void ExceptionHandler(Exception e)
{
_internalPort.Post(e);
}
IEnumerator <ITask> PowerOn(LinkPowerOn powerOn)
{
bool failed = false;
Tracer.Trace("SickLRF::PowerOn()");
_state.Description = powerOn.Description;
_state.LinkState = "Power On: " + powerOn.Description;
LogInfo(_state.LinkState);
//
// the device has powered on. Set the BaudRate to the highest supported.
//
yield return(Arbiter.Choice(
_link.SetDataRate(9600),
delegate(SuccessResult success)
{
_state.LinkState = "Baud Rate set to " + 9600;
LogInfo(_state.LinkState);
},
delegate(Exception failure)
{
_internalPort.Post(failure);
failed = true;
}
));
if (failed)
{
yield break;
}
Tracer.Trace("SickLRF::Opening the port");
/*
* //
* // wait for confirm to indicate that the LRF has received the new baud rate and is
* // expecting the serial rate to change imminently.
* //
*
* yield return Arbiter.Choice(
* Arbiter.Receive<LinkConfirm>(false,_internalPort,
* delegate(LinkConfirm confirm)
* {
* // the confirm indicates that the LRF has recieved the new baud rate
* }),
* Arbiter.Receive<DateTime>(false, TimeoutPort(1000),
* delegate(DateTime time)
* {
* _internalPort.Post(new TimeoutException("Timeout waiting for Confirm while setting data rate"));
* failed = true;
* })
* );
*
* if (failed)
* {
* yield break;
* }
*
* //
* // Set the serial rate to the rate requested above.
* //
*
* yield return Arbiter.Choice(
* _link.SetRate(),
* delegate(SuccessResult success)
* {
* _state.LinkState = "Changed Rate to: " + _link.BaudRate;
* LogInfo(_state.LinkState);
* },
* delegate(Exception failure)
* {
* _internalPort.Post(failure);
* failed = true;
* }
* );
*
* if (failed)
* {
* yield break;
* }
*
* //
* // start continuous measurements.
* //
*
* yield return Arbiter.Choice(
* _link.SetContinuous(),
* delegate(SuccessResult success)
* {
* _state.LinkState = "Starting Continuous Measurement";
* LogInfo(_state.LinkState);
* },
* delegate(Exception failure)
* {
* _internalPort.Post(failure);
* failed = true;
* }
* );
*
* if (failed)
* {
* yield break;
* }
*
* //
* // wait for confirm message that signals that the LRF is now in continuous measurement mode.
* //
*
* yield return Arbiter.Choice(
* Arbiter.Receive<LinkConfirm>(false, _internalPort,
* delegate(LinkConfirm confirm)
* {
* // received Confirm
* }),
* Arbiter.Receive<DateTime>(false, TimeoutPort(1000),
* delegate(DateTime time)
* {
* _internalPort.Post(new TimeoutException("Timeout waiting for Confirm after setting continuous measurement mode"));
* })
* );
*
* yield break;
* */
}
void ExceptionHandler(Exception e)
{
Tracer.Trace("CommLink::ExceptionHandler() exc=" + e);
_internalPort.Post(e);
}