/// <summary>
/// Start conversation with the TrackRoamer Proximity Board device.
/// </summary>
IEnumerator <ITask> StartProximityBoard(int timeout)
{
Tracer.Trace(string.Format("TrackRoamerBrickProximityBoardService::StartProximityBoard() timeout={0} ms", timeout));
_state.LinkState = "Initializing";
if (timeout > 0)
{
//
// caller asked us to wait <timeout> milliseconds until we start.
//
yield return(Arbiter.Receive(false, TimeoutPort(timeout),
delegate(DateTime dt)
{
LogInfo(string.Format("StartProximityBoard() - Done Waiting {0} ms", timeout));
}
));
}
if (_pbCommanderTaskQueue == null)
{
//
// The internal services run on their own dispatcher, we need to create that (once)
//
AllocateExecutionResource allocExecRes = new AllocateExecutionResource(0, "TrackRoamerProximityBoard");
ResourceManagerPort.Post(allocExecRes);
yield return(Arbiter.Choice(
allocExecRes.Result,
delegate(ExecutionAllocationResult result)
{
_pbCommanderTaskQueue = result.TaskQueue;
},
delegate(Exception e)
{
LogError(e);
}
));
}
_pbCommander = new ProximityBoardCcrServiceCommander(_pbCommanderTaskQueue ?? TaskQueue, _pbCommanderDataEventsPort, _state.VendorId, _state.ProductId);
_pbCommander.Parent = ServiceInfo.Service;
_pbCommander.Console = ConsoleOutputPort;
_state.IsConnected = false;
// Open is an empty operatiion, but we need to flush the internal queue - so let it be.
FlushPortSet(_pbCommanderDataEventsPort);
bool failed = false;
yield return(
Arbiter.Choice(
_pbCommander.Open(),
delegate(SuccessResult success)
{
_state.LinkState = "Initializing - link opened";
LogInfo("Opened link to Proximity Board");
},
delegate(Exception exception)
{
_state.LinkState = "Error Initializing - could not open link";
failed = true;
LogError(exception);
}
)
);
if (failed)
{
yield break;
}
//
// Set the servo sweep rate:
//
yield return(
Arbiter.Choice(
_pbCommander.SetServoSweepRate(),
delegate(SuccessResult success)
{
_state.LinkState = "Servo Sweep Rate Set";
LogInfo(_state.LinkState);
},
delegate(Exception exception)
{
_state.LinkState = "Error Initializing - could not set Servo Sweep Rate";
failed = true;
LogError(exception);
}
)
);
if (failed)
{
yield break;
}
//
// start continuous measurements.
//
yield return(
Arbiter.Choice(
_pbCommander.SetContinuous(),
delegate(SuccessResult success)
{
_state.LinkState = "Started Continuous Measurement";
_state.IsConnected = true;
LogInfo(_state.LinkState);
},
delegate(Exception failure)
{
_state.LinkState = "Error Initializing - could not start Continuous Measurement";
_pbCommanderDataEventsPort.Post(failure);
failed = true;
}
)
);
if (failed)
{
yield break;
}
// somehow the board skips commands on startup, send it twice after a wait:
yield return(Arbiter.Receive(false, TimeoutPort(1000),
delegate(DateTime dt)
{
}
));
//
// start continuous measurements - try 2.
//
yield return(
Arbiter.Choice(
_pbCommander.SetContinuous(),
delegate(SuccessResult success)
{
_state.LinkState = "Started Continuous Measurement";
_state.IsConnected = true;
LogInfo(_state.LinkState);
},
delegate(Exception failure)
{
_state.LinkState = "Error Initializing - could not start Continuous Measurement";
_pbCommanderDataEventsPort.Post(failure);
failed = true;
}
)
);
if (failed)
{
yield break;
}
}
void ExceptionHandler(Exception e)
{
Tracer.Trace("ProximityBoardCcrServiceCommander::ExceptionHandler() exc=" + e);
_pbCommanderDataEventsPort.Post(e);
}