public IEnumerator <ITask> HttpPostHandler(HttpPost httpPost) { // Use helper to read form data ReadFormData readForm = new ReadFormData(httpPost.Body.Context); _httpUtilities.Post(readForm); // Wait for result Activate(Arbiter.Choice(readForm.ResultPort, delegate(NameValueCollection parameters) { 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.Post(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; } 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 if (ConnectToScribbler()) { // Listen for a single Serial port request with an acknowledgement Activate(Arbiter.ReceiveWithIterator <SendScribblerCommand>(false, _scribblerComPort, SendScribblerCommandHandler)); PollTimer = new System.Timers.Timer(); PollTimer.Interval = TimerDelay; PollTimer.AutoReset = true; PollTimer.Elapsed += new System.Timers.ElapsedEventHandler(PollTimer_Elapsed); PollTimer.Start(); //play startup tone PlayToneBody startTone = new PlayToneBody(200, 1000, 2000); PlayTone playToneMessage = new PlayTone(startTone); _mainPort.Post(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, "Connection to Scribbler failed"); } } } else if (!string.IsNullOrEmpty(parameters["Action"]) && parameters["Action"] == "ScribblerSensors") { if (parameters["buttonOk"] == "Poll" && _state.Connected) { ScribblerCommand cmd = new ScribblerCommand((byte)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.Post(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.Post(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.Post(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.Post(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"); } }, delegate(Exception Failure) { LogError(Failure.Message); }) ); yield break; }
public SetMotors(SetMotorsBody b) { base.Body = b; }