public IEnumerator <ITask> UpdateHandler(Update update)
{
_state = update.Body;
_state.TimeStamp = DateTime.Now;
update.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
//add default state.
//NOTE: because this is a custom implementation of the drive service, we can hard code values
//also, because there are no encoders, we do not need any of the wheel measurements.
_state = new drive.DriveDifferentialTwoWheelState();
_state.IsEnabled = true;
_state.LeftWheel = new Microsoft.Robotics.Services.Motor.WheeledMotorState();
_state.LeftWheel.Name = "Left Wheel";
_state.LeftWheel.MotorState = new Microsoft.Robotics.Services.Motor.MotorState();
_state.LeftWheel.MotorState.Name = "Left Motor";
_state.RightWheel = new Microsoft.Robotics.Services.Motor.WheeledMotorState();
_state.RightWheel.Name = "Right Wheel";
_state.RightWheel.MotorState = new Microsoft.Robotics.Services.Motor.MotorState();
_state.RightWheel.MotorState.Name = "Right Motor";
}
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
}
private void InitState()
{
if (_state != null)
{
_state.TimeStamp = DateTime.Now;
return;
}
_state = new DriveDifferentialTwoWheelState();
_state.LeftWheel = new motor.WheeledMotorState();
_state.LeftWheel.MotorState = new motor.MotorState();
_state.LeftWheel.MotorState.HardwareIdentifier = 1;
_state.LeftWheel.MotorState.Name = "Left Motor";
_state.LeftWheel.MotorState.PowerScalingFactor = 1;
_state.RightWheel = new motor.WheeledMotorState();
_state.RightWheel.MotorState = new motor.MotorState();
_state.RightWheel.MotorState.HardwareIdentifier = 2;
_state.RightWheel.MotorState.Name = "Right Motor";
_state.RightWheel.MotorState.PowerScalingFactor = 1;
_state.LeftWheel.EncoderState = new encoder.EncoderState();
_state.RightWheel.EncoderState = new encoder.EncoderState();
_state.IsEnabled = true;
_state.TimeStamp = DateTime.Now;
_state.InternalPendingDriveOperation = DriveRequestOperation.NotSpecified;
SaveState(_state);
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
//add default state.
//NOTE: because this is a custom implementation of the drive service, we can hard code values
//also, because there are no encoders, we do not need any of the wheel measurements.
_state = new drive.DriveDifferentialTwoWheelState();
_state.IsEnabled = true;
_state.LeftWheel = new motor.WheeledMotorState();
_state.LeftWheel.Name = "Left Wheel";
_state.LeftWheel.MotorState = new motor.MotorState();
_state.LeftWheel.MotorState.Name = "Left Motor";
_state.RightWheel = new motor.WheeledMotorState();
_state.RightWheel.Name = "Right Wheel";
_state.RightWheel.MotorState = new motor.MotorState();
_state.RightWheel.MotorState.Name = "Right Motor";
}
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
}
public IEnumerator <ITask> DriveHttpGetHandler(Microsoft.Dss.Core.DsspHttp.HttpGet httpget)
{
drive.Get get = new drive.Get();
this.controllerDrivePort.Post(get);
yield return(get.ResponsePort.Choice());
drive.DriveDifferentialTwoWheelState newState = (drive.DriveDifferentialTwoWheelState)get.ResponsePort;
if (newState != null)
{
HttpResponseType resp = new HttpResponseType(HttpStatusCode.OK, newState);
httpget.ResponsePort.Post(resp);
}
else
{
HttpResponseType resp = new HttpResponseType(HttpStatusCode.InternalServerError, (soap.Fault)get.ResponsePort);
httpget.ResponsePort.Post(resp);
}
yield break;
}
private void InitState()
{
if (_state != null)
{
_state.TimeStamp = DateTime.Now;
return;
}
_state = new DriveDifferentialTwoWheelState();
_state.LeftWheel = new motor.WheeledMotorState();
_state.LeftWheel.MotorState = new motor.MotorState();
_state.LeftWheel.MotorState.HardwareIdentifier = 1;
_state.LeftWheel.MotorState.Name = "Left Motor";
_state.LeftWheel.MotorState.PowerScalingFactor = 1;
_state.RightWheel = new motor.WheeledMotorState();
_state.RightWheel.MotorState = new motor.MotorState();
_state.RightWheel.MotorState.HardwareIdentifier = 2;
_state.RightWheel.MotorState.Name = "Right Motor";
_state.RightWheel.MotorState.PowerScalingFactor = 1;
_state.LeftWheel.EncoderState = new encoder.EncoderState();
_state.RightWheel.EncoderState = new encoder.EncoderState();
_state.IsEnabled = true;
_state.TimeStamp = DateTime.Now;
_state.InternalPendingDriveOperation = DriveRequestOperation.NotSpecified;
SaveState(_state);
}
public IEnumerator<ITask> UpdateHandler(Update update)
{
_state = update.Body;
_state.TimeStamp = DateTime.Now;
update.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
/// <summary>
/// Initialization Constructor
/// </summary>
/// <param name="state"></param>
public Update(DriveDifferentialTwoWheelState state)
{
this.Body = state;
}
