public IEnumerator <ITask> ReplaceHandler(pxContactSensor.Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(dssp.DefaultReplaceResponseType.Instance);
_subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest));
yield break;
}
public IEnumerator <ITask> ReplaceHandler(bumper.Replace replace)
{
if (_subscribed)
{
throw new InvalidOperationException("Already subscribed");
}
else if (ValidState(replace.Body))
{
_bumperConfigState.ContactSensorArrayState = replace.Body;
SaveState(_bumperConfigState);
Port <bool> subscribeDonePort = new Port <bool>();
SpawnIterator <Port <bool> >(subscribeDonePort, SubscribeToNXT);
yield return(Arbiter.Receive <bool>(false, subscribeDonePort,
delegate(bool success)
{
if (success)
{
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
}
else
{
replace.ResponsePort.Post(
Fault.FromCodeSubcodeReason(FaultCodes.Receiver,
DsspFaultCodes.OperationFailed,
"LegoNxtBumper service subscription to LEGO NXT Brick failed")
);
}
}));
}
else
{
throw new InvalidOperationException("Invalid State");
}
yield break;
}
public virtual IEnumerator <ITask> ReplaceHandler(bumper.Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
public virtual IEnumerator <ITask> ReplaceHandler(contactsensor.Replace replace)
{
replace.ResponsePort.Post(Fault.FromException(new InvalidOperationException("The LEGO NXT touch sensor is updated from hardware.")));
yield break;
}
/// <summary>
/// Handles Replace notifications from the Bumper partner - updating state of the whole set of sensors
/// </summary>
/// <remarks>Posts a <typeparamref name="BumpersArrayUpdate"/> to itself.</remarks>
/// <param name="replace">notification</param>
void BumperReplaceNotification(bumper.Replace replace)
{
LogInfo("DriveBehaviorServiceBase: BumperReplaceNotification()");
_mainPort.Post(new BumpersArrayUpdate(replace.Body));
}
/// <summary>
/// Handles Replace notifications from the Bumper partner
/// </summary>
/// <remarks>Posts a <typeparamref name="BumpersUpdate"/> to itself.</remarks>
/// <param name="replace">notification</param>
void BumperReplaceNotification(bumper.Replace replace)
{
_mainPort.Post(new BumpersUpdate(replace.Body));
}
/// <summary>
/// Handles Replace notifications from the Bumper partner
/// </summary>
/// <remarks>Posts a <typeparamref name="BumpersUpdate"/> to itself.</remarks>
/// <param name="replace">notification</param>
void BumperReplaceNotification(bumper.Replace replace)
{
LogInfo("Explorer: BumperReplaceNotification()");
_mainPort.Post(new BumpersUpdate(replace.Body));
}
public virtual IEnumerator <ITask> GenericReplaceHandler(bumper.Replace replace)
{
throw new InvalidOperationException("The LEGO NXT Contact Sensor Array is configured by the LEGO NXT Brick service.");
}
