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public IEnumerator <ccr.ITask> RunHandler(RotateRequest message, dssp.DsspResponsePort <RotateResponse> responsePort)
{
_responsePort = responsePort;
Increment();
drive.RotateDegreesRequest request = new drive.RotateDegreesRequest();
request.RotateDegreesStage = Microsoft.Robotics.Services.Drive.Proxy.DriveStage.InitialRequest;
request.Power = message.Power;
request.Degrees = message.Degrees;
Increment();
Activate(
ccr.Arbiter.Choice(
GenericDifferentialDrivePort.RotateDegrees(request),
OnRotateDegreesSuccess,
delegate(soap.Fault fault)
{
base.FaultHandler(fault, @"GenericDifferentialDrivePort.RotateDegrees(request)");
Decrement();
}
)
);
Decrement();
yield return(WaitUntilComplete());
}
public dssp.DsspResponsePort <RotateResponse> Rotate(RotateRequest body)
{
Rotate message = new Rotate();
message.Body = body;
this.Post(message);
return(message.ResponsePort);
}