/// <summary>
/// Initialize depthcam state.
/// </summary>
private void DoInitializeDepthCamAlternate()
{
this.cachedProcessedFrames.DepthImage =
new short[this.kinectSensor.DepthStream.FrameWidth * this.kinectSensor.DepthStream.FrameHeight];
this.utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
this.depthCamState = new depth.DepthCamSensorState
{
FieldOfView = KinectCameraConstants.HorizontalFieldOfViewRadians,
ImageMode = depth.DepthCamSensorImageMode.Rgb,
DepthImageSize =
new Size(
this.kinectSensor.DepthStream.FrameWidth,
this.kinectSensor.DepthStream.FrameHeight),
MaximumRange = KinectCameraConstants.MaximumRangeMeters,
TimeStamp = DateTime.MinValue,
Pose = new Microsoft.Robotics.PhysicalModel.Pose(
new Microsoft.Robotics.PhysicalModel.Vector3(0, 0, 0),
new Microsoft.Robotics.PhysicalModel.Quaternion()),
DepthImage =
new short[this.kinectSensor.DepthStream.FrameWidth * this.kinectSensor.DepthStream.FrameHeight]
};
}
/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
Tracer.Trace("TrackRoamerUsrfService::Start()");
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
base.Start(); // fire up MainPortInterleave; wireup [ServiceHandler] methods
MainPortInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <sicklrf.Subscribe>(true, _mainPort, SubscribeHandler),
Arbiter.ReceiveWithIterator <sicklrf.ReliableSubscribe>(true, _mainPort, ReliableSubscribeHandler),
Arbiter.Receive <sicklrf.Get>(true, _mainPort, GetHandler),
Arbiter.Receive <sicklrf.Reset>(true, _mainPort, ResetHandler),
Arbiter.Receive <proxibrick.UpdateSonarData>(true, _trackRoamerBrickProximityBoardServiceNotify, trpbUpdateSonarNotification)
),
new ConcurrentReceiverGroup()
));
Tracer.Trace("TrackRoamerUsrfService: calling Subscribe() for UpdateSonarData");
Type[] notifyMeOf = new Type[] { typeof(proxibrick.UpdateSonarData) };
_trackRoamerBrickProximityBoardServicePort.Subscribe(_trackRoamerBrickProximityBoardServiceNotify, notifyMeOf);
}
IEnumerator <ITask> DoStart()
{
try
{
_utilities = DsspHttpUtilitiesService.Create(Environment);
RunForm runForm = new RunForm(CreateForm);
WinFormsServicePort.Post(runForm);
yield return(Arbiter.Choice(
runForm.pResult,
EmptyHandler,
EmptyHandler
));
FormInvoke invoke = new FormInvoke(
delegate
{
_form.Initialize(_state);
}
);
WinFormsServicePort.Post(invoke);
yield return(Arbiter.Choice(
invoke.ResultPort,
EmptyHandler,
EmptyHandler
));
}
finally
{
FinishStarting();
}
}
/// <summary>
/// Service Startup Handler
/// </summary>
protected override void Start()
{
InitState();
// send configuration commands to partner services
SpawnIterator(ConfigureDrive);
_state.TimeStamp = DateTime.Now;
//needed for HttpPost
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
// Listen for each operation type and call its Service Handler
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//for XSLT and images
MountEmbeddedResources("/RoboticsCommon");
// Interleave to manage internal drive operations (driveDistance and RotateDegrees)
Activate(
new Interleave(
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIteratorFromPortSet <drive.DriveDistance>(true, _internalDriveOperationsPort, InternalDriveDistanceHandler),
Arbiter.ReceiveWithIteratorFromPortSet <drive.RotateDegrees>(true, _internalDriveOperationsPort, InternalRotateDegreesHandler)
),
new ConcurrentReceiverGroup())
);
}
/// <summary>
/// Service start
/// </summary>
/// <summary>
/// Send phase of construction.
/// </summary>
protected override void Start()
{
//if (_state == null)
//{
// _state = new TrackRoamerBrickProximityBoardState();
//}
Tracer.Trace("TrackRoamerBrickProximityBoardService::Start()");
LogInfo("TrackRoamerBrickProximityBoardService::Start");
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
//
// Kick off the connection to the Proximity Board device.
//
SpawnIterator(0, StartProximityBoard);
// This service does not use base.Start() because of the way that
// the handlers are hooked up. Also, because of this, there are
// explicit Get and HttpGet handlers instead of using the default ones.
