public IEnumerator <ITask> UpdateHandler(drive.Update update)
{
_state = update.Body;
_state.TimeStamp = DateTime.Now;
update.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
public virtual IEnumerator <ITask> UpdateHandler(drive.Update update)
{
_state = update.Body;
SaveState(_state);
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
private void NotifyDriveUpdate(drive.Update update)
{
LegoMazeDriverState state = new LegoMazeDriverState();
state.MotorEnabled = update.Body.IsEnabled;
_mainPort.Post(new Replace(state));
}
private void NotifyDriveUpdate(drive.Update update)
{
RoboticsTutorial4State state = new RoboticsTutorial4State();
state.MotorEnabled = update.Body.IsEnabled;
_mainPort.Post(new Replace(state));
}
IEnumerator <ITask> OnDriveUpdateNotificationHandler(drive.Update notification)
{
if (_driveControl != null)
{
WinFormsServicePort.FormInvoke(
delegate()
{
_driveControl.UpdateMotorData(notification.Body);
}
);
}
LogObject(notification.Body);
yield break;
}
/// <summary>
/// DriveUpdateHandler - Prevents Update messages from filling the queue
/// </summary>
/// <param name="update"></param>
/// <returns></returns>
IEnumerator <ITask> DriveUpdateHandler(drive.Update update)
{
// Ignore update messages because we are not interested
yield break;
}
protected void NotifyDriveUpdate(drive.Update notification)
{
motorsOn = notification.Body.IsEnabled;
}
/// <summary>
/// Handles Update notification from the Drive partner
/// </summary>
/// <remarks>Posts a <typeparamref name="DriveUpdate"/> request to itself.</remarks>
/// <param name="update">notification</param>
void DriveUpdateNotification(drive.Update update)
{
_mainPort.Post(new DriveUpdate(update.Body));
}
public IEnumerator<ITask> SubscribeHandler(drive.Subscribe 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;
}
);
}
public IEnumerator<ITask> SetDrivePowerHandler(drive.SetDrivePower setDrivePower)
{
ValidateDriveConfiguration(false);
#if TRACELOG
Tracer.Trace("TR Drive: SetDrivePowerHandler() =============================== TR handler ==================================== left=" + setDrivePower.Body.LeftWheelPower + " right=" + setDrivePower.Body.RightWheelPower);
#endif
cancelCurrentOperation();
_state.TimeStamp = DateTime.Now;
PortSet<DefaultUpdateResponseType, Fault> responsePort = new PortSet<DefaultUpdateResponseType, Fault>();
// Add a coordination header to our motor requests
// so that advanced motor implementations can
// coordinate the individual motor reqests.
coord.ActuatorCoordination coordination = new coord.ActuatorCoordination(2);
motor.SetMotorPower leftPower = new motor.SetMotorPower(new motor.SetMotorPowerRequest() { TargetPower = setDrivePower.Body.LeftWheelPower });
leftPower.ResponsePort = responsePort;
leftPower.AddHeader(coordination);
_leftMotorPort.Post(leftPower);
motor.SetMotorPower rightPower = new motor.SetMotorPower(new motor.SetMotorPowerRequest() { TargetPower = setDrivePower.Body.RightWheelPower });
rightPower.ResponsePort = responsePort;
rightPower.AddHeader(coordination);
_rightMotorPort.Post(rightPower);
// send notification to subscription manager
drive.Update update = new drive.Update(_state);
SendNotification<drive.Update>(_subMgrPort, update);
Activate(Arbiter.MultipleItemReceive<DefaultUpdateResponseType, Fault>(responsePort, 2,
delegate(ICollection<DefaultUpdateResponseType> successList, ICollection<Fault> failureList)
{
if (successList.Count == 2)
setDrivePower.ResponsePort.Post(new DefaultUpdateResponseType());
foreach (Fault fault in failureList)
{
setDrivePower.ResponsePort.Post(fault);
break;
}
}));
pollEncoderState();
yield break;
}
public IEnumerator<ITask> EnableDriveHandler(drive.EnableDrive enableDrive)
{
_state.IsEnabled = enableDrive.Body.Enable;
_state.TimeStamp = DateTime.Now;
#if TRACELOG
LogInfo("TrackRoamerDriveService:EnableDriveHandler() - enable=" + _state.IsEnabled);
#endif
// if we are enabling the drive, validate that the motors are configured.
if (enableDrive.Body.Enable)
{
try
{
ValidateDriveConfiguration(true); // we must have encoders for the drive to work properly
}
catch (InvalidOperationException)
{
// If validation fails,
// force the state to not be enabled.
_state.IsEnabled = false;
// rethrow the fault
throw;
}
}
// send notification to subscription manager
drive.Update update = new drive.Update(_state);
SendNotification<drive.Update>(_subMgrPort, update);
enableDrive.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
/// <summary>
/// Handles Update notification from the Drive partner
/// </summary>
/// <remarks>Posts a <typeparamref name="DriveUpdate"/> request to itself.</remarks>
/// <param name="update">notification</param>
void DriveUpdateNotification(drive.Update update)
{
//LogInfo("****************************** DriveBehaviorServiceBase:: DriveUpdateNotification: state.IsEnabled=" + update.Body.IsEnabled);
_mainPort.Post(new DriveUpdate(update.Body));
}
