protected override void Start()
{
// Configure default state. It will be replaced by the drive during configuration.
if (_state == null)
{
_state = new pxencoder.EncoderState();
_state.HardwareIdentifier = -1; // 1=Left 2=Right
_state.TicksPerRevolution = 100;
SaveState(_state);
}
base.Start();
MainPortInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
// prepare listening for Power Brick's encoder change notifications
Arbiter.Receive<powerbrick.UpdateMotorEncoder>(true, notificationPortEncoder, MotorEncoderNotificationHandler)
),
new ConcurrentReceiverGroup()
));
// display HTTP service Uri
LogInfo("Service uri: " + ServiceInfo.HttpUri());
// Subscribe to the Hardware Controller for encoder notifications
if (ValidState(_state))
{
SubscribeToPowerBrick();
}
}
protected override void Start()
{
// Configure default state. It will be replaced by the drive during configuration.
if (_state == null)
{
_state = new pxencoder.EncoderState();
_state.HardwareIdentifier = -1; // 1=Left 2=Right
_state.TicksPerRevolution = 100;
SaveState(_state);
}
base.Start();
MainPortInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
// prepare listening for Power Brick's encoder change notifications
Arbiter.Receive <powerbrick.UpdateMotorEncoder>(true, notificationPortEncoder, MotorEncoderNotificationHandler)
),
new ConcurrentReceiverGroup()
));
// display HTTP service Uri
LogInfo("Service uri: " + ServiceInfo.HttpUri());
// Subscribe to the Hardware Controller for encoder notifications
if (ValidState(_state))
{
SubscribeToPowerBrick();
}
}
protected override void Start()
{
//configure default state
if (_state == null)
{
_state = new encoder.EncoderState();
_state.HardwareIdentifier = -1;
_state.TicksPerRevolution = 6;
SaveState(_state);
}
// Listen for each of my handlers
_mainInterleave = ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
// Subscribe to NXT for encoder notifications
if (ValidState(_state))
{
SubscribeToNXT();
}
}
private static bool ValidState(pxencoder.EncoderState state)
{
if (state != null)
{
if (state.HardwareIdentifier >= 1 && state.HardwareIdentifier <= 2)
{
return(true);
}
}
return(false);
}
public IEnumerator <ITask> ReplaceHandler(encoder.Replace replace)
{
if (_subscribed)
{
throw new InvalidOperationException("Already subscribed");
}
else if (ValidState(replace.Body))
{
_state = replace.Body;
SaveState(_state);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
SubscribeToNXT();
}
else
{
throw new InvalidOperationException("Invalid State for replacement");
}
yield break;
}
public IEnumerator <ITask> ReplaceHandler(pxencoder.Replace replace)
{
//LogInfo("TrackRoamerEncoder : ReplaceHandler()");
if (_subscribed)
{
LogError("TrackRoamerEncoder : ReplaceHandler(): Already subscribed");
}
else if (ValidState(replace.Body))
{
//_state = (TREncoderState)replace.Body;
_state = replace.Body;
SaveState(_state);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
SubscribeToPowerBrick();
}
else
{
LogError("TrackRoamerEncoder : ReplaceHandler(): Invalid State for replacement");
}
yield break;
}
public IEnumerator<ITask> ReplaceHandler(pxencoder.Replace replace)
{
//LogInfo("TrackRoamerEncoder : ReplaceHandler()");
if (_subscribed)
{
LogError("TrackRoamerEncoder : ReplaceHandler(): Already subscribed");
}
else if (ValidState(replace.Body))
{
//_state = (TREncoderState)replace.Body;
_state = replace.Body;
SaveState(_state);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
SubscribeToPowerBrick();
}
else
{
LogError("TrackRoamerEncoder : ReplaceHandler(): Invalid State for replacement");
}
yield break;
}
public virtual IEnumerator<ITask> EncoderHttpGetHandler(HttpGet get)
{
int hardwareIdentifier = _state.ToGenericState(_genericState).HardwareIdentifier;
pxencoder.EncoderState encoderState = new pxencoder.EncoderState(hardwareIdentifier, (int)_state.CurrentEncoderDegrees);
get.ResponsePort.Post(new dssphttp.HttpResponseType(encoderState));
yield break;
}
