public virtual IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
Fault fault = null;
NameValueCollection parameters = new NameValueCollection();
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Wait for result
yield return Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection col)
{
parameters = col;
},
delegate(Exception e)
{
fault = Fault.FromException(e);
}
);
if(fault != null)
{
httpPost.ResponsePort.Post(fault);
yield break;
}
if (!string.IsNullOrEmpty(parameters["NewMode"]))
{
int mod = int.Parse(parameters["NewMode"]);
_biclops.setMode(mod);
}
if(!string.IsNullOrEmpty(parameters["pos1"]))
{
double newr = double.Parse(parameters["pos1"]);
_biclops.setJointPosition(0, newr);
}
if(!string.IsNullOrEmpty(parameters["pos2"]))
{
double newr = double.Parse(parameters["pos2"]);
_biclops.setJointPosition(1, newr);
}
HttpResponseType rsp = new HttpResponseType(HttpStatusCode.OK, _state, _transform);
httpPost.ResponsePort.Post(rsp);
SaveState(_state);
}
public virtual IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
string ErrorMessage = String.Empty;
Fault fault = null;
NameValueCollection parameters = new NameValueCollection();
// use helper to read from data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
//wait for result
yield return Arbiter.Choice(
readForm.ResultPort,
delegate(NameValueCollection col)
{
parameters = col;
},
delegate(Exception e)
{
fault = Fault.FromException(e);
LogError(null, "Error Processing from data", fault);
ErrorMessage += e;
}
);
if (fault != null)
{
httpPost.ResponsePort.Post(fault);
yield break;
}
bool validDelta = false;
double[] _delta = new double[2];
if (!string.IsNullOrEmpty(parameters["delta"]))
{
try
{
_delta[0] = double.Parse(parameters["delta"]);
_delta[1] = double.Parse(parameters["delta"]);
validDelta = true;
}
catch (Exception e)
{
string msg = "Could not parse Desired MaxDelta ref value: " + e.Message;
LogError(msg);
ErrorMessage += msg;
}
}
if (validDelta)
{
_state.MaxDelta.dat[0] = _delta[0];
_state.MaxDelta.dat[1] = _delta[1];
}
double[] _ref = new double[2];
bool validValues = true;
if (!string.IsNullOrEmpty(parameters["DesPan"]))
{
try
{
_ref[0] = double.Parse(parameters["DesPan"]);
}
catch (Exception e)
{
string msg = "Could not parse Desired Pan ref value: " + e.Message;
LogError(msg);
ErrorMessage += msg;
validValues = validValues && false;
}
}
if (!string.IsNullOrEmpty(parameters["DesTilt"]))
{
try
{
_ref[1] = double.Parse(parameters["DesTilt"]);
}
catch (Exception e)
{
string msg = "Could not parse Desired Tilt ref value: " + e.Message;
LogError(msg);
ErrorMessage += msg;
validValues = validValues && false;
}
}
if (!string.IsNullOrEmpty(parameters["lock"]))
{
try
{
_state.Lock = true;
}
catch (Exception e)
{
string msg = "Could not parse Lock check: " + e.Message;
LogError(msg);
ErrorMessage += msg;
}
}
else
{
Console.WriteLine("Lock set to false");
_state.Lock = false;
newDesiredJointPositions = true;
}
if (validValues)
{
// scale down here...
