public OnMove(DriveControl form, int left, int right)
: base(form)
{
//_left = left * 750 / 1250;
//_right = right * 750 / 1250;
_left = left;
_right = right;
}
IEnumerator <ITask> OnLoadHandler(OnLoad onLoad)
{
_driveControl = onLoad.DriveControl;
LogInfo("Loaded Form");
yield return(EnumerateJoysticks());
yield return(SubscribeToJoystick());
}
/// <summary>
/// Drop Handler shuts down SimpleDashboard
/// </summary>
/// <param name="drop"></param>
void DropHandler(DsspDefaultDrop drop)
{
PerformShutdown(ref _laserShutdown);
PerformShutdown(ref _motorShutdown);
if (_driveControl != null)
{
DriveControl drive = _driveControl;
_driveControl = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!drive.IsDisposed)
{
drive.Dispose();
}
}
);
}
base.DefaultDropHandler(drop);
}
public OnQueryFrame(DriveControl form)
: base(form)
{
}
public OnDisconnectWebCam(DriveControl form)
: base(form)
{
}
public OnConnectWebCam(DriveControl form, string service)
: base(form, service)
{
}
public OnLogSetting(DriveControl form, bool log, string file)
: base(form)
{
_log = log;
_file = file;
}
public OnDisconnectSickLRF(DriveControl form)
: base(form)
{
}
public OnApplyJointParameters(DriveControl form, int angle, string name)
: base(form)
{
_angle = angle;
_jointName = name;
}
public OnLoad(DriveControl form)
: base(form)
{
}
/// <summary>
/// Drop Handler shuts down SimpleDashboard
/// </summary>
/// <param name="drop"></param>
void DropHandler(DsspDefaultDrop drop)
{
PerformShutdown(ref _laserShutdown);
PerformShutdown(ref _motorShutdown);
if (_driveControl != null)
{
DriveControl drive = _driveControl;
_driveControl = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!drive.IsDisposed)
{
drive.Dispose();
}
}
);
}
base.DefaultDropHandler(drop);
}
public OnClosed(DriveControl form)
: base(form)
{
}
public OnChangeJoystick(DriveControl form)
: base(form)
{
}
public OnStartService(DriveControl form, string contract)
: base(form)
{
_contract = contract;
}
public OnConnectSimulatedArm(DriveControl form, string service)
: base(form, service)
{
}
public OnConnectSickLRF(DriveControl form, string service)
: base(form, service)
{
}
public OnConnectMotor(DriveControl form, string service)
: base(form, service)
{
}
public OnConnect(DriveControl form, string service)
: base(form)
{
_service = service;
}
IEnumerator<ITask> OnLoadHandler(OnLoad onLoad)
{
_driveControl = onLoad.DriveControl;
LogInfo("Loaded Form");
yield return EnumerateJoysticks();
yield return SubscribeToJoystick();
}
public OnEStop(DriveControl form)
: base(form)
{
}
public OnSynchronizeArms(DriveControl form)
: base(form)
{
}
public DriveControlEvent(DriveControl driveControl)
{
_driveControl = driveControl;
}