IEnumerator <ITask> OnConnectMotorHandler(OnConnectMotor onConnectMotor)
{
if (onConnectMotor.DriveControl == _driveControl)
{
drive.EnableDriveRequest request = new drive.EnableDriveRequest(false);
if (_drivePort != null)
{
yield return(Arbiter.Choice(
_drivePort.EnableDrive(request),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault f)
{
LogError(f);
}
));
if (_motorShutdown != null)
{
PerformShutdown(ref _motorShutdown);
}
}
_drivePort = ServiceForwarder <drive.DriveOperations>(onConnectMotor.Service);
_motorShutdown = new Port <Shutdown>();
drive.ReliableSubscribe subscribe = new drive.ReliableSubscribe(
new ReliableSubscribeRequestType(10)
);
subscribe.NotificationPort = _driveNotify;
subscribe.NotificationShutdownPort = _motorShutdown;
_drivePort.Post(subscribe);
yield return(Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectMotor.Service);
},
delegate(Fault fault)
{
_motorShutdown = null;
LogError(fault);
}
));
request = new drive.EnableDriveRequest(true);
yield return(Arbiter.Choice(
_drivePort.EnableDrive(request),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault f)
{
LogError(f);
}
));
}
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
drivePort.Subscribe(driveNotificationPort);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service to know when the motors are enabled
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
RSUtils.ReceiveSync(taskQueue, drivePort.Subscribe(driveNotificationPort), Params.DefaultRecieveTimeout);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
void ConnectToScribbler(DateTime dt)
{
Uri driveUri = null;
// Look for any active generic drive contract service running
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice(DssEnvironment.DirectoryQuery(drive.Contract.Identifier),
delegate(ServiceInfoType success)
{
driveUri = new Uri(success.Service);
Console.WriteLine("================\n" + driveUri);
// Initialize the port and subscribe to the service
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(driveUri);
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
drivePort.Subscribe(driveNotificationPort);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate)
);
autolock.Set();
},
delegate(W3C.Soap.Fault failure)
{
// Request failed. Sleep for 1 sec and look for 30 times.
if (++attemptCount >= 30)
{
DssEnvironment.LogError("Unable to find Drive Service, aborting - Press <Enter>");
Console.ReadLine();
DssEnvironment.Shutdown();
}
else
{
// Post a timer message that expires in 30 seconds
TimeSpan timeout = new TimeSpan(0, 0, 30);
DssEnvironment.TaskQueue.EnqueueTimer(timeout, _timerPort);
}
}
));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service to know when the motors are enabled
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder<drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
RSUtils.ReceiveSync(taskQueue, drivePort.Subscribe(driveNotificationPort), Params.DefaultRecieveTimeout);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive<drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
IEnumerator<ITask> OnConnectMotorHandler(OnConnectMotor onConnectMotor)
{
if (onConnectMotor.DriveControl == _driveControl)
{
drive.EnableDriveRequest request = new drive.EnableDriveRequest();
if (_drivePort != null)
{
yield return Arbiter.Choice(
_drivePort.EnableDrive(request),
delegate(DefaultUpdateResponseType response)
{
},
delegate(Fault f)
{
LogError(f);
}
);
if (_motorShutdown != null)
{
yield return PerformShutdown(ref _motorShutdown);
}
}
_drivePort = ServiceForwarder<drive.DriveOperations>(onConnectMotor.Service);
_motorShutdown = new Port<Shutdown>();
request.Enable = true;
yield return Arbiter.Choice(
_drivePort.EnableDrive(request),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault f)
{
LogError(f);
}
);
drive.ReliableSubscribe subscribe = new drive.ReliableSubscribe(
new ReliableSubscribeRequestType(10)
);
subscribe.NotificationPort = _driveNotify;
subscribe.NotificationShutdownPort = _motorShutdown;
_drivePort.Post(subscribe);
yield return Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectMotor.Service);
},
delegate(Fault fault)
{
_motorShutdown = null;
LogError(fault);
}
);
}
}
