public virtual IEnumerator<ITask> ReliableSubscribeHandler(ReliableSubscribe subscribe)
{
base.SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort);
yield break;
}
IEnumerator<ITask> ReliableSubscribeHandler(ReliableSubscribe subscribe)
{
Tracer.Trace("SickLRF::ReliableSubscribeHandler()");
yield return Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
if (_state != null &&
_state.DistanceMeasurements != null)
{
_subMgrPort.Post(new submgr.Submit(
subscribe.Body.Subscriber, DsspActions.ReplaceRequest, _state, null));
}
},
null
);
}
public IEnumerator<ITask> ReliableSubscribeHandler(ReliableSubscribe subscribe)
{
yield return Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
drive.Update update = new drive.Update(_state);
SendNotificationToTarget<drive.Update>(subscribe.Body.Subscriber, _subMgrPort, update);
},
delegate(Exception ex)
{
LogError(ex);
throw ex;
}
);
}
