public virtual IEnumerator<ITask> ReplaceHandler(Replace replace)
{
LogInfo("TrackRoamerBrickPowerService:ReplaceHandler()");
Close();
_state = replace.Body;
_state.Connected = false;
_state.Connected = ReConnect();
_state.TimeStamp = DateTime.Now;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
protected override void Start()
{
LogInfo("TrackRoamerBrickPowerService:Start() _state=" + _state);
if (_state == null)
{
// we usually don't come here, as the state is already configured by file - TrackRoamer.TrackRoamerBrickPower.Bot.Config.xml
LogInfo("TrackRoamerBrickPowerService:Start(): _state == null - initializing...");
_state = new TrackRoamerBrickPowerState();
_state.PowerControllerConfig = new PowerControllerConfig();
_state.PowerControllerConfig.CommPort = DEFAULT_COM_PORT_NUMBER;
_state.Connected = false;
_state.FrameCounter = 0;
_state.Whiskers = new Whiskers();
_state.MotorSpeed = new MotorSpeed();
_state.MotorEncoder = new MotorEncoder();
_state.MotorEncoderSpeed = new MotorEncoderSpeed();
_state.TimeStamp = DateTime.Now;
SaveState(_state);
}
else
{
LogInfo("TrackRoamerBrickPowerService:Start(): _state is supplied by file: " + _configFile);
}
if (_state.PowerControllerConfig == null)
{
_state.PowerControllerConfig = new PowerControllerConfig();
}
_brickConnection = new BrickConnection(_state.PowerControllerConfig, _rbtqDataPort, this);
// wireup all event handlers to receive AX2850 data:
_brickConnection.onValueReceived_EncoderLeftAbsolute += new OnValueReceived(_brickConnection_onValueReceived_EncoderLeftAbsolute);
_brickConnection.onValueReceived_EncoderRightAbsolute += new OnValueReceived(_brickConnection_onValueReceived_EncoderRightAbsolute);
_brickConnection.onValueReceived_EncoderSpeed += new OnValueReceived(_brickConnection_onValueReceived_EncoderSpeed);
_brickConnection.onValueReceived_WhiskerLeft += new OnValueReceived(onWhiskerLeft);
_brickConnection.onValueReceived_WhiskerRight += new OnValueReceived(onWhiskerRight);
_brickConnection.onValueReceived_AnalogInputs += new OnValueReceived(_brickConnection_onValueReceived_AnalogInputs);
_brickConnection.onValueReceived_DigitalInputE += new OnValueReceived(_brickConnection_onValueReceived_DigitalInputE);
_brickConnection.onValueReceived_Voltage += new OnValueReceived(_brickConnection_onValueReceived_Voltage);
_brickConnection.onValueReceived_MotorPower += new OnValueReceived(_brickConnection_onValueReceived_MotorPower);
_brickConnection.onValueReceived_MotorAmps += new OnValueReceived(_brickConnection_onValueReceived_MotorAmps);
_brickConnection.onValueReceived_HeatsinkTemperature += new OnValueReceived(_brickConnection_onValueReceived_HeatsinkTemperature);
base.Start(); // start MainPortInterleave; wireup [ServiceHandler] methods
SpawnIterator(ConnectToPowerController);
MainPortInterleave.CombineWith(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator(true, _controlPort, ControlLoop),
Arbiter.Receive<Exception>(true, _rbtqDataPort, ExceptionHandler),
Arbiter.Receive<string>(true, _rbtqDataPort, MessageHandler)
),
new ConcurrentReceiverGroup()));
// kick off control loop interval:
_controlPort.Post(DateTime.UtcNow);
lastRateSnapshot = DateTime.Now.AddSeconds(frameRateWatchdogDelaySec); // delay frame rate watchdog
LogInfo("OK: TrackRoamerBrickPowerService:ControlLoop activated");
// display HTTP service Uri
LogInfo("TrackRoamerBrickPowerService: Service uri: ");
}