// Handlers that need write or Exclusive access to state go under
// the Exclusive group. Handlers that need read or shared access, and can be
// Concurrent to other readers, go to the Concurrent group.
// Other internal ports can be included in interleave so you can coordinate
// intermediate computation with top level handlers.
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DropHandler)),
new ExclusiveReceiverGroup(
Arbiter.Receive <Replace>(true, _mainPort, ReplaceHandler),
Arbiter.Receive <SonarData>(true, _pbCommanderDataEventsPort, SonarMeasurementHandler),
Arbiter.Receive <DirectionData>(true, _pbCommanderDataEventsPort, DirectionMeasurementHandler),
Arbiter.Receive <AccelerometerData>(true, _pbCommanderDataEventsPort, AccelerometerMeasurementHandler),
Arbiter.Receive <ProximityData>(true, _pbCommanderDataEventsPort, ProximityMeasurementHandler),
Arbiter.Receive <ParkingSensorData>(true, _pbCommanderDataEventsPort, ParkingSensorMeasurementHandler),
Arbiter.Receive <AnalogData>(true, _pbCommanderDataEventsPort, AnalogMeasurementHandler),
Arbiter.ReceiveWithIterator <ProximityBoardUsbDeviceAttached>(true, _pbCommanderDataEventsPort, UsbDeviceAttached),
Arbiter.ReceiveWithIterator <ProximityBoardUsbDeviceDetached>(true, _pbCommanderDataEventsPort, UsbDeviceDetached),
Arbiter.ReceiveWithIterator <Exception>(true, _pbCommanderDataEventsPort, ExceptionHandler)),
new ConcurrentReceiverGroup(
Arbiter.Receive <DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler),
Arbiter.ReceiveWithIterator <Subscribe>(true, _mainPort, SubscribeHandler),
Arbiter.Receive <Get>(true, _mainPort, GetHandler),
Arbiter.Receive <HttpGet>(true, _mainPort, HttpGetHandler),
Arbiter.Receive <Reset>(true, _mainPort, ResetHandler))
)
);
DirectoryInsert();
//base.Start();
}
/// <summary>
/// Initialize webcam state.
/// </summary>
private void DoInitializeWebcamAlternate()
{
this.cachedProcessedFrames.VisibleImage =
new byte[this.kinectSensor.ColorStream.FrameWidth * this.kinectSensor.ColorStream.FrameHeight
* 3];
this.webCamState = new webcam.WebCamSensorState
{
DeviceName = "Kinect",
Width = this.kinectSensor.ColorStream.FrameWidth,
Height = this.kinectSensor.ColorStream.FrameHeight
};
this.utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
}
/// <summary>
/// Send phase of construction.
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new State();
}
Tracer.Trace("SickLRF::Start()");
LogInfo("Start");
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
//
// Kick off the connection to the Laser Range Finder device.
//
SpawnIterator(0, _state.ComPort, StartLRF);
// This service does not use base.Start() because of the way that
// the handlers are hooked up. Also, because of this, there are
// explicit Get and HttpGet handlers instead of using the default ones.
// Handlers that need write or Exclusive access to state go under
// the Exclusive group. Handlers that need read or shared access, and can be
// Concurrent to other readers, go to the Concurrent group.
// Other internal ports can be included in interleave so you can coordinate
// intermediate computation with top level handlers.
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DropHandler)
),
new ExclusiveReceiverGroup(
Arbiter.Receive <Replace>(true, _mainPort, ReplaceHandler),
Arbiter.Receive <LinkMeasurement>(true, _internalPort, MeasurementHandler),
Arbiter.ReceiveWithIterator <LinkPowerOn>(true, _internalPort, PowerOn),
Arbiter.ReceiveWithIterator <Exception>(true, _internalPort, ExceptionHandler)),
new ConcurrentReceiverGroup(
Arbiter.Receive <DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler),
Arbiter.ReceiveWithIterator <Subscribe>(true, _mainPort, SubscribeHandler),
Arbiter.ReceiveWithIterator <ReliableSubscribe>(true, _mainPort, ReliableSubscribeHandler),
Arbiter.Receive <Get>(true, _mainPort, GetHandler),
Arbiter.Receive <HttpGet>(true, _mainPort, HttpGetHandler),
Arbiter.Receive <Reset>(true, _mainPort, ResetHandler))
)
);
DirectoryInsert();
}
/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
base.Start(); // start MainPortInterleave; wireup [ServiceHandler] methods
if (_state == null)
{
_state = new AnimatedHeadServiceState();
_state.AnimatedHeadServiceConfig = new AnimatedHeadConfig();
_state.AnimatedHeadServiceConfig.CommPort = 0;
SaveState(_state);
}
else
{
// Clear old Animated Head readings
//_state.Quaternion = null;
_state.Connected = false;
}
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
if (_state.AnimatedHeadServiceConfig == null)
{
_state.AnimatedHeadServiceConfig = new AnimatedHeadConfig();
}
// Publish the service to the local Node Directory
//DirectoryInsert();
_ahConnection = new AnimatedHeadConnection(_state.AnimatedHeadServiceConfig, _ahDataPort);
SpawnIterator(ConnectToAnimatedHead);
//SpawnIterator(TestAnimatedHead);
// if we have anything coming from Arduino - the _ahDataPort Arbiter.Receive<string[]> and others must be operational:
// Listen on the main port for requests and call the appropriate handler.
