public IEnumerator <ITask> WaitHandler(Wait wait)
{
// Create a variable to hold the completion status
drive.DriveStage result = drive.DriveStage.InitialRequest;
// Wait until the next Canceled or Completed notification
// NOTE: There is no guarantee that the notification is the result
// of a particular drive motion request, but it drive requests are
// always paired with Waits then this should be the case.
yield return((Receiver <drive.DriveStage>) Arbiter.Receive(false, completionPort,
delegate(drive.DriveStage status) { result = status; }));
// Make a new state and send it to ourselves as a Replace message
// This will force a notification out to subscribers
WaitForDriveCompletionState body = new WaitForDriveCompletionState();
body.LastStatus = result;
_mainPort.Post(new Replace(body));
// Finally, send back the response message so that the caller
// can now continue
wait.ResponsePort.Post(new WaitResponseType(result));
yield break;
}
/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
// Initialize the state
if (_state == null)
{
_state = new WaitForDriveCompletionState();
}
_state.LastStatus = drive.DriveStage.InitialRequest;
// Subscribe to the drive for notification messages
_drivePort.Subscribe(_driveNotify);
// Add the necessary receivers
// NOTE: These are INDEPENDENT receivers.
// This is OK because they do not affect the state of the service.
Activate(Arbiter.ReceiveWithIterator <drive.DriveDistance>(true, _driveNotify, DriveDistanceUpdateHandler));
Activate(Arbiter.ReceiveWithIterator <drive.RotateDegrees>(true, _driveNotify, RotateDegreesUpdateHandler));
base.Start();
}
/// <summary>
/// Creates a new instance of Replace
/// </summary>
/// <param name="body">the request message body</param>
/// <param name="responsePort">the response port for the request</param>
public Replace(WaitForDriveCompletionState body, PortSet <DefaultReplaceResponseType, Fault> responsePort)
: base(body, responsePort)
{
}
public void ReplaceHandler(Replace replace)
{
_state = replace.Body;
SendNotification <Replace>(_submgrPort, replace.Body);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
}
/// <summary>
/// Creates a new instance of Replace
/// </summary>
/// <param name="body">the request message body</param>
public Replace(WaitForDriveCompletionState body)
: base(body)
{
}
