private void disposeController()
{
if (m_controller != null)
{
lock (m_controller)
{
// Close the port
m_controller.Dispose();
m_controller = null;
}
}
}
private void ensureController()
{
_service.LogInfoViaService("TrackRoamerBotHardwareController: ensureController() sComPort=" + sComPort + " m_controller=" + m_controller);
if (m_controller == null)
{
m_controller = new ControllerRQAX2850(sComPort);
m_controller.onValueReceived_EncoderLeftAbsolute += new OnValueReceived(m_controller_onValueReceived_EncoderLeftAbsolute);
m_controller.onValueReceived_EncoderRightAbsolute += new OnValueReceived(m_controller_onValueReceived_EncoderRightAbsolute);
m_controller.onValueReceived_EncoderSpeed += new OnValueReceived(m_controller_onValueReceived_EncoderSpeed);
m_controller.onValueReceived_DigitalInputF += new OnValueReceived(m_controller_onValueReceived_DigitalInputF);
m_controller.onValueReceived_DigitalInputEmerg += new OnValueReceived(m_controller_onValueReceived_DigitalInputEmerg);
m_controller.init();
}
_service.LogInfoViaService("TrackRoamerBotHardwareController: ensureController() finished");
}
