/// <summary>
/// Keep the FW watchdog alive by continuously retrieving sensor+encoder values
/// </summary>
/// <param name="dt">A instance of type DateTime</param>
/// <returns>A instance of IEnumerator of type ITask</returns>
private IEnumerator <ITask> PollSensors(DateTime dt)
{
try
{
soap.Fault fault = null;
adc.ADCPinArrayState pinArrayState = null;
adc.Get adcGet = new adc.Get();
this.controllerAdcPinArrayPort.Post(adcGet);
yield return(adcGet.ResponsePort.Choice());
fault = (soap.Fault)adcGet.ResponsePort;
if (fault != null)
{
LogError(string.Format("Fault on getting ADCPinArray state: {0}", fault.Detail));
throw fault.ToException();
}
pinArrayState = (adc.ADCPinArrayState)adcGet.ResponsePort;
for (int i = 0; i < this.state.InfraredSensorState.Sensors.Count; i++)
{
adc.ADCPinState pinState = pinArrayState.Pins[this.state.InfraredSensorState.Sensors[i].HardwareIdentifier];
this.state.InfraredSensorState.Sensors[i].DistanceMeasurement = this.state.InfraredRawValueDivisorScalar * Math.Pow(pinState.PinValue, this.state.InfraredDistanceExponent) / CentimetersPerMeter;
}
for (int i = 0; i < this.state.SonarSensorState.Sensors.Count; i++)
{
adc.ADCPinState pinState = pinArrayState.Pins[this.state.SonarSensorState.Sensors[i].HardwareIdentifier];
this.state.SonarSensorState.Sensors[i].DistanceMeasurement = pinState.PinValue * this.state.SonarTimeValueMultiplier / CentimetersPerMeter;
}
this.state.BatteryState.PercentBatteryPower = (pinArrayState.Pins[this.state.BatteryVoltagePinIndex].PinValue * this.state.BatteryVoltageDivider) / this.state.BatteryState.MaxBatteryPower * 100.0;
if (this.state.BatteryState.PercentBatteryPower <= this.state.BatteryState.PercentCriticalBattery)
{
battery.BatteryNotification batteryNotification = new battery.BatteryNotification(
(int)this.state.BatteryState.MaxBatteryPower,
this.state.BatteryState.PercentBatteryPower);
this.SendNotification <battery.Replace>(this.submgrBatteryPort, batteryNotification);
}
}
finally
{
// Ensure we haven't been droppped
if (ServicePhase == ServiceRuntimePhase.Started)
{
// Issue another polling request
Activate(TimeoutPort(this.state.SensorPollingInterval).Receive(this.sensorPollingPort.Post));
}
}
yield break;
}
public void AdcGetHandler(adc.Get get)
{
get.ResponsePort.Post(this.state.AdcState);
}
