyPort,
delegate(contact.Replace replace)
{
if (replace.Body.Sensors.Count > 0)
{
gotNonzeroState = true;
}
if (def.hwKeys.Count < replace.Body.Sensors.Count)
{
def.hwKeys.Capacity = replace.Body.Sensors.Count;
while (def.hwKeys.Count < replace.Body.Sensors.Count)
{
def.hwKeys.Add("");
}
}
// Refresh the HW ID map
contactHWIDMap.Clear();
for (int i = 0; i < replace.Body.Sensors.Count; i++)
{
contactHWIDMap.Add(replace.Body.Sensors[i].HardwareIdentifier, i);
//if (def.hwKeys[i] == null || def.hwKeys[i].Length <= 0)
def.hwKeys[i] = replace.Body.Sensors[i].Name;
}
autoSubscribeNotificationHelper(def,
new List <double>(from s in replace.Body.Sensors select(s.Pressed ? 1.0 : 0.0)),
(replace.Body.Sensors.Count > 0 ? replace.Body.Sensors[0].TimeStamp : DateTime.Now), true);
}),
Arbiter.Receive <contact.Update>(true, notifyPort,
delegate(contact.Update update)
{
gotNonzeroState = true;
try
{
int i = contactHWIDMap[update.Body.HardwareIdentifier];
autoSubscribeNotificationUpdateHelper(def, i, (update.Body.Pressed ? 1.0 : 0.0), update.Body.TimeStamp);
}
catch (KeyNotFoundException)
{
LogError("Vector got update for contact sensor hardware identifier " + update.Body.HardwareIdentifier + " and doesn't know about this hardware ID. Trying to fetch entire state.");
Activate(Arbiter.Choice(partnerPort.Get(),
delegate(contact.ContactSensorArrayState state) { notifyPort.Post(new contact.Replace(state)); },
delegate(Fault failure) { LogError("Vector got fault while trying to get contact state", failure); }));
}
})),
new ConcurrentReceiverGroup()));
},
delegate(Fault failure)
{
LogError("Fault while subscribing to auto partner", failure);
}));
}
else
{
throw new UnrecognizedContractException();
}
}
public IAdapter Create(ServiceInfoType service)
{
return(new DriveAdapter(service));
}
/// <summary>
/// Creates an instance of the LEGO NXT Communications service.
/// </summary>
/// <returns>Result PortSet for retrieving service creation response</returns>
private DsspResponsePort<CreateResponse> CreateNxtCommunicationService()
{
DsspResponsePort<CreateResponse> createResponsePort = new DsspResponsePort<CreateResponse>();
ServiceInfoType si = new ServiceInfoType(comm.Contract.Identifier, null);
Microsoft.Dss.Services.Constructor.Create create =
new Microsoft.Dss.Services.Constructor.Create(si, createResponsePort);
base.ConstructorPort.Post(create);
return createResponsePort;
}
public DriveAdapter(ServiceInfoType serviceRecord)
{
ServiceInfo = serviceRecord;
Initialize();
}
/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
/// <param name="serviceRecord"></param>
public DriveAdapter(ServiceInfoType serviceRecord)
{
ServiceInfo = serviceRecord;
Initialize();
}
IEnumerator<ITask> OnConnectHandler(OnConnect onConnect)
{
if (onConnect.DriveControl == _driveControl)
{
UriBuilder builder = new UriBuilder(onConnect.Service);
builder.Scheme = new Uri(ServiceInfo.Service).Scheme;
ds.DirectoryPort port = ServiceForwarder<ds.DirectoryPort>(builder.Uri);
// TT Nov-2006 - Changed for new CTP
// ds.Get get = new ds.Get(GetRequestType.Instance);
ds.Get get = new ds.Get();
port.Post(get);
ServiceInfoType[] list = null;
yield return Arbiter.Choice(get.ResponsePort,
delegate(ds.GetResponseType response)
{
list = response.RecordList;
},
delegate(Fault fault)
{
list = new ServiceInfoType[0];
LogError(fault);
}
);
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.ReplaceDirectoryList(list);
}
);
}
}
public IEnumerator<ITask> ConnectToBiclopsService()
{
_biclopsConnected = false;
loadRemoteServiceDirectoryPorts();
ds.DirectoryPort remoteDir;
int k;
List<biclops.BiclopsOperations> PortList = new List<biclops.BiclopsOperations>();
while (_biclopsConnected == false)
{
for (k = 0; k < _remoteHosts.Count; k++)
{
remoteDir = ServiceForwarder<ds.DirectoryPort>(_remoteHosts[k] + "/directory");
ServiceInfoType ServiceInfo = new ServiceInfoType(biclops.Contract.Identifier);
ds.QueryRequestType ReqBody;
ds.Query Query;
ReqBody = new ds.QueryRequestType(ServiceInfo);
Query = new ds.Query(ReqBody);
// Post query
remoteDir.Post(Query);
yield return Arbiter.Choice(Query.ResponsePort,
delegate(ds.QueryResponseType success)
{
if (success.RecordList != null)
{
Console.Write("Received {0} biclops service responses from directory\n", success.RecordList.Length);
foreach (ServiceInfoType si in success.RecordList)
{
_biclopsPort = base.ServiceForwarder<biclops.BiclopsOperations>(si.Service);
_biclopsConnected = true;
break;
}
}
},
delegate(Fault f)
{
LogError(LogGroups.Console, f.ToString());
}
);
if (_biclopsConnected)
break;
else
{
Console.WriteLine("BiclopsRightCameraJointConfiguration: cannot to connect to the Biclops Service\nStart one now if it has not been started and add the host/port to the hosts.txt");
Thread.Sleep(2000);
}
}
}
yield break;
}
/// <summary>
/// See documentation for IAdapterFactory in IAdapter.cs
/// </summary>
public IAdapter Create(ServiceInfoType service)
{
return(new FlukeControlAdapter(service));
}
