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
)
);
}