IEnumerator <ITask> ReplaceHandler(Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
SendNotification(_submgrPort, replace);
if (_streamPort != null)
{
_streamPort.Post(new Shutdown());
_streamPort = null;
}
if (!string.IsNullOrEmpty(_state.CaptureFile))
{
_streamPort = SaveStream.Create(_state.CaptureFile, _state.Quality, _queue);
}
yield break;
}
private void StartBehavior()
{
_fwdPort = ServiceForwarder <Srv1CameraServiceOperations>(ServiceInfo.Service);
_utilitiesPort = DsspHttpUtilitiesService.Create(Environment);
if (_state == null)
{
_state = new Srv1CameraState();
}
// Listen on the main port for requests and call the appropriate handler.
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DropHandler)
),
new ExclusiveReceiverGroup
(
Arbiter.ReceiveWithIterator <Replace>(true, _mainPort, ReplaceHandler),
Arbiter.ReceiveWithIterator <UpdateDevice>(true, _mainPort, UpdateDeviceHandler),
Arbiter.ReceiveWithIterator <UpdateFormat>(true, _mainPort, UpdateFormatHandler),
Arbiter.Receive(true, _framePort, FrameHandler),
Arbiter.ReceiveWithIterator <HttpPost>(true, _mainPort, HttpPostHandler)
),
new ConcurrentReceiverGroup
(
Arbiter.ReceiveWithIterator <Get>(true, _mainPort, GetHandler),
Arbiter.ReceiveWithIterator <QueryFrame>(true, _mainPort, QueryFrameHandler),
Arbiter.ReceiveWithIterator <UpdateFrame>(true, _mainPort, UpdateFrameHandler),
Arbiter.ReceiveWithIterator <HttpGet>(true, _mainPort, HttpGetHandler),
Arbiter.ReceiveWithIterator <Subscribe>(true, _mainPort, SubscribeHandler),
Arbiter.Receive <DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler)
))
);
SpawnIterator(_state, GetInitialState);
}
IEnumerator <ITask> GetInitialState(Srv1CameraState initialState)
{
Srv1CameraState state = new Srv1CameraState();
state.CaptureFile = initialState.CaptureFile;
state.Quality = initialState.Quality;
yield return(InitializeInternalService());
foreach (object obj in new vision.CameraCollection())
{
using (vision.Camera camera = obj as vision.Camera)
{
CameraInstance instance = new CameraInstance();
instance.FriendlyName = camera.Name;
instance.DevicePath = camera.Path;
instance.SupportedFormats = ConvertFormats(camera.Formats);
state.Cameras.Add(instance);
}
}
state.Image = null;
Replace replace = new Replace();
replace.Body = state;
_fwdPort.Post(replace);
yield return(Arbiter.Choice(
replace.ResponsePort,
delegate(DefaultReplaceResponseType success) { },
delegate(Fault fault)
{
LogError(null, "Unable to set camera list", fault);
}
));
UpdateDeviceRequest request = new UpdateDeviceRequest();
if (initialState.Selected != null)
{
request.Selected = initialState.Selected;
}
else if (state.Cameras.Count > 0)
{
request.Selected = state.Cameras[0];
}
else
{
yield break;
}
UpdateDevice update = new UpdateDevice();
update.Body = request;
_fwdPort.Post(update);
yield return(Arbiter.Choice(
update.ResponsePort,
delegate(DefaultUpdateResponseType success) { },
delegate(Fault fault)
{
LogError(null, "Unable to select camera", fault);
}
));
if (initialState.Selected == null ||
initialState.Selected.Format == null)
{
yield break;
}
UpdateFormat updateFormat = new UpdateFormat();
updateFormat.Body = initialState.Selected.Format;
_fwdPort.Post(updateFormat);
yield return(Arbiter.Choice(
updateFormat.ResponsePort,
delegate(DefaultUpdateResponseType success) { },
delegate(Fault fault)
{
LogError(null, "Unable to select format", fault);
}
));
}