/// <summary>
/// Handles the <typeparamref name="BumperUpdate"/> request.
/// </summary>
/// <param name="update">request</param>
void BumperUpdateHandler(BumperUpdate update)
{
LogInfo("DriveBehaviorServiceBase: BumperUpdateHandler() HardwareIdentifier=" + update.Body.HardwareIdentifier);
if (update.Body.HardwareIdentifier == 101)
{
_state.MostRecentWhiskerLeft = update.Body.Pressed;
}
if (update.Body.HardwareIdentifier == 201)
{
_state.MostRecentWhiskerRight = update.Body.Pressed;
}
if ((_testBumpMode || _state.IsMoving) && update.Body.Pressed) // allow event to propagate while stationary, in test bump mode
{
//Talker.Say("sensor " + update.Body.HardwareIdentifier);
Bumped(_state.MostRecentWhiskerLeft, _state.MostRecentWhiskerRight, null);
}
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
/// <summary>
/// Handles the <typeparamref name="BumperUpdate"/> request.
/// </summary>
/// <param name="update">request</param>
void BumperUpdateHandler(BumperUpdate update)
{
LogInfo("Explorer: BumperUpdateHandler()");
if (_state.IsMoving && update.Body.Pressed)
{
Bumped();
}
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