MainPortInterleave.CombineWith(new Interleave(new ExclusiveReceiverGroup(
Arbiter.Receive <string[]>(true, _ahDataPort, DataReceivedHandler),
Arbiter.Receive <Exception>(true, _ahDataPort, ExceptionHandler),
Arbiter.Receive <string>(true, _ahDataPort, MessageHandler)
),
new ConcurrentReceiverGroup()));
//base.Start(); // can't have it here, we already started mainInterleave and added to directory via DirectoryInsert
}
protected override void Start()
{
if (_state == null)
{
_state = new ColorSegmentState();
}
else
{
for (int set = 0; set < _state.Colors.Count; set++)
{
ColorSet colorSet = _state.Colors[set];
for (int index = 0; index < colorSet.Colors.Count; index++)
{
ColorDefinition color = colorSet.Colors[index];
if (!color.Validate())
{
colorSet.Colors.RemoveAt(index);
index--;
}
}
if (colorSet.Colors.Count == 0)
{
_state.Colors.RemoveAt(set);
set--;
}
}
_state.UpdateColorSetMap();
_state.ImageSource = null;
_state.Processing = false;
_state.FrameCount = 0;
_state.DroppedFrames = 0;
_state.FoundColorAreas = null;
}
_utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
_fwdPort = ServiceForwarder <ColorSegmentOperations>(ServiceInfo.Service);
base.Start();
Activate <ITask>(
Arbiter.Receive <webcam.UpdateFrame>(true, _webcamNotify, OnWebcamUpdateFrame)
);
_webcamPort.Subscribe(_webcamNotify, typeof(webcam.UpdateFrame));
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
_notificationTarget = new simengine.SimulationEnginePort();
_utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
simengine.SimulationEngine.GlobalInstancePort.Subscribe(ServiceInfo.PartnerList, _notificationTarget);
// dont start listening to DSSP operations, other than drop, until notification of entity
Activate(new Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive <simengine.InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.Receive <dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
}
/// <summary>
/// The startup method for the text to speech service
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new TextToSpeechState();
_state.Volume = TextToSpeechState.DefaultVolume;
}
InitTextToSpeech();
_utilities = DsspHttpUtilitiesService.Create(Environment);
// Set up internal port
Activate(
Arbiter.Receive <SayTextSynch>(true, _sayTextSynchPort, InternalSayTextSynchHandler)
);
base.Start();
}
/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
base.Start();
// Needed for HttpPost
this.httpUtilities = DsspHttpUtilitiesService.Create(Environment);
// Register handlers for notification from speech recognizer
MainPortInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive <sr.Replace>(true, this.speechRecoNotifyPort, this.SpeechRecognizerReplaceHandler),
Arbiter.Receive <sr.SpeechDetected>(true, this.speechRecoNotifyPort, this.SpeechDetectedHandler),
Arbiter.Receive <sr.SpeechRecognized>(true, this.speechRecoNotifyPort, this.SpeechRecognizedHandler),
Arbiter.Receive <sr.SpeechRecognitionRejected>(true, this.speechRecoNotifyPort, this.SpeechRecognitionRejectedHandler),
Arbiter.Receive <sr.BeamDirectionChanged>(true, this.speechRecoNotifyPort, this.BeamDirectionChangedHandler)),
new ConcurrentReceiverGroup()));
this.speechRecoPort.Subscribe(this.speechRecoNotifyPort);
}
/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new ChrUm6OrientationSensorState();
_state.ChrUm6OrientationSensorConfig = new ChrUm6OrientationSensorConfig();
_state.ChrUm6OrientationSensorConfig.CommPort = 0;
SaveState(_state);
}
else
{
// Clear old Chr readings
_state.Quaternion = null;
}
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
if (_state.ChrUm6OrientationSensorConfig == null)
{
_state.ChrUm6OrientationSensorConfig = new ChrUm6OrientationSensorConfig();
}
// Publish the service to the local Node Directory
DirectoryInsert();
_chrConnection = new ChrConnection(_state.ChrUm6OrientationSensorConfig, _chrDataPort);
SpawnIterator(ConnectToChrUm6OrientationSensor);
