public virtual IEnumerator <ITask> HttpGetInfraredSensorHandler(dssphttp.HttpGet httpGet) { infraredarray.Get get = new infraredarray.Get(); this.altPort.Post(get); yield return(get.ResponsePort.Choice()); infraredarray.InfraredSensorArrayState infraredState = get.ResponsePort; httpGet.ResponsePort.Post(new dssphttp.HttpResponseType(infraredState)); yield break; }
public IEnumerator <ITask> GetHandler(infraredarray.Get get) { var state = new infraredarray.InfraredSensorArrayState(); state.Sensors = new List <infraredsensor.InfraredState>(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) { PhysicalModel.Proxy.Pose sensorPose; switch (sensorState.HardwareIdentifier) { case 0: sensorPose = this.LeftIRPose; break; case 1: sensorPose = this.MiddleIRPose; break; case 2: sensorPose = this.RightIRPose; break; default: sensorPose = new PhysicalModel.Proxy.Pose(); break; } state.Sensors[sensorState.HardwareIdentifier] = new infraredsensor.InfraredState() { DistanceMeasurement = sensorState.RawMeasurement, HardwareIdentifier = sensorState.HardwareIdentifier, ManufacturerIdentifier = SimSensorManufacturer, MaxDistance = int.MaxValue, MinDistance = 0, Pose = sensorPose, TimeStamp = sensorState.TimeStamp }; } var stateClone = state.Clone() as infraredarray.InfraredSensorArrayState; get.ResponsePort.Post(stateClone); yield break; }