IEnumerator <ITask> OnConnectSickLRFHandler(OnConnectSickLRF onConnectSickLRF)
{
if (onConnectSickLRF.DriveControl != _driveControl)
{
yield break;
}
_laserPort = ServiceForwarder <sicklrf.SickLRFOperations>(onConnectSickLRF.Service);
_laserShutdown = new Port <Shutdown>();
sicklrf.ReliableSubscribe subscribe = new sicklrf.ReliableSubscribe(
new ReliableSubscribeRequestType(5)
);
subscribe.NotificationPort = _laserNotify;
subscribe.NotificationShutdownPort = _laserShutdown;
_laserPort.Post(subscribe);
yield return(Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectSickLRF.Service);
},
delegate(Fault fault)
{
_laserShutdown = null;
LogError(fault);
}
));
}
public IEnumerator <ITask> ReliableSubscribeHandler(sicklrf.ReliableSubscribe subscribe)
{
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
_subMgrPort.Post(new submgr.Submit(
subscribe.Body.Subscriber, dssp.DsspActions.ReplaceRequest, _state, null));
},
delegate(Exception ex) { LogError(ex); }
));
}
// ====================================================================================
// as generated:
//[ServiceHandler]
//public void ReliableSubscribeHandler(sicklrf.ReliableSubscribe reliablesubscribe)
//{
// throw new NotImplementedException();
//}
/// <summary>
/// Handles ReliableSubscribe requests
/// </summary>
/// <param name="reliablesubscribe">request message</param>
IEnumerator <ITask> ReliableSubscribeHandler(sicklrf.ReliableSubscribe reliablesubscribe)
{
Tracer.Trace("TrackRoamerUsrfService::ReliableSubscribeHandler()");
yield return(Arbiter.Choice(
SubscribeHelper(_submgrPort, reliablesubscribe.Body, reliablesubscribe.ResponsePort),
delegate(SuccessResult success)
{
if (_state != null &&
_state.DistanceMeasurements != null)
{
_submgrPort.Post(new submgr.Submit(
reliablesubscribe.Body.Subscriber, DsspActions.ReplaceRequest, _state, null));
}
},
null
));
}
IEnumerator<ITask> OnConnectSickLRFHandler(OnConnectSickLRF onConnectSickLRF)
{
if (onConnectSickLRF.DriveControl != _driveControl)
yield break;
_laserPort = ServiceForwarder<sicklrf.SickLRFOperations>(onConnectSickLRF.Service);
_laserShutdown = new Port<Shutdown>();
sicklrf.ReliableSubscribe subscribe = new sicklrf.ReliableSubscribe(
new ReliableSubscribeRequestType(5)
);
subscribe.NotificationPort = _laserNotify;
subscribe.NotificationShutdownPort = _laserShutdown;
_laserPort.Post(subscribe);
yield return Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectSickLRF.Service);
},
delegate(Fault fault)
{
_laserShutdown = null;
LogError(fault);
}
);
}
