Difference between revisions of "Robitics Studio MSRS"
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| − | == HttpGet aufrufen == | + | == HttpGet und Get aufrufen == |
Beispiel, wie man ein HttpGet aufruft und zur Antwort kommt. | Beispiel, wie man ein HttpGet aufruft und zur Antwort kommt. | ||
Service Port Operations Definition: | Service Port Operations Definition: | ||
| Line 80: | Line 80: | ||
object yuppi = result.Body; | object yuppi = result.Body; | ||
} | } | ||
| + | </source> | ||
| + | |||
| + | DSS Tutorial 1 erweitert: | ||
| + | |||
| + | <source lang="csharp"> | ||
| + | /// <summary> | ||
| + | /// Handle Bumper Notifications | ||
| + | /// </summary> | ||
| + | /// <param name="notification">Update notification</param> | ||
| + | private void BumperHandler(bumper.Update notification) | ||
| + | { | ||
| + | if (notification.Body.Pressed) | ||
| + | LogInfo(LogGroups.Console, "Ouch - the bumper was pressed."); | ||
| + | |||
| + | bumper.Get get = new bumper.Get(); | ||
| + | _bumperPort.Post(get); | ||
| + | Activate(Arbiter.Choice(get.ResponsePort, GetResponseHandler, ex => LogError(ex))); | ||
| + | |||
| + | } | ||
| + | |||
| + | |||
| + | private void GetResponseHandler(bumper.ContactSensorArrayState sensorState) | ||
| + | { | ||
| + | System.Text.StringBuilder sb = new System.Text.StringBuilder(); | ||
| + | foreach (bumper.ContactSensor sensor in sensorState.Sensors) | ||
| + | { | ||
| + | bool pressed = sensor.Pressed; | ||
| + | sb.Append(pressed); | ||
| + | sb.Append(" "); | ||
| + | } | ||
| + | LogInfo(sb.ToString()); | ||
| + | } | ||
</source> | </source> | ||
Latest revision as of 17:13, 23 December 2008
Contents
Commands in der Commandline
dssnewservice
Beispiel
dssnewservice /namespace:MyImpl /service:MyTouchSensor
Client/Server Beispiel
Server Service
Client Service
PortSet Beispiel mit Arbiter.Choice
protected override void Start()
{
base.Start();
Dispatcher dispatcher = new Dispatcher();
DispatcherQueue taskQueue = new DispatcherQueue("sample queue", dispatcher);
Arbiter.Activate(taskQueue,
Arbiter.FromIteratorHandler(IteratorExample)
);
}
IEnumerator<ITask> IteratorExample()
{
PortSet<int, string> operations = new PortSet<int, string>();
//operations.Post(888);
operations.Post("Hello");
int resultInt = 0;
string resultString = "";
yield return Arbiter.Choice(operations, i => resultInt = i, s => resultString = s);
LogInfo("" + resultInt); //Da der zweite Port im Portset eine Stringmessage enthaelt,
//aber der erste Port leer ist, wird die lokale Variable resultString gefuellt sein,
//die lokale Variable resultInt wird leer sein.
LogInfo(resultString);
yield break;
}
HttpGet und Get aufrufen
Beispiel, wie man ein HttpGet aufruft und zur Antwort kommt. Service Port Operations Definition:
[ServicePort]
public class ClaudeTestsOperations : PortSet<DsspDefaultLookup, DsspDefaultDrop, Get, HttpGet>{}
[ServiceHandler(ServiceHandlerBehavior.Concurrent)]
public IEnumerator<ITask> HttpGetHandler(HttpGet get)
{
get.ResponsePort.Post(new HttpResponseType(_state));
yield break;
}
IEnumerator<ITask> IteratorExample()
{
HttpGet get = new HttpGet();
this._mainPort.P3.Post(get);
HttpResponseType result = null;
yield return Arbiter.Choice(get.ResponsePort, myRes => result = myRes, ex => LogError(ex));
object yuppi = result.Body;
}
DSS Tutorial 1 erweitert:
/// <summary>
/// Handle Bumper Notifications
/// </summary>
/// <param name="notification">Update notification</param>
private void BumperHandler(bumper.Update notification)
{
if (notification.Body.Pressed)
LogInfo(LogGroups.Console, "Ouch - the bumper was pressed.");
bumper.Get get = new bumper.Get();
_bumperPort.Post(get);
Activate(Arbiter.Choice(get.ResponsePort, GetResponseHandler, ex => LogError(ex)));
}
private void GetResponseHandler(bumper.ContactSensorArrayState sensorState)
{
System.Text.StringBuilder sb = new System.Text.StringBuilder();
foreach (bumper.ContactSensor sensor in sensorState.Sensors)
{
bool pressed = sensor.Pressed;
sb.Append(pressed);
sb.Append(" ");
}
LogInfo(sb.ToString());
}
Implementation eines generellen Contracts
In diesen Beispiel wird der Microsoft.Robotics.Services.ContactSensor.Proxy.Contract Contract implementiert. Mit dem Robotics Tutorial 1 kann der ContactSensor ausprobiert werden.
