public virtual IEnumerator<ITask> SendFileHandler(CopyFileToBrick sendFile)
{
Fault faultResponse = null;
bool fileExists = false;
bool done = false;
#region See if the file is already on the LEGO NXT.
nxtcmd.LegoCommand cmd = new nxtcmd.LegoFindFirst(sendFile.Body.FileName);
yield return Arbiter.Choice(_legoBrickPort.SendNxtCommand(cmd),
delegate(nxtcmd.LegoResponse ok)
{
nxtcmd.LegoResponseFindFirst ffResponse = nxtcmd.LegoResponse.Upcast<nxtcmd.LegoResponseFindFirst>(ok);
if (ffResponse.Success && (ffResponse.FileName == sendFile.Body.FileName))
{
fileExists = true;
bool fileMatches = (sendFile.Body.FileData != null && sendFile.Body.FileData.Length == ffResponse.FileSize);
if (!sendFile.Body.ReplaceExistingFile)
{
string msg = ((fileMatches) ? "A matching file" : "A different file with the same name") + " already exists on the LEGO NXT Brick.";
sendFile.ResponsePort.Post(Fault.FromException(new System.IO.IOException(msg)));
done = true;
}
}
},
delegate(Fault fault)
{
sendFile.ResponsePort.Post(fault);
done = true;
});
#endregion
if (done)
yield break;
if (fileExists)
{
#region Remove the existing file
cmd = new nxtcmd.LegoDelete(sendFile.Body.FileName);
yield return Arbiter.Choice(_legoBrickPort.SendNxtCommand(cmd),
EmptyHandler<nxtcmd.LegoResponse>,
delegate(Fault fault)
{
done = true;
sendFile.ResponsePort.Post(fault);
});
#endregion
}
if (done)
yield break;
#region Upload the file to the Brick.
byte[] fileData = sendFile.Body.FileData;
string fileName = sendFile.Body.FileName;
if (fileData != null)
{
int pgmLength = fileData.Length;
int handle = -1;
LogInfo(LogGroups.Console, "Downloading " + fileName + " to LEGO NXT.");
PortSet<nxtcmd.LegoResponse, Fault> responsePort = new PortSet<nxtcmd.LegoResponse, Fault>();
done = false;
int trial = 0;
while (trial < 5 && !done)
{
nxtcmd.LegoOpenWriteLinear openWrite = new nxtcmd.LegoOpenWriteLinear(fileName, pgmLength);
responsePort = _legoBrickPort.SendNxtCommand(openWrite);
yield return Arbiter.Choice(
Arbiter.Receive<nxtcmd.LegoResponse>(false, responsePort,
delegate(nxtcmd.LegoResponse response)
{
nxtcmd.LegoResponseOpenWriteLinear responseOpenWriteLinear = new nxtcmd.LegoResponseOpenWriteLinear(response.CommandData);
if (response.ErrorCode == LegoErrorCode.Success || response.ErrorCode == LegoErrorCode.FileExists)
{
handle = responseOpenWriteLinear.Handle;
done = true;
}
else if (response.ErrorCode == LegoErrorCode.NoSpace)
{
faultResponse = Fault.FromException(new System.IO.IOException("Out of space on LEGO NXT Brick.\nPlease remove one or more LEGO NXT programs on the NXT Brick."));
trial = 999;
}
else
{
faultResponse = Fault.FromException(new System.IO.IOException("Error preparing to upload " + fileName + " file to the LEGO NXT: " + response.ErrorCode.ToString()));
}
}),
Arbiter.Receive<Fault>(false, responsePort,
delegate(Fault fault)
{
faultResponse = fault;
}));
trial++;
}
if (!done)
{
if (faultResponse == null)
faultResponse = Fault.FromException(new System.IO.IOException("Failed to create the new file"));
sendFile.ResponsePort.Post(faultResponse);
yield break;
}
done = false;
trial = 0;
while (trial < 5 && !done)
{
nxtcmd.LegoWrite legoWrite = new nxtcmd.LegoWrite(handle, fileData);
responsePort = _legoBrickPort.SendNxtCommand(legoWrite);
yield return Arbiter.Choice(
Arbiter.Receive<nxtcmd.LegoResponse>(false, responsePort,
delegate(nxtcmd.LegoResponse response)
{
nxtcmd.LegoResponseWrite responseWrite = new nxtcmd.LegoResponseWrite(response.CommandData);
if (response.ErrorCode == LegoErrorCode.Success)
{
if (pgmLength != responseWrite.BytesWritten)
LogWarning(LogGroups.Console, "Warning: " + fileName + " file length on LEGO NXT does not match the PC.");
done = true;
}
else
{
faultResponse = Fault.FromException(new System.IO.IOException("Error sending " + fileName + " file to the LEGO NXT: " + response.ErrorCode.ToString()));
LogError(faultResponse);
}
}),
Arbiter.Receive<Fault>(false, responsePort,
delegate(Fault fault)
{
faultResponse = fault;
LogError(LogGroups.Console, "Timed out sending " + fileName + " file to the LEGO NXT");
}));
trial++;
}
if (!done)
{
if (faultResponse == null)
faultResponse = Fault.FromException(new System.IO.IOException("Failed to write to the new file,"));
sendFile.ResponsePort.Post(faultResponse);
yield break;
}
// Now Close the Write Buffer.
