protected override IEnumerator<ITask> GetCallback(Myro.Services.Generic.Vector.GetRequestInfo request, PortSet<Myro.Services.Generic.Vector.CallbackResponseType, Fault> responsePort)
{
if (request is vector.GetAllRequestInfo)
{
PortSet<DefaultQueryResponseType, Fault> responses = new PortSet<DefaultQueryResponseType, Fault>();
for (int i = 0; i < _state.Values.Count; i++)
{
int myI = i;
Activate(Arbiter.Choice(_scribblerPort.GetObstacle(i),
delegate(brick.UInt16Body r)
{
//_state.Set(myI, RSUtils.NormalizeUShort(r.Value), DateTime.Now);
_state.Set(myI, r.Value, DateTime.Now);
responses.Post(DefaultQueryResponseType.Instance);
},
delegate(Fault f) { responses.Post(f); }));
}
yield return Arbiter.MultipleItemReceive(responses, _state.Values.Count,
delegate(ICollection<DefaultQueryResponseType> ss, ICollection<Fault> fs)
{
if (fs.Count == 0)
responsePort.Post(vector.CallbackResponseType.Instance);
else
{
responsePort.Post(fs.First());
//// f.Reason was sometimes null
//var reasons = new List<ReasonText>();
//foreach (var f in fs)
// reasons.AddRange(f.Reason.AsEnumerable());
//responsePort.Post(new Fault() { Detail = new Detail() { Any = fs.ToArray() }, Reason = reasons.ToArray() });
}
});
}
else
{
var info = (vector.GetElementRequestInfo)request;
yield return Arbiter.Choice(_scribblerPort.GetObstacle(info.Index),
delegate(brick.UInt16Body r)
{
_state.Set(info.Index, RSUtils.NormalizeUShort(r.Value), DateTime.Now);
responsePort.Post(vector.CallbackResponseType.Instance);
},
delegate(Fault f) { responsePort.Post(f); });
}
yield break;
}
/// <summary>
/// Actuator callback
/// </summary>
protected override IEnumerator<ITask> SetCallback(Myro.Services.Generic.Vector.SetRequestInfo request, PortSet<vector.CallbackResponseType, Fault> responsePort)
{
var req = request as vector.SetElementsRequestInfo;
if (req != null)
{
bool play = false;
bool loud = false;
foreach (var i in req.Indices)
if (i == 0 || i == 1 || i == 2)
play = true;
else if (i == 3)
loud = true;
Fault error = null;
if (loud)
yield return Arbiter.Choice(setLoud(),
delegate(vector.CallbackResponseType s) { },
delegate(Fault f) { error = f; });
if (error == null && play)
yield return Arbiter.Choice(playTone(),
delegate(vector.CallbackResponseType s1) { },
delegate(Fault f) { error = f; });
if (error == null)
responsePort.Post(vector.CallbackResponseType.Instance);
else
responsePort.Post(error);
}
else
{
// Otherwise it was a SetAllRequestInfo
Activate(Arbiter.Choice(setLoud(),
delegate(vector.CallbackResponseType s)
{
Activate(Arbiter.Choice(playTone(),
delegate(vector.CallbackResponseType s1) { responsePort.Post(vector.CallbackResponseType.Instance); },
delegate(Fault f) { responsePort.Post(f); }));
},
delegate(Fault f) { responsePort.Post(f); }));
}
yield break;
}
