public float get()
{
bool flag = false;
float retvalue = 0.0f;
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <sonar.SonarState>(false, sensorPort.Get(),
delegate(sonar.SonarState state)
{
retvalue = (float)state.DistanceMeasurement;
flag = true;
}
));
while (!flag)
{
;
}
return(retvalue);
}
IEnumerator <ITask> UpdateSonar()
{
var sensorOrFault = _simulatedSonarServicePort.Get();
yield return(sensorOrFault.Choice());
if (!HasError(sensorOrFault))
{
sonar.SonarState sensorState = (sonar.SonarState)sensorOrFault;
WinFormsServicePort.Post(new FormInvoke(() =>
{
_imageProcessingForm.SetSonarReadingValue(sensorState.DistanceMeasurement);
}));
}
yield break;
}