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
mainInterleave.CombineWith(new Interleave(new ExclusiveReceiverGroup(
Arbiter.Receive <short[]>(true, _chrDataPort, DataReceivedHandler),
Arbiter.Receive <Exception>(true, _chrDataPort, ExceptionHandler),
Arbiter.Receive <string>(true, _chrDataPort, MessageHandler)
),
new ConcurrentReceiverGroup()));
//base.Start(); -- can't have it here, we already started mainInterleave and added to directory via DirectoryInsert
}
/// <summary>
/// Service startup
/// </summary>
protected override void Start()
{
_fwdPort = ServiceForwarder <webcam.WebCamOperations>(ServiceInfo.Service);
_utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
Uri httpAlias = ServiceInfo.HttpServiceAlias;
if (httpAlias != null)
{
_prefix = httpAlias.AbsolutePath;
_alternatePrefixes = AlternateContractServiceInfo.ConvertAll <string>(
delegate(ServiceInfoType alternate)
{
return(alternate.HttpServiceAlias.AbsolutePath);
}
);
}
try
{
_streamPort = mdwebcam.ReadStream.Create(_state.CaptureFile, Environment.TaskQueue);
}
catch (Exception e)
{
LogError("Unable to open stream file: " + e.Message);
base.StartFailed();
return;
}
base.Start();
base.MainPortInterleave.CombineWith(
new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive <mdwebcam.Frame>(true, _streamPort, ReadFrameHandler)
),
new ConcurrentReceiverGroup()
)
);
}
/// <summary>
/// Complete second phase startup for this service
/// </summary>
protected override void Start()
{
_fwdPort = ServiceForwarder <WebCamServiceOperations>(ServiceInfo.Service);
_altFwdPort = ServiceForwarder <webcam.WebCamOperations>(AlternateContractServiceInfo[0].Service);
_utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
_prefix = new Uri(ServiceInfo.Service).AbsolutePath;
_alternatePrefix = new Uri(AlternateContractServiceInfo[0].Service).AbsolutePath;
if (_state == null)
{
_state = new WebCamState();
}
base.ActivateDsspOperationHandlers();
if (_state.FramesOnDemand)
{
_framesOnDemand = true;
Activate(Arbiter.ReceiveWithIterator(true, _framePort, OnDemandFrameHandler));
}
else
{
base.MainPortInterleave.CombineWith(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup
(
Arbiter.Receive(true, _framePort, FrameHandler)
),
new ConcurrentReceiverGroup()
)
);
}
StartPipeServer();
SpawnIterator(_state, GetInitialState);
}
/// <summary>
/// Service start method
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new IpCameraState();
}
_utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
Uri httpAlias = ServiceInfo.HttpServiceAlias;
if (httpAlias != null)
{
_prefix = httpAlias.AbsolutePath;
_alternatePrefix = AlternateContractServiceInfo[0].HttpServiceAlias.AbsolutePath;
}
else
{
LogError(LogGroups.Activation, "Service requires HTTP transport");
DefaultDropHandler(new DsspDefaultDrop());
return;
}
base.Start();
MainPortInterleave.CombineWith(
new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive <Bitmap>(true, _imagePort, ImageHandler)
),
new ConcurrentReceiverGroup(
Arbiter.Receive <DateTime>(true, _imagePort, GetImageHandler)
)
)
);
_imagePort.Post(DateTime.UtcNow);
}
/// <summary>
/// Start initializes SimulatedDepthcamService and listens for drop messages
/// </summary>
protected override void Start()
{
const double KinectMaxValidDepthMm = 4000.0;
const double KinectMinValidDepthMm = 800.0;
if (this._state == null)
{
// no config file found, initialize default state according to KinectReservedSampleValues
this._state = new DepthCamSensorState();
this._state.MaximumRange = KinectMaxValidDepthMm / 1000.0;
this._state.MinimumRange = KinectMinValidDepthMm / 1000.0;
this._state.FurtherThanMaxDepthValue = (short)4095.0;
this._state.NearerThanMinDepthValue = (short)0.0;
this.SaveState(this._state);
}
this._physicsEngine = physics.PhysicsEngine.GlobalInstance;
_notificationTarget = new simengine.SimulationEnginePort();
utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
// PartnerType.Service is the entity instance name.
