/// <summary>
/// Handler for Contact Sensor Notifications
/// </summary>
/// <param name="updateNotification"></param>
void BumperNotificationHandler(contactsensor.Update updateNotification)
{
// Since we are writing a generic wander service we dont really know
// which bumper is front, side, rear etc. We expect a navigation service to be tuned
// to a robot platform or read configuration through its initial state.
// here, we just assume the bumpers are named intuitively so we search by name
contactsensor.ContactSensor s = updateNotification.Body;
if (!s.Pressed)
{
return;
}
if (!string.IsNullOrEmpty(s.Name) &&
s.Name.ToLowerInvariant().Contains("front"))
{
SpawnIterator <double>(-1, BackUpTurnAndMove);
return;
}
if (!string.IsNullOrEmpty(s.Name) &&
s.Name.ToLowerInvariant().Contains("rear"))
{
SpawnIterator <double>(1, BackUpTurnAndMove);
return;
}
}
/// <summary>
/// Handle Bumper Notifications
/// </summary>
/// <param name="notification">Update notification</param>
private void BumperHandler(bumper.Update notification)
{
string message;
if (!notification.Body.Pressed)
{
return;
}
// Toggle the motor state
_state.MotorOn = !_state.MotorOn;
// Create a motor request
motor.SetMotorPowerRequest motorRequest = new motor.SetMotorPowerRequest();
if (_state.MotorOn)
{
// Set the motor power on
motorRequest.TargetPower = 1.0;
message = "Motor On";
}
else
{
// Set the motor power off
motorRequest.TargetPower = 0.0;
message = "Motor Off";
}
// Send the motor request
_motorPort.SetMotorPower(motorRequest);
// Show the motor status on the console screen
LogInfo(LogGroups.Console, message);
}
public virtual IEnumerator <ITask> UpdateHandler(bumper.Update update)
{
bool replace = false;
DateTime timestamp = DateTime.Now;
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
foreach (bumper.ContactSensor contactSensor in _state.Sensors)
{
if (contactSensor.HardwareIdentifier == update.Body.HardwareIdentifier)
{
contactSensor.Name = update.Body.Name;
contactSensor.Pressed = update.Body.Pressed;
contactSensor.TimeStamp = timestamp;
SendNotification <bumper.Update>(_subMgrPort, new bumper.Update(contactSensor));
replace = true;
}
}
if (replace)
{
SendNotification <bumper.Replace>(_subMgrPort, new bumper.Replace(_state));
}
yield break;
}
protected void BumperHandler(bumper.Update notification)
{
if (string.IsNullOrEmpty(notification.Body.Name))
{
LogInfo(LogGroups.Console, "Bumper name is null or empty.");
return;
}
string bumperName = notification.Body.Name.ToLowerInvariant();
//Trace.WriteLine(bumperName + " @ " + DateTime.Now + ": " + notification.Body.Pressed);
if (bumperName.Contains("front"))
{
lock (_soar.Bumper)
{
_soar.Bumper.FrontBumperPressed = notification.Body.Pressed;
}
}
else if (bumperName.Contains("rear"))
{
lock (_soar.Bumper)
{
_soar.Bumper.RearBumperPressed = notification.Body.Pressed;
}
}
}
/// <summary>
/// Handle Bumper Notifications
/// </summary>
/// <param name="notification">Update notification</param>
private void BumperHandler(bumper.Update notification)
{
if (notification.Body.Pressed)
{
LogInfo(LogGroups.Console, "Ouch - the bumper was pressed.");
}
}
public IEnumerator <ITask> UpdateHandler(bumper.Update update)
{
bumper.ContactSensor sensor = _state.Sensors.Find(
delegate(bumper.ContactSensor s) { return(update.Body.HardwareIdentifier == s.HardwareIdentifier); });
if (sensor != null)
{
sensor.Name = update.Body.Name;
sensor.Pressed = update.Body.Pressed;
sensor.TimeStamp = update.Body.TimeStamp;
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
throw new InvalidOperationException("Contact Sensor " + update.Body.HardwareIdentifier + " : " + update.Body.Name + " does not exist.");
}
void BumperNotificationHandler(contactsensor.Update updateNotification)
{
contactsensor.ContactSensor s = updateNotification.Body;
if (!s.Pressed)
{
return;
}
if (!string.IsNullOrEmpty(s.Name) && s.Name.ToLowerInvariant().Contains("left"))
{
//say something
speech.SayTextRequest saythis = new speech.SayTextRequest();
saythis.SpeechText = "Turning right";
_speechPort.SayText(saythis);
//update state
_state.CurrentAction = "Turning right";
//move
SpawnIterator <int>(-800, BackUpTurnAndMove);
}
else if (!string.IsNullOrEmpty(s.Name) && s.Name.ToLowerInvariant().Contains("right"))
{
//say something
speech.SayTextRequest saythis = new speech.SayTextRequest();
saythis.SpeechText = "Turning left";
_speechPort.SayText(saythis);
//update state
_state.CurrentAction = "Turning left";
//move
SpawnIterator <int>(800, BackUpTurnAndMove);
}
else if (!string.IsNullOrEmpty(s.Name) && s.Name.ToLowerInvariant().Contains("stall"))
{
//say something
speech.SayTextRequest saythis = new speech.SayTextRequest();
saythis.SpeechText = "Ouch, let go.";
_speechPort.SayText(saythis);
//update state
_state.CurrentAction = "Turning around";
//move
SpawnIterator <int>(800, BackUpTurnAndMove);
}
}
/// <summary>
/// Handles Update notification from the Bumper partner - updates a single sensor state (usually whiskers)
/// </summary>
/// <remarks>Posts a <typeparamref name="BumperUpdate"/> to itself.</remarks>
/// <param name="update">notification</param>
void BumperUpdateNotification(bumper.Update update)
{
LogInfo("DriveBehaviorServiceBase: BumperUpdateNotification()");
_mainPort.Post(new BumperUpdate(update.Body));
}
/// <summary>
/// Handles Update notification from the Bumper partner
/// </summary>
/// <remarks>Posts a <typeparamref name="BumperUpdate"/> to itself.</remarks>
/// <param name="update">notification</param>
void BumperUpdateNotification(bumper.Update update)
{
_mainPort.Post(new BumperUpdate(update.Body));
}
public virtual IEnumerator<ITask> UpdateHandler(pxbumper.Update updateBumper)
{
throw new InvalidOperationException("Track Roamer Bumper Sensors are not updateable");
}
/// <summary>
/// Handles Update notification from the Bumper partner
/// </summary>
/// <remarks>Posts a <typeparamref name="BumperUpdate"/> to itself.</remarks>
/// <param name="update">notification</param>
void BumperUpdateNotification(bumper.Update update)
{
LogInfo("Explorer: BumperUpdateNotification()");
_mainPort.Post(new BumperUpdate(update.Body));
}
public virtual IEnumerator <ITask> GenericUpdateHandler(bumper.Update update)
{
throw new InvalidOperationException("Contact Sensor Update is a Notification and not valid in this context.");
}
