/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
_httpUtilities = DsspHttpUtilitiesService.Create(this.Environment);
// initialize state
if (_state == null)
{
// No persisted state file, initialize with default values.
_state = new PololuMaestroState();
_state.Channels = new List<ChannelInfo>();
_state.PollingInterval = 100; // default interval 100msec
// Save state to file.
SaveState(_state);
}
base.Start();
MainPortInterleave.CombineWith(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive<SetChannel>(true, _mainPort, SetChannelHandler),
/*// http://social.msdn.microsoft.com/Forums/en-US/roboticsccr/thread/c3c27886-9cce-437e-b7bc-f0c1c0d5d9d9
Arbiter.JoinedReceiveWithIterator<DateTime, SetChannel>(true,
_setChannelThrotling, _mainPort, SetChannelHandler),*/
Arbiter.ReceiveWithIterator(true, _servoPollingPort, PollChannelStatus)
),
new ConcurrentReceiverGroup())
);
// Display browser accesible Service URI
LogInfo("Service uri: " + ServiceInfo.Service);
if (ConnectToDevice())
{
// notify state has changed
SendNotification(_submgrPort, new Replace());
// start polling
_servoPollingPort.Post(DateTime.Now);
}
}
public void UpdateState(PololuMaestroState state)
{
DeviceSerialNumber = state.SerialNumber;
IsConnected = state.Connected;
if (Servos == null || Servos.Count != state.Channels.Count)
{
Servos = new ObservableCollection<ServoStateViewModel>();
for (int i = 0; i < state.Channels.Count; i++)
{
var vm = new ServoStateViewModel();
vm.PropertyChanged += OnServoStatePropertyChanged;
Servos.Add(vm);
}
}
try
{
_updatingServoState = true;
for (int i = 0; i < _servos.Count; i++)
Servos[i].Update(state.Channels[i]);
}
finally
{
_updatingServoState = false;
}
}