done = false;
nxtcmd.LegoClose legoClose = new nxtcmd.LegoClose(handle);
legoClose.TryCount = 5;
responsePort = _legoBrickPort.SendNxtCommand(legoClose);
yield return Arbiter.Choice(
Arbiter.Receive<nxtcmd.LegoResponse>(false, responsePort,
delegate(nxtcmd.LegoResponse response)
{
if (response.ErrorCode == LegoErrorCode.Success)
{
sendFile.ResponsePort.Post(DefaultSubmitResponseType.Instance);
done = true;
}
else
{
faultResponse = Fault.FromException(new System.IO.IOException("Error closing " + fileName + " file on the LEGO NXT: " + response.ErrorCode.ToString()));
LogError(faultResponse);
}
}),
Arbiter.Receive<Fault>(false, responsePort,
delegate(Fault fault)
{
faultResponse = fault;
LogError(LogGroups.Console, "Timed out closing file during SendFile.");
}));
}
else
{
faultResponse = Fault.FromException(new ArgumentNullException("The source file was not provided"));
}
if (done)
yield break;
if (faultResponse == null)
faultResponse = Fault.FromException(new System.IO.IOException("Failed to write to the new file,"));
sendFile.ResponsePort.Post(faultResponse);
#endregion
yield break;
}
public virtual IEnumerator <ITask> SendFileHandler(CopyFileToBrick sendFile)
{
Fault faultResponse = null;
bool fileExists = false;
bool done = false;
#region See if the file is already on the LEGO NXT.
nxtcmd.LegoCommand cmd = new nxtcmd.LegoFindFirst(sendFile.Body.FileName);
yield return(Arbiter.Choice(_legoBrickPort.SendNxtCommand(cmd),
delegate(nxtcmd.LegoResponse ok)
{
nxtcmd.LegoResponseFindFirst ffResponse = nxtcmd.LegoResponse.Upcast <nxtcmd.LegoResponseFindFirst>(ok);
if (ffResponse.Success && (ffResponse.FileName == sendFile.Body.FileName))
{
fileExists = true;
bool fileMatches = (sendFile.Body.FileData != null && sendFile.Body.FileData.Length == ffResponse.FileSize);
if (!sendFile.Body.ReplaceExistingFile)
{
string msg = ((fileMatches) ? "A matching file" : "A different file with the same name") + " already exists on the LEGO NXT Brick.";
sendFile.ResponsePort.Post(Fault.FromException(new System.IO.IOException(msg)));
done = true;
}
}
},
delegate(Fault fault)
{
sendFile.ResponsePort.Post(fault);
done = true;
}));
#endregion
if (done)
{
yield break;
}
if (fileExists)
{
#region Remove the existing file
cmd = new nxtcmd.LegoDelete(sendFile.Body.FileName);
yield return(Arbiter.Choice(_legoBrickPort.SendNxtCommand(cmd),
EmptyHandler <nxtcmd.LegoResponse>,
delegate(Fault fault)
{
done = true;
sendFile.ResponsePort.Post(fault);
}));
#endregion
}
if (done)
{
yield break;
}
#region Upload the file to the Brick.
