/// <summary>
/// Handle new measurement data from the Proximity Board.
/// </summary>
/// <param name="measurement">Measurement Data</param>
void SonarMeasurementHandler(SonarData measurement)
{
//Tracer.Trace("TrackRoamerBrickProximityBoardService::SonarMeasurementHandler()");
try
{
_state.LastSampleTimestamp = new DateTime(measurement.TimeStamp);
_state.MostRecentSonar = new SonarDataDssSerializable(measurement);
_state.LinkState = "receiving Sonar Data";
//
// Inform subscribed services that the state has changed.
//
_submgrPort.Post(new submgr.Submit(_state, DsspActions.ReplaceRequest));
UpdateSonarData usd = new UpdateSonarData();
usd.Body = _state.MostRecentSonar;
//Tracer.Trace(" ========= sending UpdateSonarData notification ==================");
base.SendNotification(_submgrPort, usd);
}
catch (Exception e)
{
_state.LinkState = "Error while receiving Sonar Data";
LogError(e);
}
}
/// <summary>
/// Handle new measurement data from the Proximity Board.
/// </summary>
/// <param name="measurement">Measurement Data</param>
void SonarMeasurementHandler(SonarData measurement)
{
//Tracer.Trace("TrackRoamerBrickProximityBoardService::SonarMeasurementHandler()");
try
{
_state.LastSampleTimestamp = new DateTime(measurement.TimeStamp);
_state.MostRecentSonar = new SonarDataDssSerializable(measurement);
_state.LinkState = "receiving Sonar Data";
//
// Inform subscribed services that the state has changed.
//
_submgrPort.Post(new submgr.Submit(_state, DsspActions.ReplaceRequest));
UpdateSonarData usd = new UpdateSonarData();
usd.Body = _state.MostRecentSonar;
//Tracer.Trace(" ========= sending UpdateSonarData notification ==================");
base.SendNotification(_submgrPort, usd);
}
catch (Exception e)
{
_state.LinkState = "Error while receiving Sonar Data";
LogError(e);
}
}
