public virtual IEnumerator <ITask> ReliableSubscribeHandler(pxsonar.ReliableSubscribe subscribe)
{
yield return(Arbiter.Choice(
SubscribeHelper(_submgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
_submgrPort.Post(new submgr.Submit(
subscribe.Body.Subscriber, dssp.DsspActions.ReplaceRequest, _state, null));
},
delegate(Exception ex) { LogError(ex); }
));;
}
public IEnumerator <ITask> ReliableSubscribeHandler(sonar.ReliableSubscribe subscribe)
{
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
SendNotification <sonar.Replace>(_subMgrPort, subscribe.Body.Subscriber, new sonar.Replace(_state));
},
delegate(Exception fault)
{
LogError(fault);
}
));
}
IEnumerator<ITask> OnConnectSonarHandler(OnConnectSonar onConnectSonar)
{
if (onConnectSonar.DriveControl != _driveControl)
yield break;
_sonarPort = ServiceForwarder<pxsonar.SonarOperations>(onConnectSonar.Service);
_sonarShutdown = new Port<Shutdown>();
pxsonar.ReliableSubscribe subscribe = new pxsonar.ReliableSubscribe(
new ReliableSubscribeRequestType(5)
);
subscribe.NotificationPort = _sonarNotify;
subscribe.NotificationShutdownPort = _sonarShutdown;
_sonarPort.Post(subscribe);
yield return Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectSonar.Service);
},
delegate(Fault fault)
{
_sonarShutdown = null;
LogError(fault);
}
);
}