byte[] fileData = sendFile.Body.FileData;
string fileName = sendFile.Body.FileName;
if (fileData != null)
{
int pgmLength = fileData.Length;
int handle = -1;
LogInfo(LogGroups.Console, "Downloading " + fileName + " to LEGO NXT.");
PortSet <nxtcmd.LegoResponse, Fault> responsePort = new PortSet <nxtcmd.LegoResponse, Fault>();
done = false;
int trial = 0;
while (trial < 5 && !done)
{
nxtcmd.LegoOpenWriteLinear openWrite = new nxtcmd.LegoOpenWriteLinear(fileName, pgmLength);
responsePort = _legoBrickPort.SendNxtCommand(openWrite);
yield return(Arbiter.Choice(
Arbiter.Receive <nxtcmd.LegoResponse>(false, responsePort,
delegate(nxtcmd.LegoResponse response)
{
nxtcmd.LegoResponseOpenWriteLinear responseOpenWriteLinear = new nxtcmd.LegoResponseOpenWriteLinear(response.CommandData);
if (response.ErrorCode == LegoErrorCode.Success || response.ErrorCode == LegoErrorCode.FileExists)
{
handle = responseOpenWriteLinear.Handle;
done = true;
}
else if (response.ErrorCode == LegoErrorCode.NoSpace)
{
faultResponse = Fault.FromException(new System.IO.IOException("Out of space on LEGO NXT Brick.\nPlease remove one or more LEGO NXT programs on the NXT Brick."));
trial = 999;
}
else
{
faultResponse = Fault.FromException(new System.IO.IOException("Error preparing to upload " + fileName + " file to the LEGO NXT: " + response.ErrorCode.ToString()));
}
}),
Arbiter.Receive <Fault>(false, responsePort,
delegate(Fault fault)
{
faultResponse = fault;
})));
trial++;
}
if (!done)
{
if (faultResponse == null)
{
faultResponse = Fault.FromException(new System.IO.IOException("Failed to create the new file"));
}
sendFile.ResponsePort.Post(faultResponse);
yield break;
}
done = false;
trial = 0;
while (trial < 5 && !done)
{
nxtcmd.LegoWrite legoWrite = new nxtcmd.LegoWrite(handle, fileData);
responsePort = _legoBrickPort.SendNxtCommand(legoWrite);
yield return(Arbiter.Choice(
Arbiter.Receive <nxtcmd.LegoResponse>(false, responsePort,
delegate(nxtcmd.LegoResponse response)
{
nxtcmd.LegoResponseWrite responseWrite = new nxtcmd.LegoResponseWrite(response.CommandData);
if (response.ErrorCode == LegoErrorCode.Success)
{
if (pgmLength != responseWrite.BytesWritten)
{
LogWarning(LogGroups.Console, "Warning: " + fileName + " file length on LEGO NXT does not match the PC.");
}
done = true;
}
else
{
faultResponse = Fault.FromException(new System.IO.IOException("Error sending " + fileName + " file to the LEGO NXT: " + response.ErrorCode.ToString()));
LogError(faultResponse);
}
}),
Arbiter.Receive <Fault>(false, responsePort,
delegate(Fault fault)
{
faultResponse = fault;
LogError(LogGroups.Console, "Timed out sending " + fileName + " file to the LEGO NXT");
})));
trial++;
}
if (!done)
{
if (faultResponse == null)
{
faultResponse = Fault.FromException(new System.IO.IOException("Failed to write to the new file,"));
}
sendFile.ResponsePort.Post(faultResponse);
yield break;
}
// Now Close the Write Buffer.
done = false;
nxtcmd.LegoClose legoClose = new nxtcmd.LegoClose(handle);
legoClose.TryCount = 5;
responsePort = _legoBrickPort.SendNxtCommand(legoClose);
yield return(Arbiter.Choice(
Arbiter.Receive <nxtcmd.LegoResponse>(false, responsePort,
delegate(nxtcmd.LegoResponse response)
{
if (response.ErrorCode == LegoErrorCode.Success)
{
sendFile.ResponsePort.Post(DefaultSubmitResponseType.Instance);
done = true;
}
else
{
faultResponse = Fault.FromException(new System.IO.IOException("Error closing " + fileName + " file on the LEGO NXT: " + response.ErrorCode.ToString()));
LogError(faultResponse);
}
}),
Arbiter.Receive <Fault>(false, responsePort,
delegate(Fault fault)
{
faultResponse = fault;
LogError(LogGroups.Console, "Timed out closing file during SendFile.");
})));
}
else
{
faultResponse = Fault.FromException(new ArgumentNullException("The source file was not provided"));
}
if (done)
{
yield break;
}
if (faultResponse == null)
{
faultResponse = Fault.FromException(new System.IO.IOException("Failed to write to the new file,"));
}
sendFile.ResponsePort.Post(faultResponse);
#endregion
yield break;
}