public void chrSendCommand(string sCmd)
{
ChrUm6OrientationSensorCommand cmd = new ChrUm6OrientationSensorCommand()
{
Command = sCmd
};
SendChrUm6OrientationSensorCommand sendCmd = new SendChrUm6OrientationSensorCommand(cmd);
_chrUm6OrientationSensorServicePort.Post(sendCmd);
Activate(
Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, sendCmd.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
}),
Arbiter.Receive <Fault>(false, sendCmd.ResponsePort,
delegate(Fault f)
{
})
)
);
}
public virtual IEnumerator<ITask> SendChrCommandHandler(SendChrUm6OrientationSensorCommand update)
{
//update.ResponsePort.Post(
// Fault.FromException(
// new NotImplementedException("The CHR UM6 Sensor service is a sample. Sending commands to the sensor is an exercise left to the community.")));
string command = update.Body.Command;
switch(command)
{
case "ZeroRateGyros":
case "SetAccelRefVector":
case "SetMagnRefVector":
Console.WriteLine("SendChrCommandHandler received command " + command);
if (_state.Connected)
{
_chrConnection.SendCommand(command);
}
break;
default:
Console.WriteLine("SendChrCommandHandler received unknown command '" + command + "'" );
break;
}
update.ResponsePort.Post(new DefaultUpdateResponseType());
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;
}
