void ActuatorConfigurationHandler(ActuatorConfiguration actuatorconfiguration)
{
int actuatorID = actuatorconfiguration.actuatorID;
if ((actuatorID > 0) && (actuatorID <= 2))
{
float value = _state.actuator[actuatorID - 1].value = actuatorconfiguration.value;
_state.actuator[actuatorID - 1].name = actuatorconfiguration.name;
LogVerbose("--- Actuator configuration " + actuatorID.ToString() + " updated to " + value);
switch (actuatorID)
{
case 1:
_srv1.LeftMotorPower = value;
break;
case 2:
_srv1.RightMotorPower = value;
break;
}
actuatorconfiguration.ResponsePort.Post(new DefaultUpdateResponseType());
}
else
{
actuatorconfiguration.ResponsePort.Post(
Fault.FromCodeSubcodeReason(FaultCodes.Receiver,
DsspFaultCodes.OperationFailed,
"Bad Index")
);
}
}
void UpdateActuatorConfiguration(int actuatorID, string name, int actuatorValue)
{
ActuatorConfiguration config = new ActuatorConfiguration();
config.actuatorID = actuatorID;
config.name = name;
config.value = actuatorValue;
config.ResponsePort = new DsspResponsePort <DefaultUpdateResponseType>();
_updatePort.Post(config);
Activate(
Arbiter.Choice(config.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
},
delegate(Fault fault)
{
LogError("Failed to send notification");
}
));
}
