public IEnumerator <ITask> EnableDriveHandler(drive.EnableDrive enableDrive)
{
_state.IsEnabled = enableDrive.Body.Enable;
_state.TimeStamp = DateTime.Now;
// if we are enabling the drive, validate that the motors are configured.
if (enableDrive.Body.Enable)
{
try
{
ValidateDriveConfiguration(false);
}
catch (InvalidOperationException)
{
// If validation fails,
// force the state to not be enabled.
_state.IsEnabled = false;
// rethrow the fault
throw;
}
}
// send notification to subscription manager
Update update = new Update(_state);
SendNotification <Update>(_subMgrPort, update);
enableDrive.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
public virtual IEnumerator <ITask> EnableDriveHandler(drive.EnableDrive update)
{
_state.IsEnabled = update.Body.Enable;
_state.TimeStamp = DateTime.Now;
update.ResponsePort.Post(new DefaultUpdateResponseType());
SendNotification <drive.Update>(_subMgrPort, _state);
yield break;
}
public IEnumerator <ITask> EnableDriveHandler(drive.EnableDrive enableDrive)
{
_state.IsEnabled = enableDrive.Body.Enable;
_state.TimeStamp = DateTime.Now;
// send notification to subscription manager
_subMgrPort.Post(new submgr.Submit(_state, DsspActions.UpdateRequest));
enableDrive.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
public IEnumerator <ITask> EnableHandler(diffdrive.EnableDrive enable)
{
if (_entity == null)
{
throw new InvalidOperationException("Simulation entity not registered with service");
}
_state.IsEnabled = enable.Body.Enable;
_entity.IsEnabled = _state.IsEnabled;
UpdateStateFromSimulation();
enable.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// send update for entire state
_subMgrPort.Post(new submgr.Submit(_state, DsspActions.UpdateRequest));
yield break;
}
public virtual IEnumerator<ITask> GenericAllStopHandler(pxdrive.AllStop allStop)
{
DriveDistance drive = new DriveDistance(new SetDriveRequest());
drive.Body.LeftPower = 0.0;
drive.Body.RightPower = 0.0;
drive.Body.LeftStopAtRotationDegrees = 0;
drive.Body.RightStopAtRotationDegrees = 0;
drive.Body.StopState = MotorStopState.Brake;
drive.ResponsePort = allStop.ResponsePort;
drive.Body.DriveRequestOperation = pxdrive.DriveRequestOperation.AllStop;
_internalDrivePowerPort.Post(drive);
// disable drive
_genericState.IsEnabled = false;
pxdrive.EnableDrive disableDrive = new pxdrive.EnableDrive();
disableDrive.Body.Enable = _genericState.IsEnabled;
_genericState.TimeStamp = DateTime.Now;
_state.TimeStamp = _genericState.TimeStamp;
SendNotification<pxdrive.EnableDrive>(_genericSubMgrPort, disableDrive);
_drivePort.Post(disableDrive);
yield break;
}
