/// <summary>
/// Subscribe to appropriate sensor type and port on NXT
/// </summary>
private void SubscribeToNXT()
{
// Create a notification port
legoNXT.LegoNxtOperations _notificationPort = new legoNXT.LegoNxtOperations();
//create a custom subscription request
legoNXT.CustomSubscribeRequestType request = new legoNXT.CustomSubscribeRequestType();
//select only the sensor and port we want
//NOTE: this name must match the NXT sensor name. (see NXT readme)
request.Sensors = new Collection <legoNXT.SensorDefinition>();
legoNXT.SensorDefinition sensor = new legoNXT.SensorDefinition();
sensor.Type = legoNXT.SensorDefinition.SensorType.Encoder;
sensor.Port = _state.HardwareIdentifier;
request.Sensors.Add(sensor);
//Subscribe to the NXT and wait for a response
Activate(
Arbiter.Choice(_legoPort.SelectiveSubscribe(request, _notificationPort),
delegate(SubscribeResponseType Rsp)
{
//update our state with subscription status
_subscribed = true;
LogInfo(sensor.Type + sensor.Port + " subscription success");
//Subscription was successful, start listening for sensor change notifications
_mainInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive <legoNXT.Configure>(true, _notificationPort, SensorNotificationHandler)
),
new ConcurrentReceiverGroup()
));
//Activate(
//);
},
delegate(Fault F)
{
LogError(sensor.Type + sensor.Port + "subscription failed");
}
)
);
}
/// <summary>
/// Subscribe to appropriate sensor type and port on NXT
/// </summary>
private void SubscribeToNXT()
{
// Create a notification port
legoNXT.LegoNxtOperations _notificationPort = new legoNXT.LegoNxtOperations();
//create a custom subscription request
legoNXT.CustomSubscribeRequestType request = new legoNXT.CustomSubscribeRequestType();
//select only the sensor and port we want
//NOTE: this name must match the NXT sensor name. (see NXT readme)
request.Sensors = new Collection <legoNXT.SensorDefinition>();
legoNXT.SensorDefinition sensor1 = new legoNXT.SensorDefinition();
sensor1.Type = legoNXT.SensorDefinition.SensorType.Motor;
sensor1.Port = _state.Motor1Port;
request.Sensors.Add(sensor1);
legoNXT.SensorDefinition sensor2 = new legoNXT.SensorDefinition();
sensor2.Type = legoNXT.SensorDefinition.SensorType.Motor;
sensor2.Port = _state.Motor2Port;
request.Sensors.Add(sensor2);
//Subscribe to the NXT and wait for a response
Activate(
Arbiter.Choice(_legoPort.SelectiveSubscribe(request, _notificationPort),
delegate(SubscribeResponseType Rsp)
{
//update our state with subscription status
_subscribed = true;
LogInfo("lego backup subscription success");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive <legoNXT.Configure>(true, _notificationPort, SensorNotificationHandler)
);
},
delegate(Fault F)
{
LogError(sensor1.Type + sensor1.Port + "subscription failed");
}
)
);
}
protected override void Start()
{
//configure default state
if (_state == null)
{
_state = new LegoNxtBatteryState();
_state.PollDelayTime = 10000; //10 seconds
_state.MaxBatteryPower = 9.0;
SaveState(_state);
}
// Listen on the main port for requests and call the appropriate handler.
Interleave mainInterleave = ActivateDsspOperationHandlers();
//listen on alternate service port for requests and call the appropriate handler.
mainInterleave.CombineWith(new Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <DsspDefaultDrop>(false, _batteryPort, DefaultDropHandler)
),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator <battery.Replace>(true, _batteryPort, ReplaceHandler),
Arbiter.ReceiveWithIterator <battery.Subscribe>(true, _batteryPort, SubscribeHandler)
),
new ConcurrentReceiverGroup(
Arbiter.ReceiveWithIterator <battery.Get>(true, _batteryPort, GetHandler),
Arbiter.Receive <DsspDefaultLookup>(true, _batteryPort, DefaultLookupHandler)
)
));
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
//wait until the nxt is connected to start polling for the battery level
// Create a temporary notification port
legoNXT.LegoNxtOperations _notificationPort = new legoNXT.LegoNxtOperations();
Activate(
Arbiter.Choice(_legoPort.Subscribe(_notificationPort),
delegate(SubscribeResponseType Rsp)
{
LogInfo("Lego NXT battery initial subscription success. Waiting for NXT to connect.");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive <legoNXT.Configure>(false, _notificationPort,
delegate(legoNXT.Configure msg)
{
//start polling
LogInfo("NXT Battery service notified of NXT connection");
_timerPort.Post(DateTime.Now);
Activate(Arbiter.Receive(true, _timerPort, TimerHandler));
})
);
},
delegate(Fault F)
{
LogError("Lego NXT battery initial subscription failed");
}
)
);
}
