public virtual IEnumerator<ITask> ReplaceHandler(pxanalogsensor.Replace replace)
{
replace.ResponsePort.Post(Fault.FromException(new InvalidOperationException("The HiTechnic Compass sensor is updated from hardware.")));
yield break;
}
public virtual IEnumerator<ITask> SubscribeHandler(pxanalogsensor.Subscribe subscribe)
{
yield return (Choice)base.SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort);
if (_state.Heading.TimeStamp != DateTime.MinValue)
{
SendNotificationToTarget<CompassSensorUpdate>(subscribe.Body.Subscriber, _subMgrPort, _state.Heading);
}
}
public virtual IEnumerator<ITask> GetAnalogSensorHandler(pxanalogsensor.Get get)
{
get.ResponsePort.Post(SyncGenericState());
yield break;
}
public virtual IEnumerator<ITask> GenericSubscribeHandler(pxanalogsensor.Subscribe subscribe)
{
yield return (Choice)base.SubscribeHelper(_genericSubMgrPort, subscribe.Body, subscribe.ResponsePort);
if (_state.Heading.TimeStamp != DateTime.MinValue)
{
SendNotificationToTarget<pxanalogsensor.Replace>(subscribe.Body.Subscriber, _genericSubMgrPort, SyncGenericState());
}
}
public virtual IEnumerator<ITask> SubscribeHandler(pxanalogsensor.Subscribe subscribe)
{
base.SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort);
yield break;
}
public virtual IEnumerator<ITask> AnalogReplaceHandler(pxanalogsensor.Replace replace)
{
_state.SensorPort = NxtCommon.GetNxtSensorPortFromHardwareIdentifier(replace.Body.HardwareIdentifier);
SendNotification<pxanalogsensor.Replace>(_genericSubMgrPort, replace);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
/// <summary>
/// Analog Sensor Notification Handler
/// </summary>
/// <param name="notification"></param>
private void AnalogSensorNotificationHandler(analog.Replace notification)
{
LogVerbose(LogGroups.Console, string.Format("Sensor Notification: {0} {1}", notification.Body.HardwareIdentifier, notification.Body.RawMeasurement));
foreach (SensorRange key in _state.RuntimeConfiguration.Keys)
{
if (key.HardwareIdentifier != notification.Body.HardwareIdentifier)
continue;
PortConfiguration sensorConfig = _state.RuntimeConfiguration[key];
string contactSensorName = key.ContactSensorName;
int priorIx = _contactSensorArrayState.Sensors.FindIndex(
delegate(bumper.ContactSensor gencs)
{
return gencs.HardwareIdentifier == notification.Body.HardwareIdentifier
&& gencs.Name == contactSensorName;
});
bool priorPressed = (priorIx < 0) ? false : _contactSensorArrayState.Sensors[priorIx].Pressed;
// Send a ContactSensor notification here.
bumper.ContactSensor cs = new bumper.ContactSensor(sensorConfig.HardwareIdentifier, contactSensorName);
cs.Pressed = sensorConfig.Pressed(notification.Body.RawMeasurement);
sensorConfig.Contact = cs.Pressed;
if (priorIx < 0)
_contactSensorArrayState.Sensors.Add(cs);
if (priorIx < 0 || priorPressed != cs.Pressed)
{
if (priorIx >= 0)
_contactSensorArrayState.Sensors[priorIx].Pressed = cs.Pressed;
SendNotification<bumper.Update>(_subMgrPort, new bumper.Update(cs));
}
}
}
