public IEnumerator <ITask> GetHandler(Get get)
{
MarkRobotState getState = new MarkRobotState();
drive.Get driveGet = new drive.Get();
getState.DriveState = new drive.DriveDifferentialTwoWheelState();
// Get the up-to-date drive state
this.controllerDrivePort.Post(driveGet);
yield return(driveGet.ResponsePort.Choice(s => getState.DriveState = s, EmptyHandler));
// MarkRobot service specific configuration
getState.SonarTimeValueMultiplier = this.state.SonarTimeValueMultiplier;
getState.SensorPollingInterval = this.state.SensorPollingInterval;
getState.LastStartTime = this.state.LastStartTime;
getState.InfraredRawValueDivisorScalar = this.state.InfraredRawValueDivisorScalar;
getState.InfraredDistanceExponent = this.state.InfraredDistanceExponent;
getState.BatteryVoltagePinIndex = this.state.BatteryVoltagePinIndex;
getState.BatteryVoltageDivider = this.state.BatteryVoltageDivider;
// Polled state
getState.BatteryState = this.state.BatteryState;
getState.InfraredSensorState = this.state.InfraredSensorState;
getState.SonarSensorState = this.state.SonarSensorState;
get.ResponsePort.Post(getState);
}
/// <summary>
/// State and Port ctor
/// </summary>
/// <param name="state">Service State</param>
/// <param name="responsePort">Response Port</param>
public Replace(MarkRobotState state, PortSet <DefaultReplaceResponseType, Fault> responsePort)
: base(state, responsePort)
{
}
/// <summary>
/// Service State-based ctor
/// </summary>
/// <param name="state">Service State</param>
public Replace(MarkRobotState state)
: base(state)
{
}
/// <summary>
/// Allocation and assignments for first run
/// </summary>
/// <returns>True if initialization succeeded, otherwise False</returns>
private bool Initialize()
{
if (this.initialized)
{
return(this.initialized);
}
try
{
// No persisted state file, create a new one
if (this.state == null)
{
this.state = new MarkRobotState();
}
// Populate the IR sensor state
if (this.state.InfraredSensorState == null)
{
this.state.InfraredSensorState = new ir.InfraredSensorArrayState();
}
if (this.state.InfraredSensorState.Sensors == null)
{
this.state.InfraredSensorState.Sensors = new List <Services.Infrared.InfraredState>();
}
if (this.state.InfraredSensorState.Sensors.Count == 0)
{
foreach (int irIdentifier in DefaultInfraredArrayIdentifiers)
{
this.state.InfraredSensorState.Sensors.Add(new Services.Infrared.InfraredState()
{
HardwareIdentifier = irIdentifier
});
}
}
// Populate the Sonar sensor state
if (this.state.SonarSensorState == null)
{
this.state.SonarSensorState = new sonar.SonarSensorArrayState();
}
if (this.state.SonarSensorState.Sensors == null)
{
this.state.SonarSensorState.Sensors = new List <Services.Sonar.SonarState>();
}
if (this.state.SonarSensorState.Sensors.Count == 0)
{
foreach (int sonarIdentifier in DefaultSonarArrayIdentifiers)
{
this.state.SonarSensorState.Sensors.Add(new Services.Sonar.SonarState()
{
HardwareIdentifier = sonarIdentifier
});
}
}
this.state.DriveState = new drive.DriveDifferentialTwoWheelState();
if (this.state.BatteryState == null)
{
this.state.BatteryState = new Services.Battery.BatteryState();
}
if (this.state.BatteryState.MaxBatteryPower == 0)
{
this.state.BatteryState.MaxBatteryPower = DefaultMaxBatteryPower;
}
}
catch (Exception e)
{
LogError(e);
this.Shutdown();
return(false);
}
this.state.LastStartTime = DateTime.Now;
SaveState(this.state);
base.Start();
// Make sure the pin polling port is in the main interleave because it modifies service state
MainPortInterleave.CombineWith(
new Interleave(
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator(true, this.sensorPollingPort, this.PollSensors)),
new ConcurrentReceiverGroup(
Arbiter.Receive <drive.Update>(true, this.driveNotifyPort, this.DriveNotification))));
this.controllerDrivePort.Post(new drive.Subscribe()
{
NotificationPort = this.driveNotifyPort
});
this.controllerDrivePort.Post(new drive.ReliableSubscribe()
{
NotificationPort = this.driveNotifyPort
});
// Start the pin polling interval
this.sensorPollingPort.Post(DateTime.Now);
return(true);
}
