/// <summary>
/// Overrides RobotBrain Bind function to implement addition LEDAdapter functions.
/// </summary>
protected override void Bind()
{
base.Bind();
//Bind to scribbler specific sensors
//Specialized LED array
directory.Query dquery = new directory.Query(new directory.QueryRequestType(
new Microsoft.Dss.ServiceModel.Dssp.ServiceInfoType("http://www.roboteducation.org/scribblerledarray.html")));
//Uri direcURI = DssEnvironment.FindService(directory.Contract.Identifier);
//TODO: remove the line below once the above line works
Uri direcURI = new Uri("http://localhost:" + httpPort + "/directory");
directory.DirectoryPort dport = DssEnvironment.ServiceForwarder <directory.DirectoryPort>(direcURI);
dport.Post(dquery);
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice(dquery.ResponsePort,
delegate(directory.QueryResponseType success)
{
sledadapter = new ScribblerLEDArrayAdapter(success.RecordList[0].Service);
},
delegate(Fault fault) { }
)
);
}
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;
}
public IEnumerator <ITask> OnHandOff(HandOff handOff)
{
Fault fault = null;
ServiceInfoType[] services = null;
dir.QueryRequestType request = new dir.QueryRequestType(
new ServiceInfoType(Contract.Identifier)
);
dir.Query query = new dir.Query(request);
query.TimeSpan = new TimeSpan(0, 0, 2);
DirectoryPort.Post(query);
yield return(Arbiter.Choice(
query.ResponsePort,
delegate(dir.QueryResponseType success)
{
services = success.RecordList;
},
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
handOff.ResponsePort.Post(fault);
yield break;
}
foreach (ServiceInfoType service in services)
{
FlexDialogOperations fwd = ServiceForwarder <FlexDialogOperations>(service.Service);
FlexDialogState state = null;
Get get = new Get();
get.TimeSpan = new TimeSpan(0, 0, 2);
fwd.Post(get);
yield return(Arbiter.Choice(
get.ResponsePort,
delegate(FlexDialogState success)
{
state = success;
},
delegate(Fault f)
{
fault = f;
}
));
if (state != null && state.Title == handOff.Body.Title)
{
handOff.Body.Service = service.HttpServiceAlias.ToString();
DoSendNotification(handOff);
handOff.ResponsePort.Post(handOff.Body);
yield break;
}
}
handOff.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.UnknownEntry,
"Unable to find dialog with title: " + handOff.Body.Title
)
);
}
/// <summary>
/// Searches service directory for a service with the specified contract. On success binds it to an Adapter object and inserts it in the
/// adapters lookup dictionary.
/// </summary>
/// <param name="contract">The contract of the service</param>
/// <returns>Nothing</returns>
protected virtual IEnumerator <ITask> DirectorySearch(string contract)
{
directory.Query dquery = new directory.Query(new directory.QueryRequestType(
new Microsoft.Dss.ServiceModel.Dssp.ServiceInfoType(contract)));
//Uri direcURI = DssEnvironment.FindService(directory.Contract.Identifier);
//TODO: remove the line below once the above line works
Uri direcURI = new Uri("http://localhost:" + httpPort + "/directory");
directory.DirectoryPort dport = DssEnvironment.ServiceForwarder <directory.DirectoryPort>(direcURI);
dport.Post(dquery);
yield return(Arbiter.Choice(
dquery.ResponsePort,
delegate(directory.QueryResponseType success)
{
switch (contract)
{
case drive.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new DriveAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.DriveAdapter, list);
break;
}
case analog.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new AnalogSensorAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.AnalogSensorAdapter, list);
break;
}
case contact.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new ContactSensorArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.ContactSensorArrayAdapter, list);
break;
}
case analogArray.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new AnalogSensorArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.AnalogSensorArrayAdapter, list);
break;
}
case tonegen.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new ToneGeneratorAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.ToneGeneratorAdapter, list);
break;
}
case ledarray.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new LEDArrayAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.LEDArrayAdapter, list);
break;
}
case sonar.Contract.Identifier:
{
ArrayList list = new ArrayList();
for (int i = 0; i < success.RecordList.Length; i++)
{
if (verbosity >= 2)
{
Console.WriteLine(contract + ":" + success.RecordList[i].Service);
}
list.Add(new SonarAdapter(success.RecordList[i].Service));
}
AdaptersDictionary.Add(AdapterTypes.SonarAdapter, list);
break;
}
}
},
delegate(Fault fault) { }
));
yield break;
}
private IEnumerator <ITask> OnStartup()
{
#region CODECLIP 02-3
PartnerType remote = FindPartner("Remote");
ds.DirectoryPort remoteDir = DirectoryPort;
if (remote != null && !string.IsNullOrEmpty(remote.Service))
{
remoteDir = ServiceForwarder <ds.DirectoryPort>(remote.Service);
}
#endregion
#region CODECLIP 02-4
cs.ConstructorPort remoteConstructor = ConstructorPort;
ds.Query query = new ds.Query(
new ds.QueryRequestType(
new ServiceInfoType(cs.Contract.Identifier)
)
);
remoteDir.Post(query);
yield return((Choice)query.ResponsePort);
ds.QueryResponseType queryRsp = query.ResponsePort;
if (queryRsp != null)
{
remoteConstructor = ServiceForwarder <cs.ConstructorPort>(queryRsp.RecordList[0].Service);
}
#endregion
#region CODECLIP 02-5
string clockService = null;
cs.Create create = new cs.Create(new ServiceInfoType(rst4.Contract.Identifier));
remoteConstructor.Post(create);
yield return((Choice)create.ResponsePort);
CreateResponse createRsp = create.ResponsePort;
if (createRsp != null)
{
clockService = createRsp.Service;
}
else
{
LogError((Fault)create.ResponsePort);
yield break;
}
_clockPort = ServiceForwarder <rst4.ServiceTutorial4Operations>(clockService);
#endregion
rst4.Get get;
yield return(_clockPort.Get(GetRequestType.Instance, out get));
rst4.ServiceTutorial4State state = get.ResponsePort;
if (state != null)
{
ServiceTutorial7State initState = new ServiceTutorial7State();
PartnerType partner = FindPartner("Local");
if (partner != null)
{
initState.Clocks.Add(partner.Service);
}
initState.Clocks.Add(clockService);
Replace replace = new Replace();
replace.Body = initState;
_mainPort.Post(replace);
}
else
{
LogError("Unable to Get state from ServiceTutorial4", (Fault)get.ResponsePort);
yield break;
}
rst4.Subscribe subscribe;
yield return(_clockPort.Subscribe(_clockNotify, out subscribe));
if ((Fault)subscribe.ResponsePort != null)
{
LogError("Unable to subscribe to remote ServiceTutorial4", (Fault)subscribe.ResponsePort);
}
yield return(_localClockPort.Subscribe(_localClockNotify, out subscribe));
if ((Fault)subscribe.ResponsePort != null)
{
LogError("Unable to subscribe to local ServiceTutorial4", (Fault)subscribe.ResponsePort);
}
}