_state.DesiredJointAngles.dat[0] = _ref[0];
_state.DesiredJointAngles.dat[1] = _ref[1];
}
if (!string.IsNullOrEmpty(parameters["Home"]))
{
/*
Console.WriteLine("BiclopsRightCameraJointConfiguration::Home()");
_biclopsPort.Post(new biclops.Home());
_state.Lock = true;
Activate(
Arbiter.Choice(
_biclopsPort.Home(new biclops.HomeRequest()),
delegate(DefaultUpdateResponseType response)
{
LogError(LogGroups.Console, "got response from Bicops.Home");
//Console.WriteLine("got response from Biclops.Home");
},
delegate(W3C.Soap.Fault failure)
{
LogError(LogGroups.Console, "Fault posting Bicops.Home");
//Console.WriteLine("Fault posting SetJointPositionReference");
}));
*/
}
if (!string.IsNullOrEmpty(parameters["Park"]))
{
/*
Console.WriteLine("BiclopsRightCameraJointConfiguration::Park()");
_biclopsPort.Post(new biclops.Park());
*/
}
if (ErrorMessage == string.Empty)
{
httpPost.ResponsePort.Post(new HttpResponseType(HttpStatusCode.OK, _state, _transform));
}
else
{
fault = Fault.FromCodeSubcodeReason(FaultCodes.Receiver,
DsspFaultCodes.OperationFailed,
ErrorMessage);
httpPost.ResponsePort.Post(new Fault());
}
yield break;
}
public IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Wait for result
Activate(Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection parameters)
{
if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "MicrosoftGpsConfig"
)
{
if (parameters["buttonOk"] == "Search")
{
FindGpsConfig findConfig = new FindGpsConfig();
_mainPort.Post(findConfig);
Activate(
Arbiter.Choice(
Arbiter.Receive<MicrosoftGpsConfig>(false, findConfig.ResponsePort,
delegate(MicrosoftGpsConfig response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, findConfig.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Connect and Update")
{
MicrosoftGpsConfig config = (MicrosoftGpsConfig)_state.MicrosoftGpsConfig.Clone();
int port;
if (int.TryParse(parameters["CommPort"], out port) && port >= 0)
{
config.CommPort = port;
config.PortName = "COM" + port.ToString();
}
int baud;
if (int.TryParse(parameters["BaudRate"], out baud) && GpsConnection.ValidBaudRate(baud))
{
config.BaudRate = baud;
}
config.CaptureHistory = ((parameters["CaptureHistory"] ?? "off") == "on");
config.CaptureNmea = ((parameters["CaptureNmea"] ?? "off") == "on");
config.RetrackNmea = ((parameters["RetrackNmea"] ?? "off") == "on");
Console.WriteLine(string.Format("Switches: CaptureHistory={0} CaptureNmea={1} RetrackNmea={2}", config.CaptureHistory, config.CaptureNmea, config.RetrackNmea));
Configure configure = new Configure(config);
_mainPort.Post(configure);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, configure.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, configure.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, null);
}
},
delegate(Exception Failure)
{
LogError(Failure.Message);
})
);
yield break;
}
public IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Wait for result
Activate(Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection parameters)
{
if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "ChrUm6OrientationSensorConfig"
)
{
if (parameters["buttonOk"] == "Search")
{
FindChrConfig findConfig = new FindChrConfig();
_mainPort.Post(findConfig);
Activate(
Arbiter.Choice(
Arbiter.Receive<ChrUm6OrientationSensorConfig>(false, findConfig.ResponsePort,
delegate(ChrUm6OrientationSensorConfig response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, findConfig.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Connect")
{
ChrUm6OrientationSensorConfig config = (ChrUm6OrientationSensorConfig)_state.ChrUm6OrientationSensorConfig.Clone();
int port;
if (int.TryParse(parameters["CommPort"], out port) && port >= 0)
{
config.CommPort = port;
config.PortName = "COM" + port.ToString();
}
int baud;
if (int.TryParse(parameters["BaudRate"], out baud) && ChrConnection.ValidBaudRate(baud))
{
config.BaudRate = baud;
}
Configure configure = new Configure(config);
_mainPort.Post(configure);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, configure.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, configure.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Refresh Data")
{
HttpPostSuccess(httpPost);
}
else if (parameters["buttonOk"] == "Set Accelerometer Reference Vector")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand() { Command = "SetAccelRefVector" };
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Set Magnetometer Reference Vector")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand() { Command = "SetMagnRefVector" };
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
else if (parameters["buttonOk"] == "Zero Rate Gyros")
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand() { Command = "ZeroRateGyros" };
SendChrUm6OrientationSensorCommand sCmd = new SendChrUm6OrientationSensorCommand(cmd);
_mainPort.Post(sCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, sCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, sCmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, null);
}
},
delegate(Exception Failure)
