/// <summary>
/// Accept the local peg assigned by the binder after it's been downloaded from the cloud.
/// </summary>
/// <param name="peg">The local peg to take.</param>
public void SetLocalPeg(ILocalPeg peg)
{
if (peg?.Name == localPeg?.Name)
{
SimpleConsole.AddLine(ConsoleHigh, $"Redundant SLP: {name} {peg.Name}");
return;
}
if (localPeg != null)
{
SimpleConsole.AddLine(ConsoleHigh, $"SLP release {localPeg?.Name} take {peg?.Name}");
Publisher.ReleaseLocalPeg(localPeg);
}
localPeg = peg;
SimpleConsole.AddLine(ConsoleLow, $"SLP: {name} - {localPeg.GlobalPose.position.ToString("F3")}");
}
/// <summary>
/// Create a local peg based on current state (LockedPose).
/// </summary>
/// <remarks>
/// This typically happens when the SpacePinASA is locally manipulated into a new pose.
/// </remarks>
public async void ConfigureLocalPeg()
{
if (Publisher == null)
{
SimpleConsole.AddLine(ConsoleHigh, $"Publisher hasn't been set on SpacePin={name}");
return;
}
if (localPeg != null)
{
SimpleConsole.AddLine(ConsoleHigh, $"Releasing existing peg {name}");
Publisher.ReleaseLocalPeg(localPeg);
}
localPeg = await Publisher.CreateLocalPeg($"{SpacePinId}_peg", LockedPose);
SimpleConsole.AddLine(ConsoleLow, $"CLP: {name} - {localPeg.GlobalPose.position.ToString("F3")}");
}
public LocalPegAndProperties(ILocalPeg lp, IDictionary <string, string> props)
{
this.localPeg = lp;
this.properties = props;
}
