protected void OnDriveOutput(DriveOutputState output)
{
if (DriveOutput != null)
{
DriveOutput(output);
}
}
protected void DriveOutputHandler(DriveOutputState output)
{
if (output.AllStop)
{
Arbiter.Activate(TaskQueue,
Arbiter.Choice(
_drivePort.AllStop(new drive.AllStopRequest()),
delegate(DefaultUpdateResponseType success) { },
delegate(W3C.Soap.Fault failure)
{
LogError("Failed to Stop!");
}
)
);
}
else
{
_drivePort.SetDrivePower(output);
}
}
protected void DriveOutputHandler(DriveOutputState output)
{
if (output.AllStop)
{
Arbiter.Activate(TaskQueue,
Arbiter.Choice(
_drivePort.AllStop(new drive.AllStopRequest()),
delegate(DefaultUpdateResponseType success) { },
delegate(W3C.Soap.Fault failure)
{
LogError("Failed to Stop!");
}
)
);
}
else
{
_drivePort.SetDrivePower(output);
}
}
private void ProcessOutputLink()
{
// read output link, cache commands
int numberOfCommands = _agent.GetNumberCommands();
Identifier command;
bool driveOutputReceived = false;
DriveOutputState driveOutput = new DriveOutputState();
for (int i = 0; i < numberOfCommands; ++i)
{
command = _agent.GetCommand(i);
String commandName = command.GetAttribute();
switch (commandName)
{
case "drive-power":
String leftPowerString = command.GetParameterValue("left");
if (leftPowerString != null)
{
driveOutputReceived = true;
driveOutput.LeftWheelPower = double.Parse(leftPowerString);
}
String rightPowerString = command.GetParameterValue("right");
if (rightPowerString != null)
{
driveOutputReceived = true;
driveOutput.RightWheelPower = double.Parse(rightPowerString);
}
String stopString = command.GetParameterValue("stop");
if (stopString != null)
{
driveOutputReceived = true;
driveOutput.AllStop = bool.Parse(stopString);
}
if (driveOutputReceived)
{
command.AddStatusComplete();
}
else
{
OnLog("Soar: Unknown or incomplete drive-power command.");
command.AddStatusError();
}
break;
case "stop-sim":
command.AddStatusComplete();
break;
default:
OnLog("Soar: Unknown command.");
command.AddStatusError();
break;
}
}
// This is out here because the commands may be split up between multiple attributes
if (driveOutputReceived)
{
OnDriveOutput(driveOutput);
}
}
private void ProcessOutputLink()
{
// read output link, cache commands
int numberOfCommands = _agent.GetNumberCommands();
Identifier command;
bool driveOutputReceived = false;
DriveOutputState driveOutput = new DriveOutputState();
for (int i = 0; i < numberOfCommands; ++i)
{
command = _agent.GetCommand(i);
String commandName = command.GetAttribute();
switch (commandName)
{
case "drive-power":
String leftPowerString = command.GetParameterValue("left");
if (leftPowerString != null)
{
driveOutputReceived = true;
driveOutput.LeftWheelPower = double.Parse(leftPowerString);
}
String rightPowerString = command.GetParameterValue("right");
if (rightPowerString != null)
{
driveOutputReceived = true;
driveOutput.RightWheelPower = double.Parse(rightPowerString);
}
String stopString = command.GetParameterValue("stop");
if (stopString != null)
{
driveOutputReceived = true;
driveOutput.AllStop = bool.Parse(stopString);
}
if (driveOutputReceived)
{
command.AddStatusComplete();
}
else
{
OnLog("Soar: Unknown or incomplete drive-power command.");
command.AddStatusError();
}
break;
case "stop-sim":
command.AddStatusComplete();
break;
default:
OnLog("Soar: Unknown command.");
command.AddStatusError();
break;
}
}
// This is out here because the commands may be split up between multiple attributes
if (driveOutputReceived)
{
OnDriveOutput(driveOutput);
}
}
protected void OnDriveOutput(DriveOutputState output)
{
if (DriveOutput != null)
{
DriveOutput(output);
}
}
