public IEnumerator <ITask> GetHandler(analogarray.Get get)
{
var state = new analogarray.AnalogSensorArrayState();
state.Sensors = new List <analogsensor.AnalogSensorState>(this.sensorPorts.Length);
// compose state on the fly by issuing N parallel GET requests to partners
var getSensorState = new analogsensor.Get();
foreach (var port in this.sensorPorts)
{
state.Sensors.Add(null);
port.Post(getSensorState);
}
ICollection <analogsensor.AnalogSensorState> sensorStates = null;
ICollection <Fault> faults = null;
yield return(getSensorState.ResponsePort.MultipleItemReceive(
this.sensorPorts.Length,
(s, f) =>
{
sensorStates = s;
faults = f;
}));
if (faults != null && faults.Count > 0)
{
get.ResponsePort.Post(Fault.FromCodeSubcode(FaultCodes.Receiver, DsspFaultCodes.OperationFailed));
yield break;
}
foreach (var sensorState in sensorStates)
{
state.Sensors[sensorState.HardwareIdentifier] = sensorState;
}
var stateClone = state.Clone() as analogarray.AnalogSensorArrayState;
get.ResponsePort.Post(stateClone);
yield break;
}
public IEnumerator <ITask> GetHandler(analogarray.Get get)
{
var state = new analogarray.AnalogSensorArrayState();
state.Sensors = new List <analogsensor.AnalogSensorState>(this.sensorPorts.Length);
// compose state on the fly by issuing N parallel GET requests to partners
var getSensorState = new sonar.Get();
foreach (var port in this.sensorPorts)
{
state.Sensors.Add(null);
port.Post(getSensorState);
}
ICollection <sonar.SonarState> sensorStates = null;
ICollection <Fault> faults = null;
yield return(getSensorState.ResponsePort.MultipleItemReceive(
this.sensorPorts.Length,
(s, f) =>
{
sensorStates = s;
faults = f;
}));
if (faults != null && faults.Count > 0)
{
get.ResponsePort.Post(Fault.FromCodeSubcode(FaultCodes.Receiver, DsspFaultCodes.OperationFailed));
yield break;
}
foreach (var sensorState in sensorStates)
{
state.Sensors[sensorState.HardwareIdentifier] = new analogsensor.AnalogSensorState()
{
HardwareIdentifier = sensorState.HardwareIdentifier,
NormalizedMeasurement = sensorState.DistanceMeasurement,
RawMeasurement = sensorState.DistanceMeasurement,
RawMeasurementRange = sensorState.MaxDistance,
Pose = new PhysicalModel.Proxy.Pose
{
Orientation = new PhysicalModel.Proxy.Quaternion(
sensorState.Pose.Orientation.X,
sensorState.Pose.Orientation.Y,
sensorState.Pose.Orientation.Z,
sensorState.Pose.Orientation.W),
Position = new PhysicalModel.Proxy.Vector3(
sensorState.Pose.Position.X,
sensorState.Pose.Position.Y,
sensorState.Pose.Position.Z),
},
TimeStamp = sensorState.TimeStamp,
};
}
var stateClone = state.Clone() as analogarray.AnalogSensorArrayState;
get.ResponsePort.Post(stateClone);
yield break;
}