simengine.SimulationEngine.GlobalInstancePort.Subscribe(ServiceInfo.PartnerList, _notificationTarget);
// dont start listening to DSSP operations, other than drop, until notification of entity
Activate(new Interleave(
new TeardownReceiverGroup
(
Arbiter.Receive <simengine.InsertSimulationEntity>(false, _notificationTarget, InsertEntityNotificationHandlerFirstTime),
Arbiter.Receive <dssp.DsspDefaultDrop>(false, _mainPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup()
));
}
private void StartBehavior()
{
_fwdPort = ServiceForwarder <Srv1CameraServiceOperations>(ServiceInfo.Service);
_utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
if (_state == null)
{
_state = new Srv1CameraState();
}
// Listen on the main port for requests and call the appropriate handler.
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DropHandler)
),
new ExclusiveReceiverGroup
(
Arbiter.ReceiveWithIterator <Replace>(true, _mainPort, ReplaceHandler),
Arbiter.ReceiveWithIterator <UpdateDevice>(true, _mainPort, UpdateDeviceHandler),
Arbiter.ReceiveWithIterator <UpdateFormat>(true, _mainPort, UpdateFormatHandler),
Arbiter.Receive(true, _framePort, FrameHandler),
Arbiter.ReceiveWithIterator <HttpPost>(true, _mainPort, HttpPostHandler)
),
new ConcurrentReceiverGroup
(
Arbiter.ReceiveWithIterator <Get>(true, _mainPort, GetHandler),
Arbiter.ReceiveWithIterator <QueryFrame>(true, _mainPort, QueryFrameHandler),
Arbiter.ReceiveWithIterator <UpdateFrame>(true, _mainPort, UpdateFrameHandler),
Arbiter.ReceiveWithIterator <HttpGet>(true, _mainPort, HttpGetHandler),
Arbiter.ReceiveWithIterator <Subscribe>(true, _mainPort, SubscribeHandler),
Arbiter.Receive <DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler)
))
);
SpawnIterator(_state, GetInitialState);
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
//initialize state
_state = new ScribblerState();
_state.ComPort = 0;
_state.RobotName = null;
//motors initially stopped
_state.MotorLeft = 100;
_state.MotorRight = 100;
SaveState(_state);
}
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//open Scribbler Communications port
if (ConnectToScribbler())
{
// Listen for a single Serial port request with an acknowledgement
Activate(Arbiter.ReceiveWithIterator <SendScribblerCommand>(false, _scribblerComPort, SendScribblerCommandHandler));
PollTimer = new System.Timers.Timer();
PollTimer.Interval = TimerDelay;
PollTimer.AutoReset = true;
PollTimer.Elapsed += new System.Timers.ElapsedEventHandler(PollTimer_Elapsed);
PollTimer.Start();
//play startup tone
PlayToneBody startTone = new PlayToneBody(200, 1000, 2000);
_mainPort.Post(new PlayTone(startTone));
//debug
//ScribblerCommand cmd = new ScribblerCommand((byte)ScribblerHelper.Commands.GET_INFO);
//SendScribblerCommand sendcmd = new SendScribblerCommand(cmd);
//_scribblerComPort.Post(sendcmd);
//fix state
_state.MotorLeft = 100;
_state.MotorRight = 100;
_state.LEDLeft = false;
_state.LEDRight = false;
_state.LEDCenter = false;
}
else
{
//no scribbler found. Open state page for manual settings.
//OpenServiceInBrowser();
}
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
//for HttpPost
_httpUtilities = DsspHttpUtilitiesService.Create(Environment);
// Publish the service to the local Node Directory
DirectoryInsert();
//add custom handlers to interleave
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <SetMotors>(true, _mainPort, SetMotorHandler),
Arbiter.ReceiveWithIterator <SetLED>(true, _mainPort, SetLEDHandler),
Arbiter.ReceiveWithIterator <SetAllLEDs>(true, _mainPort, SetAllLEDsHandler),
Arbiter.ReceiveWithIterator <PlayTone>(true, _mainPort, PlayToneHandler),
Arbiter.ReceiveWithIterator <SetName>(true, _mainPort, SetNameHandler),
Arbiter.ReceiveWithIterator <ScribblerResponseMessage>(true, _mainPort, ScribblerResponseHandler)
),
new ConcurrentReceiverGroup()
));
}