/// <summary> /// Handles incoming SetAllLEDs requests /// </summary> private IEnumerator<ITask> SetAllLEDsHandler(SetAllLEDs message) { //error check if (!_state.Connected) { message.ResponsePort.Post(new Fault()); yield break; } //update state _state.LEDLeft = message.Body.LeftLED; _state.LEDCenter = message.Body.CenterLED; _state.LEDRight = message.Body.RightLED; //send command ScribblerCommand cmd = new ScribblerCommand(ScribblerHelper.Commands.SET_LED_ALL, _state.LEDLeft, _state.LEDCenter, _state.LEDRight); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); yield return Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { } ); //reply to sender message.ResponsePort.Post(DefaultUpdateResponseType.Instance); yield break; }
/// <summary> /// Http Post Handler. Handles http form inputs /// </summary> //[ServiceHandler(ServiceHandlerBehavior.Concurrent)] public IEnumerator<ITask> HttpPostHandler(HttpPost httpPost) { // Use helper to read form data ReadFormData readForm = new ReadFormData(httpPost); _httpUtilities.Post(readForm); // Read form data NameValueCollection parameters = null; yield return Arbiter.Choice(readForm.ResultPort, delegate(NameValueCollection p) { parameters = p; }, delegate(Exception e) { throw new Exception("Error reading form data", e); }); // Act on form data if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerConfig") { if (parameters["buttonOk"] == "Change" && _state.Connected) { SetNameBody newname = new SetNameBody(parameters["Name"]); SetName newnamemessage = new SetName(newname); _mainPort.PostUnknownType(newnamemessage); Activate( Arbiter.Choice( Arbiter.Receive<DefaultUpdateResponseType>(false, newnamemessage.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive<Fault>(false, newnamemessage.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } else if (parameters["buttonOk"] == "Connect" && _state.Connected) { //close down this connection to make a new connection below PollTimer.Close(); System.Threading.Thread.Sleep(100); _scribblerCom.Close(); _state.Connected = false; //HttpPostSuccess(httpPost); } if (parameters["buttonOk"] == "Connect" && !_state.Connected) { int port = 0; int.TryParse(parameters["ComPort"], out port); string name = parameters["Name"]; if (!string.IsNullOrEmpty(name) && name.Length > 8) name = name.Substring(0, 8); _state.ComPort = port; _state.RobotName = name; //open Scribbler Communications port LogInfo("connecting to scribbler..."); Reconnect rec = new Reconnect(); _mainPort.PostUnknownType(rec); yield return Arbiter.Choice(rec.ResponsePort, delegate(DefaultUpdateResponseType r) { LogInfo("connected, sending http reply"); HttpPostSuccess(httpPost); LogInfo("http reply sent"); }, delegate(Fault f) { httpPost.ResponsePort.Post(f); }); } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerSensors") { if (parameters["buttonOk"] == "Poll" && _state.Connected) { ScribblerCommand cmd = new ScribblerCommand(ScribblerHelper.Commands.GET_ALL); SendScribblerCommand sendcmd = new SendScribblerCommand(cmd); _scribblerComPort.Post(sendcmd); Activate( Arbiter.Choice( Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort, delegate(ScribblerResponse response) { HttpPostSuccess(httpPost); }), Arbiter.Receive<Fault>(false, sendcmd.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerMotors") { if (parameters["buttonOk"] == "Set" && _state.Connected) { int left = _state.MotorLeft; int right = _state.MotorRight; int.TryParse(parameters["LeftMotor"], out left); int.TryParse(parameters["RightMotor"], out right); SetMotorsBody setMotorsBody = new SetMotorsBody(left, right); SetMotors setMotorsRequest = new SetMotors(setMotorsBody); _mainPort.PostUnknownType(setMotorsRequest); Activate( Arbiter.Choice( Arbiter.Receive<DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive<Fault>(false, setMotorsRequest.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } else if (parameters["buttonOk"] == "All Stop" && _state.Connected) { SetMotorsBody setMotorsBody = new SetMotorsBody(100, 100); SetMotors setMotorsRequest = new SetMotors(setMotorsBody); _mainPort.PostUnknownType(setMotorsRequest); Activate( Arbiter.Choice( Arbiter.Receive<DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive<Fault>(false, setMotorsRequest.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerLEDs") { if (parameters["buttonOk"] == "Set" && _state.Connected) { bool left = ((parameters["LeftLED"] ?? "off") == "on"); bool center = ((parameters["CenterLED"] ?? "off") == "on"); bool right = ((parameters["RightLED"] ?? "off") == "on"); SetAllLedsBody leds = new SetAllLedsBody(left, center, right); SetAllLEDs setAllLeds = new SetAllLEDs(leds); _mainPort.PostUnknownType(setAllLeds); Activate( Arbiter.Choice( Arbiter.Receive<DefaultUpdateResponseType>(false, setAllLeds.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive<Fault>(false, setAllLeds.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerSpeaker") { if (parameters["buttonOk"] == "Play" && _state.Connected) { int tone1 = 0; int tone2 = 0; int duration = 0; int.TryParse(parameters["Tone1"], out tone1); int.TryParse(parameters["Tone2"], out tone2); int.TryParse(parameters["Duration"], out duration); PlayToneBody playTone = new PlayToneBody(duration, tone1, tone2); PlayTone playToneMessage = new PlayTone(playTone); _mainPort.PostUnknownType(playToneMessage); Activate( Arbiter.Choice( Arbiter.Receive<DefaultUpdateResponseType>(false, playToneMessage.ResponsePort, delegate(DefaultUpdateResponseType response) { HttpPostSuccess(httpPost); }), Arbiter.Receive<Fault>(false, playToneMessage.ResponsePort, delegate(Fault f) { HttpPostFailure(httpPost, f.Reason[0].Value); }) ) ); } } else { HttpPostFailure(httpPost, "Unknown Http Post"); } yield break; }