{
LogError(Failure.Message);
})
);
yield break;
}
/// <summary>
/// Http Post Handler. Handles http form inputs
/// </summary>
//[ServiceHandler(ServiceHandlerBehavior.Concurrent)]
public IEnumerator<ITask> HttpPostHandler(HttpPost httpPost)
{
// Use helper to read form data
ReadFormData readForm = new ReadFormData(httpPost);
_httpUtilities.Post(readForm);
// Read form data
NameValueCollection parameters = null;
yield return Arbiter.Choice(readForm.ResultPort,
delegate(NameValueCollection p) { parameters = p; },
delegate(Exception e) { throw new Exception("Error reading form data", e); });
// Act on form data
if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "ScribblerConfig")
{
if (parameters["buttonOk"] == "Change" && _state.Connected)
{
SetNameBody newname = new SetNameBody(parameters["Name"]);
SetName newnamemessage = new SetName(newname);
_mainPort.PostUnknownType(newnamemessage);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, newnamemessage.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, newnamemessage.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
else if (parameters["buttonOk"] == "Connect" && _state.Connected)
{
//close down this connection to make a new connection below
PollTimer.Close();
System.Threading.Thread.Sleep(100);
_scribblerCom.Close();
_state.Connected = false;
//HttpPostSuccess(httpPost);
}
if (parameters["buttonOk"] == "Connect" && !_state.Connected)
{
int port = 0;
int.TryParse(parameters["ComPort"], out port);
string name = parameters["Name"];
if (!string.IsNullOrEmpty(name) && name.Length > 8)
name = name.Substring(0, 8);
_state.ComPort = port;
_state.RobotName = name;
//open Scribbler Communications port
LogInfo("connecting to scribbler...");
Reconnect rec = new Reconnect();
_mainPort.PostUnknownType(rec);
yield return Arbiter.Choice(rec.ResponsePort,
delegate(DefaultUpdateResponseType r)
{
LogInfo("connected, sending http reply");
HttpPostSuccess(httpPost);
LogInfo("http reply sent");
},
delegate(Fault f)
{
httpPost.ResponsePort.Post(f);
});
}
}
else if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "ScribblerSensors")
{
if (parameters["buttonOk"] == "Poll" && _state.Connected)
{
ScribblerCommand cmd = new ScribblerCommand(ScribblerHelper.Commands.GET_ALL);
SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
_scribblerComPort.Post(sendcmd);
Activate(
Arbiter.Choice(
Arbiter.Receive<ScribblerResponse>(false, sendcmd.ResponsePort,
delegate(ScribblerResponse response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, sendcmd.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "ScribblerMotors")
{
if (parameters["buttonOk"] == "Set" && _state.Connected)
{
int left = _state.MotorLeft;
int right = _state.MotorRight;
int.TryParse(parameters["LeftMotor"], out left);
int.TryParse(parameters["RightMotor"], out right);
SetMotorsBody setMotorsBody = new SetMotorsBody(left, right);
SetMotors setMotorsRequest = new SetMotors(setMotorsBody);
_mainPort.PostUnknownType(setMotorsRequest);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, setMotorsRequest.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
else if (parameters["buttonOk"] == "All Stop" && _state.Connected)
{
SetMotorsBody setMotorsBody = new SetMotorsBody(100, 100);
SetMotors setMotorsRequest = new SetMotors(setMotorsBody);
_mainPort.PostUnknownType(setMotorsRequest);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, setMotorsRequest.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, setMotorsRequest.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "ScribblerLEDs")
{
if (parameters["buttonOk"] == "Set" && _state.Connected)
{
bool left = ((parameters["LeftLED"] ?? "off") == "on");
bool center = ((parameters["CenterLED"] ?? "off") == "on");
bool right = ((parameters["RightLED"] ?? "off") == "on");
SetAllLedsBody leds = new SetAllLedsBody(left, center, right);
SetAllLEDs setAllLeds = new SetAllLEDs(leds);
_mainPort.PostUnknownType(setAllLeds);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, setAllLeds.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, setAllLeds.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else if (!string.IsNullOrEmpty(parameters["Action"])
&& parameters["Action"] == "ScribblerSpeaker")
{
if (parameters["buttonOk"] == "Play" && _state.Connected)
{
int tone1 = 0;
int tone2 = 0;
int duration = 0;
int.TryParse(parameters["Tone1"], out tone1);
int.TryParse(parameters["Tone2"], out tone2);
int.TryParse(parameters["Duration"], out duration);
PlayToneBody playTone = new PlayToneBody(duration, tone1, tone2);
PlayTone playToneMessage = new PlayTone(playTone);
_mainPort.PostUnknownType(playToneMessage);
Activate(
Arbiter.Choice(
Arbiter.Receive<DefaultUpdateResponseType>(false, playToneMessage.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
HttpPostSuccess(httpPost);
}),
Arbiter.Receive<Fault>(false, playToneMessage.ResponsePort,
delegate(Fault f)
{
HttpPostFailure(httpPost, f.Reason[0].Value);
})
)
);
}
}
else
{
HttpPostFailure(httpPost, "Unknown Http Post");
}
yield break;
}
