/// <summary>
/// Cached version of the Interleave arbiter that protects concurrent access on Dssp handlers
/// We use it to combine with an interleave that manages notifications from the TrackRoamerBot service
/// </summary>
//private Interleave _mainInterleave;
public BumperService(DsspServiceCreationPort creationPort)
: base(creationPort)
{
LogInfo("TrackRoamerBumper:BumperService() -- port: " + creationPort.ToString());
}
/// <summary>
/// Default Service Constructor
/// </summary>
public TrackRoamerDriveService(DsspServiceCreationPort creationPort) :
base(creationPort)
{
LogInfo("TrackRoamerDriveService:TrackRoamerDriveService() -- port: " + creationPort.ToString());
}
public TrackRoamerBrickPowerService(DsspServiceCreationPort creationPort) :
base(creationPort)
{
LogInfo("TrackRoamerBrickPowerService:TrackRoamerBrickPowerService() -- port: " + creationPort.ToString());
_initializationTime = DateTime.Now;
}
/// <summary>
/// TrackRoamerDrive Service constructor
/// </summary>
public TrackRoamerDriveService(DsspServiceCreationPort creationPort)
: base(creationPort)
{
LogInfo("TrackRoamerDriveService:TrackRoamerDriveService() -- port: " + creationPort.ToString());
}
/// <summary>
/// Cached version of the Interleave arbiter that protects concurrent access on Dssp handlers
/// We use it to combine with an interleave that manages notifications from the TrackRoamerBot service
/// </summary>
//private Interleave _mainInterleave;
public BumperService(DsspServiceCreationPort creationPort) :
base(creationPort)
{
LogInfo("TrackRoamerBumper:BumperService() -- port: " + creationPort.ToString());
}
public TrackRoamerBehaviorsService(DsspServiceCreationPort creationPort)
: base(creationPort)
{
LogInfo("DriveBehaviorServiceBase:DriveBehaviorServiceBase() -- port: " + creationPort.ToString() + " threads per CPU: " + Dispatcher.ThreadsPerCpu);
_routePlanner = new RoutePlanner(_mapperVicinity);
_mapperVicinity.robotDirection = new Direction() { heading = 45.0d, bearing = -110.0d };
_panTiltAlignment = PanTiltAlignment.RestoreOrDefault();
// Kinect UI - by default, lets show all the good stuff:
this.IncludeDepth = true;
this.IncludeVideo = true;
this.IncludeSkeletons = true;
}
public TrackRoamerBrickPowerService(DsspServiceCreationPort creationPort) :
base(creationPort)
{
LogInfo("TrackRoamerBrickPowerService:TrackRoamerBrickPowerService() -- port: " + creationPort.ToString());
_initializationTime = DateTime.Now;
}