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    [<ServiceHandler(ServiceHandlerBehavior.Exclusive)>]
    member v.InitializeHandler(initialize:Initialize) : IEnumerator<ITask> = 
        (seq {
            yield v._comlinkPort.Get() ==?> ((fun success -> v._state.ComLinkData <- success),v.LogError)
            yield v._spectroPort.Get() ==?> ((fun success -> v._state.SpectrometerData <- success),(v.LogError))
            
            v.MPInterleave.CombineWith(
                Arbiter.Interleave(
                    new TeardownReceiverGroup([||]),
                    new ExclusiveReceiverGroup(
                        [|
//                           (Arbiter.Receive<_>(true, v._comlinkNotify|>impl, Handler<_>(v.ComlinkReplaceHandler)) :> ReceiverTask) ; 
                           (Arbiter.Receive<_>(true, v._spectroNotify|>impl, Handler<_>(v.SpectroReplaceHandler)) :> ReceiverTask) ;
                           (Arbiter.Receive<_>(true, v._pancamNotify|>impl, Handler<_>(v.PanCamProcessImageHandler)) :> ReceiverTask) ;
                           (Arbiter.Receive<_>(true, v._navcamNotify|>impl, Handler<_>(v.NavCamProcessImageHandler)) :> ReceiverTask) ;
                           (Arbiter.Receive<_>(true, v._frontcamNotify|>impl, Handler<_>(v.FrontCamProcessImageHandler)) :> ReceiverTask) ;
                           (Arbiter.Receive<_>(true, v._rearcamNotify|>impl, Handler<_>(v.RearCamProcessImageHandler)) :> ReceiverTask) ;
                        |]),
                    new ConcurrentReceiverGroup([||])))
                            
            yield (Arbiter.Choice(v._spectroPort.Subscribe(v._spectroNotify,[| typeof<Microsoft.Robotics.RoboChamps.MarsSpectrometer.Proxy.Replace> |])) :> ITask)
            yield (Arbiter.Choice(v._comlinkPort.Subscribe(v._comlinkNotify,[| typeof<Microsoft.Robotics.RoboChamps.MarsComLink.Proxy.Replace> |])) :> ITask)
            yield (Arbiter.Choice(v._pancamPort.Subscribe(v._pancamNotify,[| typeof<Robotics.ImageProcessing.ProcessImage> |])) :> ITask)
            yield (Arbiter.Choice(v._navcamPort.Subscribe(v._navcamNotify,[| typeof<Robotics.ImageProcessing.ProcessImage> |])) :> ITask)
            yield (Arbiter.Choice(v._frontcamPort.Subscribe(v._frontcamNotify,[| typeof<Robotics.ImageProcessing.ProcessImage> |])) :> ITask)
            yield (Arbiter.Choice(v._rearcamPort.Subscribe(v._rearcamNotify,[| typeof<Robotics.ImageProcessing.ProcessImage> |])) :> ITask)
            
            v._state.State <- RoverState.Initialize
            
            v.wpfServicePort <- WpfAdapter.Create(v.DQ)
            let runWindow = v.wpfServicePort.RunWindow(WindowContructor(fun ()->new DebugForm():>Windows.Window))
            yield ((runWindow |> PortSet.ImplicitChoiceOperator) :> ITask)
            let win = impl<_,Windows.Window> runWindow

            v.debugForm <- (win :?> DebugForm)
            
            v.RearmMainLoop(500)
        }).GetEnumerator()

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 let inline impl< ^a, ^b when ^a : (static member op_Implicit : ^a -> ^b)> arg =
        (^a : (static member op_Implicit : ^a -> ^b) (arg))