public override Task <DeregisterEstopEndpointResponse> DeregisterEstopEndpoint(
DeregisterEstopEndpointRequest request, ServerCallContext context)
{
EstopEndpointWithStatus foundEndpoint = null;
foreach (var registeredEndpoint in SpotRobot.SpotInstance.RegisteredEndpointsByConfig)
{
if (registeredEndpoint.Endpoint.UniqueId == request.TargetEndpoint.UniqueId)
{
foundEndpoint = registeredEndpoint;
}
}
if (foundEndpoint != null)
{
Console.WriteLine(
$"DeregisterEstopEndpointRequest - removing endpoint: {foundEndpoint.Endpoint.UniqueId}");
SpotRobot.SpotInstance.RegisteredEndpointsByConfig.Remove(foundEndpoint);
}
return(Task.FromResult(new DeregisterEstopEndpointResponse
{
Header = HeaderBuilder.Build(request.Header, new CommonError {
Code = CommonError.Types.Code.Ok
}),
Request = request,
Status = foundEndpoint != null
? DeregisterEstopEndpointResponse.Types.Status.Success
: DeregisterEstopEndpointResponse.Types.Status.EndpointMismatch
}));
}
public override Task <RegisterEstopEndpointResponse> RegisterEstopEndpoint(RegisterEstopEndpointRequest request,
ServerCallContext context)
{
EstopEndpointWithStatus foundEndpoint = null;
EstopEndpointWithStatus newEndpoint = null;
foreach (var registeredEndpoint in SpotRobot.SpotInstance.RegisteredEndpointsByConfig)
{
if (registeredEndpoint.Endpoint.UniqueId == request.TargetEndpoint.UniqueId)
{
foundEndpoint = registeredEndpoint;
Console.WriteLine(
$"RegisterEstopEndpoint - endpoint allready exists: {registeredEndpoint.Endpoint.UniqueId}");
}
}
if (foundEndpoint == null)
{
newEndpoint = new EstopEndpointWithStatus
{
Endpoint = new EstopEndpoint(request.NewEndpoint),
StopLevel = EstopStopLevel.EstopLevelSettleThenCut
};
Console.WriteLine($"RegisterEstopEndpoint - adding new endpoint: {newEndpoint.Endpoint.UniqueId}");
SpotRobot.SpotInstance.RegisteredEndpointsByConfig.Add(newEndpoint);
}
return(Task.FromResult(new RegisterEstopEndpointResponse
{
Header = HeaderBuilder.Build(request.Header, new CommonError {
Code = CommonError.Types.Code.Ok
}),
Status = RegisterEstopEndpointResponse.Types.Status.Success,
Request = request,
NewEndpoint = (foundEndpoint ?? newEndpoint).Endpoint
}));
}
