Microsoft Robotics Studio (MSRS) and Windows Communication Foundation (WCF) Work Together

using System;
using System.Collections.Generic;
using System.Text;
using System.ServiceModel;
using System.Reflection;


namespace Robotics.Coordinator
{
    /// <summary>
    /// WCF server object
    /// </summary>
    public class CoordinatorServiceType : ICoordinator
    {
        static readonly private Type[] types = null;

        static CoordinatorServiceType()
        {
            types = Assembly.GetExecutingAssembly().GetTypes();
        }

        /// <summary>
        /// Implement [OperationContract] ICoordinator.Command()
        /// 
        /// </summary>
        public object Command(string commandName, object commandData)
        {
            IDssCommand dssCommand = null;
            Type commandType = GetCommandTypeByName(commandName);
            if (null != commandType)
                dssCommand = Activator.CreateInstance(commandType) as IDssCommand;

            return (null != dssCommand)
                ? dssCommand.DoCommand(commandData)
                : string.Format("{0}: Command \"{0}\" is not implemented in DSS Coordinator.", commandName);
        }

        private Type GetCommandTypeByName(string commandName)
        {
            Type commandType = null;
            foreach (Type type in types)
                if (type.Name.ToLower() == commandName.ToLower())
                {
                    try
                    {
                        commandType = type;
                        break;
                    }
                    catch
                    {
                    }
                }

            return commandType;
        }
    }

    [ServiceContract]
    public interface ICoordinator
    {
        [OperationContract]
        object Command(string commandName, object commandData);
    }
}