public IEnumerator <ITask> GetHandler(Get get)
{
MarkRobotState getState = new MarkRobotState();
drive.Get driveGet = new drive.Get();
getState.DriveState = new drive.DriveDifferentialTwoWheelState();
// Get the up-to-date drive state
this.controllerDrivePort.Post(driveGet);
yield return(driveGet.ResponsePort.Choice(s => getState.DriveState = s, EmptyHandler));
// MarkRobot service specific configuration
getState.SonarTimeValueMultiplier = this.state.SonarTimeValueMultiplier;
getState.SensorPollingInterval = this.state.SensorPollingInterval;
getState.LastStartTime = this.state.LastStartTime;
getState.InfraredRawValueDivisorScalar = this.state.InfraredRawValueDivisorScalar;
getState.InfraredDistanceExponent = this.state.InfraredDistanceExponent;
getState.BatteryVoltagePinIndex = this.state.BatteryVoltagePinIndex;
getState.BatteryVoltageDivider = this.state.BatteryVoltageDivider;
// Polled state
getState.BatteryState = this.state.BatteryState;
getState.InfraredSensorState = this.state.InfraredSensorState;
getState.SonarSensorState = this.state.SonarSensorState;
get.ResponsePort.Post(getState);
}
public void DriveGetHandler(drive.Get get)
{
this.controllerDrivePort.Post(
new drive.Get()
{
Body = get.Body, ResponsePort = get.ResponsePort
});
}
public IEnumerator <ITask> DriveHttpGetHandler(Microsoft.Dss.Core.DsspHttp.HttpGet httpget)
{
drive.Get get = new drive.Get();
this.controllerDrivePort.Post(get);
yield return(get.ResponsePort.Choice());
drive.DriveDifferentialTwoWheelState newState = (drive.DriveDifferentialTwoWheelState)get.ResponsePort;
if (newState != null)
{
HttpResponseType resp = new HttpResponseType(HttpStatusCode.OK, newState);
httpget.ResponsePort.Post(resp);
}
else
{
HttpResponseType resp = new HttpResponseType(HttpStatusCode.InternalServerError, (soap.Fault)get.ResponsePort);
httpget.ResponsePort.Post(resp);
}
yield break;
}
public void DriveGetHandler(drive.Get get)
{
this.state.DriveState.TimeStamp = DateTime.Now;
get.ResponsePort.Post(this.state.DriveState);
}
public virtual IEnumerator <ITask> GetHandler(drive.Get get)
{
get.ResponsePort.Post(_state);
yield break;
}
public void DriveGetHandler(diffdrive.Get get)
{
this.UpdateStateFromSimulation();
get.ResponsePort.Post(this.state.DriveState);
}