/// <summary>
/// Subscribe to LBR3 arm service
/// </summary>
/// <param name="subscribe"></param>
/// <returns></returns>
public IEnumerator <ITask> SubscribeHandler(arm.Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
SubscribeHelper(_submgrPort, request, subscribe.ResponsePort);
yield break;
}
/// <summary>
/// Post Subscribe and return the response port.
/// </summary>
/// <param name="body"></param>
/// <param name="notificationPort"></param>
/// <returns></returns>
public virtual PortSet <SubscribeResponseType, Fault> Subscribe(SubscribeRequestType body, IPort notificationPort)
{
sensorupdates.Subscribe op = new sensorupdates.Subscribe();
op.Body = body ?? new SubscribeRequestType();
op.NotificationPort = notificationPort;
this.Post(op);
return(op.ResponsePort);
}
public IEnumerator <ITask> OnSubscribe(Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
yield return(Arbiter.Choice(
SubscribeHelper(_submgrPort, request, subscribe.ResponsePort),
EmptyHandler,
EmptyHandler
));
}
public virtual IEnumerator <ITask> SubscribeHandler(Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
yield return(Arbiter.Choice(SubscribeHelper(_submgr, request, subscribe.ResponsePort),
delegate(SuccessResult success)
{
SendNotificationToTarget <Replace>(request.Subscriber, _submgr, _state);
},
delegate(Exception failure){}
));
}
public IEnumerator <ITask> SubscribeHandler(webcam.Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, request, subscribe.ResponsePort),
delegate(SuccessResult success)
{
SendNotificationToTarget <webcam.Replace>(request.Subscriber, _subMgrPort, _state);
},
delegate(Exception e)
{
LogError(null, "Failure while processing Subscribe Request", Fault.FromException(e));
}
));
yield break;
}
public IEnumerator <ITask> SubscribeHandler(Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
LogInfo("Subscribe request from: " + request.Subscriber);
yield return(Arbiter.Choice(
SubscribeHelper(_submgrPort, request, subscribe.ResponsePort),
delegate(SuccessResult success)
{
_state.Subscribers++;
base.SendNotification <Replace>(_submgrPort, request.Subscriber, _state);
},
delegate(Exception e)
{
LogError(null, "Subscribe failed", e);
}
));
}
public virtual IEnumerator <ITask> SubscribeHandler(pxsonar.Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
LogInfo("Subscribe request from: " + request.Subscriber);
// Use the Subscription Manager to insert the new subscriber
yield return(Arbiter.Choice(
SubscribeHelper(_submgrPort, request, subscribe.ResponsePort),
delegate(SuccessResult success)
{
base.SendNotification <Replace>(_submgrPort, request.Subscriber, _state);
},
delegate(Exception e)
{
LogError(null, "Subscribe failed", e);
}
));
yield break;
}
public virtual IEnumerator <ITask> SubscribeHandler(Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
LogInfo("TrackRoamerBrickPowerService:SubscribeHandler() -- Subscribe request from: " + request.Subscriber);
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, request, subscribe.ResponsePort),
delegate(SuccessResult success) { },
delegate(Exception ex)
{
LogError(ex);
throw ex;
}
));
//_subMgrPort.Post(new submgr.Submit(request.Subscriber, DsspActions.UpdateRequest, _state.MotorSpeed, null));
//_subMgrPort.Post(new submgr.Submit(request.Subscriber, DsspActions.UpdateRequest, _state.Whiskers, null));
yield break;
}
/// <summary>
/// Forwards a subscription to a partner
/// </summary>
/// <param name="partner">The partner.</param>
/// <param name="request">The request.</param>
/// <param name="responsePort">The response port.</param>
private void ForwardSubscription(
IPort partner,
SubscribeRequestType request,
PortSet <SubscribeResponseType, Fault> responsePort)
{
var lookup = new DsspDefaultLookup();
partner.PostUnknownType(lookup);
this.Activate(
lookup.ResponsePort.Choice(
svcinfo =>
{
var submgrInfo = svcinfo.PartnerList.Find(p => p.Contract == submgr.Contract.Identifier);
var subMgrOps = ServiceForwarder <submgr.SubscriptionManagerPort>(submgrInfo.Service);
var insert = new submgr.InsertSubscription(request)
{
ResponsePort = responsePort
};
subMgrOps.Post(insert);
},
responsePort.Post));
}
public IEnumerator <ITask> SubscribeHandler(Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
SuccessFailurePort subscribePort = SubscribeHelper(
_subMgrPort,
request,
subscribe.ResponsePort
);
yield return((Choice)subscribePort);
Exception exception = (Exception)subscribePort;
if (exception != null)
{
LogError("Subscribe failed", exception);
yield break;
}
SendNotificationToTarget <Replace>(request.Subscriber, _subMgrPort, _state);
yield break;
}
public IEnumerator <ITask> SubscribeHandler(Subscribe subscribe)
{
SubscribeRequestType request = subscribe.Body;
LogInfo("Subscribe request from: " + request.Subscriber);
// Use the Subscription Manager to handle the subscribers
yield return(Arbiter.Choice(
SubscribeHelper(_submgrPort, request, subscribe.ResponsePort),
delegate(SuccessResult success)
{
// Send a notification on successful subscription so that the
// subscriber can initialize its own state
base.SendNotificationToTarget <Replace>(request.Subscriber, _submgrPort, _state);
},
delegate(Exception e)
{
LogError(null, "Subscribe failed", e);
}
));
yield break;
}
/// <summary>
/// Creates a new instance of Subscribe
/// </summary>
/// <param name="body">The request message body</param>
/// <param name="responsePort">The response port for the request</param>
public Subscribe(SubscribeRequestType body, PortSet <SubscribeResponseType, Fault> responsePort)
: base(body, responsePort)
{
}
/// <summary>
/// Creates a new instance of Subscribe
/// </summary>
/// <param name="body">The request message body</param>
public Subscribe(SubscribeRequestType body)
: base(body)
{
}
public Subscribe(SubscribeRequestType body, DsspResponsePort <SubscribeResponseType> responsePort)
: base(body, responsePort)
{
}
