/// <summary>
/// Actuator callback
/// </summary>
protected override void SetCallback(Myro.Services.Generic.Vector.SetRequestInfo request)
{
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;
}
}
if (loud)
{
setLoud();
}
if (play)
{
playTone();
}
}
else
{
// Otherwise it was a SetAllRequestInfo
setLoud();
playTone();
}
}
/// <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;
}
protected override void SetCallback(Myro.Services.Generic.Vector.SetRequestInfo request)
{
if (request is vector.SetAllRequestInfo)
{
Activate(Arbiter.Choice(
_scribblerPort.SetAllLEDs(new brick.SetAllLedsBody()
{
LeftLED = _state.GetBool(0), CenterLED = _state.GetBool(1), RightLED = _state.GetBool(2)
}),
delegate(DefaultUpdateResponseType success) { },
delegate(Fault failure) { LogError(failure); }));
}
else if (request is vector.SetElementsRequestInfo)
{
vector.SetElementsRequestInfo info = (vector.SetElementsRequestInfo)request;
if (info.Indices.Count > 1)
{
Activate(Arbiter.Choice(
_scribblerPort.SetAllLEDs(new brick.SetAllLedsBody()
{
LeftLED = _state.GetBool(0), CenterLED = _state.GetBool(1), RightLED = _state.GetBool(2)
}),
delegate(DefaultUpdateResponseType success) { },
delegate(Fault failure) { LogError(failure); }));
}
else if (info.Indices.Count == 1)
{
Activate(Arbiter.Choice(
_scribblerPort.SetLED(new brick.SetLedBody()
{
LED = info.Indices[0], State = _state.GetBool(info.Indices[0])
}),
delegate(DefaultUpdateResponseType success) { },
delegate(Fault failure) { LogError(failure); }));
}
}
}
/// <summary>
/// Callback giving you the opportunity to take action after the state
/// is modified by a request. The requestInfo parameter will be
/// either a SetElementRequestInfo class, or a SetAllRequestInfo class.
/// Use the "is" keyword to find out which one (and thus what type the
/// request was). This class, once casted to the right type, contains
/// information about the specific request. See the Vector class
/// description for more information.
/// </summary>
protected virtual void SetCallback(SetRequestInfo request)
{
}
protected override IEnumerator <ITask> SetCallback(vector.SetRequestInfo request, PortSet <vector.CallbackResponseType, Fault> responsePort)
{
if (request is vector.SetAllRequestInfo)
{
Activate(Arbiter.Choice(
_scribblerPort.SetAllLEDs(new brick.SetAllLedsBody()
{
LeftLED = _state.GetBool(0), CenterLED = _state.GetBool(1), RightLED = _state.GetBool(2)
}),
delegate(DefaultUpdateResponseType success) { responsePort.Post(vector.CallbackResponseType.Instance); },
delegate(Fault failure) { responsePort.Post(failure); }));
}
else if (request is vector.SetElementsRequestInfo)
{
vector.SetElementsRequestInfo info = (vector.SetElementsRequestInfo)request;
int setLEDScribblerIndex = -1; // will be set to -2 for set all
var responses = new PortSet <DefaultUpdateResponseType, Fault>();
int nResponses = 0;
foreach (int i in info.Indices)
{
if (i >= 0)
{
if (i <= 2)
{
if (setLEDScribblerIndex >= 0)
{
setLEDScribblerIndex = -2;
}
else
{
setLEDScribblerIndex = i;
}
}
else if (i == 3)
{
nResponses++;
Activate(Arbiter.Choice(_scribblerPort.SetLEDFront(_state.GetBool(3)),
delegate(DefaultUpdateResponseType s) { responses.Post(DefaultUpdateResponseType.Instance); },
delegate(Fault f) { responses.Post(f); }));
}
else if (i == 4)
{
nResponses++;
Activate(Arbiter.Choice(_scribblerPort.SetLEDBack(RSUtils.UnnormalizeDouble(_state.Get(4))),
delegate(DefaultUpdateResponseType s) { responses.Post(DefaultUpdateResponseType.Instance); },
delegate(Fault f) { responses.Post(f); }));
}
}
}
if (setLEDScribblerIndex == -2)
{
nResponses++;
Activate(Arbiter.Choice(
_scribblerPort.SetAllLEDs(new brick.SetAllLedsBody()
{
LeftLED = _state.GetBool(0), CenterLED = _state.GetBool(1), RightLED = _state.GetBool(2)
}),
delegate(DefaultUpdateResponseType s) { responses.Post(DefaultUpdateResponseType.Instance); },
delegate(Fault f) { responses.Post(f); }));
}
else if (setLEDScribblerIndex >= 0)
{
nResponses++;
Activate(Arbiter.Choice(
_scribblerPort.SetLED(new brick.SetLedBody()
{
LED = setLEDScribblerIndex, State = _state.GetBool(setLEDScribblerIndex)
}),
delegate(DefaultUpdateResponseType s) { responses.Post(DefaultUpdateResponseType.Instance); },
delegate(Fault f) { responses.Post(f); }));
}
Activate(Arbiter.MultipleItemReceive(responses, nResponses,
delegate(ICollection <DefaultUpdateResponseType> ss, ICollection <Fault> fs)
{
if (fs.Count == 0)
{
responsePort.Post(vector.CallbackResponseType.Instance);
}
else
{
responsePort.Post(fs.First());
////f.Readon could be null
//var reasons = new List<ReasonText>();
//foreach (var f in fs)
// if (f.Reason != null)
// reasons.AddRange(f.Reason.AsEnumerable());
//responsePort.Post(new Fault() { Detail = new Detail() { Any = fs.ToArray() }, Reason = reasons.ToArray() });
}
}));
}
yield break;
}
