private void DisableModule(RobotModule m)
{
m.SetState(ModuleState.Shutdown);
ControlMessage msg = ControlMessage.DisableMessage(m.name);
Send (msg);
print(name + " - disable module " + m.name);
}
private void EnableModule(RobotModule m)
{
m.SetState(ModuleState.Initializing);
ControlMessage msg = ControlMessage.EnableMessage (m.name, m.ModuleCall (), (ushort)m.CreationDelayMs ());
print(name + " - enable module " + m.name);
Send (msg);
}
private void ProcessMessage(ControlMessage message)
{
ControlCommands cmd = message.GetCommand();
switch (cmd)
{
case ControlCommands.KEEPALIVE:
break;
case ControlCommands.ENABLED:
case ControlCommands.DISABLED:
case ControlCommands.FAILED: //failed has additional information on error code
RobotModule module = modules.Find(m => (m.name == message.Attribute<string>(0)));
print(name + " - " + module.name + " state changed to " + cmd.ToString());
module.SetState(ModuleStateFromControlCommand(cmd));
break;
default:
print(name + " - ignoring unsupported command " + message.GetType());
break;
}
}