public IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
TaskQueue.Dispose();
DefaultDropHandler(drop);
yield break;
}
public virtual IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
SetSafePositions();
base.DefaultDropHandler(drop);
yield break;
}
public IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
base.DefaultDropHandler(drop);
_state.Synthesizer.Dispose();
yield break;
}
public virtual IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
SetSafePositions();
base.DefaultDropHandler(drop);
yield break;
}
public IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
Srv1Controller.Dispose();
base.DefaultDropHandler(drop);
yield break;
}
/// <summary>
/// Drop handler
/// </summary>
/// <param name="drop"></param>
/// <returns></returns>
public IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
base.DefaultDropHandler(drop);
// Stop & dispose recognition engine
this.state.Recognizer.Dispose();
yield break;
}
public virtual IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
// Close connection and Dispose() serial port.
CloseConnection(true);
drop.ResponsePort.Post(DefaultDropResponseType.Instance);
yield break;
}
/// <summary>
/// Post Dssp Default Drop and return the response port.
/// </summary>
public virtual PortSet <DefaultDropResponseType, Fault> DsspDefaultDrop()
{
DropRequestType body = new DropRequestType();
DsspDefaultDrop op = new DsspDefaultDrop(body);
this.PostUnknownType(op);
return(op.ResponsePort);
}
public IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
_clockPort.DsspDefaultDrop();
_localClockPort.DsspDefaultDrop();
base.DefaultDropHandler(drop);
yield break;
}
public virtual IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
LogInfo("TrackRoamerDriveService:DropHandler()");
base.DefaultDropHandler(drop);
yield break;
}
public virtual IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
_legoBrickPort.Detach(ServiceInfo.Service);
// drop the service
base.DefaultDropHandler(drop);
yield break;
}
public virtual IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
LogInfo("TrackRoamerBumper:DropHandler()");
base.DefaultDropHandler(drop);
yield break;
}
public IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
// cancel any active tasks that are still active
TaskQueue.Dispose();
DefaultDropHandler(drop);
yield break;
}
public void DropHandler(DsspDefaultDrop drop)
{
// Currently it is not possible to activate a handler that returns
// IEnumerator<ITask> in a teardown group. Thus we have to spawn the iterator ourselves
// to acheive the same effect.
// This issue will be addressed in upcomming releases.
SpawnIterator(drop, DoDrop);
}
/// <summary>
/// Post DsspDefaultDrop and return the response port.
/// </summary>
/// <returns></returns>
public virtual PortSet <DefaultDropResponseType, Fault> DsspDefaultDrop()
{
DsspDefaultDrop op = new DsspDefaultDrop();
op.Body = new DropRequestType();
this.Post(op);
return(op.ResponsePort);
}
void DropHandler(DsspDefaultDrop drop)
{
if (_state.Selected != null &&
_state.Selected.FrameGrabber != null)
{
_state.Selected.FrameGrabber.Dispose();
}
base.DefaultDropHandler(drop);
}
public void DropHandler(DsspDefaultDrop drop)
{
#if !URT_MINCLR
ShutdownInternalService();
#endif
QuitClient();
base.DefaultDropHandler(drop);
}
public virtual IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
LogInfo("TrackRoamerBrickPowerService:DropHandler()");
_state.Dropping = true; // makes sure the command loop is not calling controller
_brickConnection.Close();
base.DefaultDropHandler(drop);
yield break;
}
public virtual IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
if (_state.Connected)
{
_chrConnection.Close();
_state.Connected = false;
}
base.DefaultDropHandler(drop);
yield break;
}
public virtual IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
// Close the serial port
Close close = new Close();
_commOpenClosePort.Post(close);
yield return(Arbiter.Choice(close.ResponsePort,
EmptyHandler <DefaultSubmitResponseType>,
EmptyHandler <Fault>));
drop.ResponsePort.Post(DefaultDropResponseType.Instance);
yield break;
}
void DropHandler(DsspDefaultDrop drop)
{
try
{
if (_link != null)
{
// release dispatcher queue resource
ResourceManagerPort.Post(new FreeExecutionResource(_link.TaskQueue));
_link.Close();
_link = null;
}
}
finally
{
base.DefaultDropHandler(drop);
}
}
public void DropHandler(DsspDefaultDrop drop)
{
if (_form != null)
{
WinFormsServicePort.FormInvoke(
delegate()
{
if (!_form.IsDisposed)
{
_form.Dispose();
}
}
);
}
base.DefaultDropHandler(drop);
}
public IEnumerator <ITask> DropHandler(DsspDefaultDrop drop)
{
// Update our state, but only wait for one second.
PortSet <DefaultUpdateResponseType, Fault> responsePort = UpdateServiceStatus(LegoNxtBumperStatus.ShuttingDown);
yield return(Arbiter.Choice(
Arbiter.Receive <DefaultUpdateResponseType>(false, responsePort,
delegate(DefaultUpdateResponseType response) { }),
Arbiter.Receive <Fault>(false, responsePort,
delegate(Fault fault) { }),
Arbiter.Receive <DateTime>(false, TimeoutPort(1000),
delegate(DateTime timeout) { })));
base.DefaultDropHandler(drop);
yield break;
}
public void DropHandler(DsspDefaultDrop drop)
{
if (_form != null)
{
WinFormsServicePort.FormInvoke(
delegate()
{
if (!_form.IsDisposed)
{
_form.Dispose();
}
}
);
}
base.DefaultDropHandler(drop);
}
/// <summary>
/// Drop Handler shuts down SimpleDashboard
/// </summary>
/// <param name="drop"></param>
void DropHandler(DsspDefaultDrop drop)
{
PerformShutdown(ref _laserShutdown);
PerformShutdown(ref _motorShutdown);
if (_driveControl != null)
{
DriveControl drive = _driveControl;
_driveControl = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!drive.IsDisposed)
{
drive.Dispose();
}
}
);
}
base.DefaultDropHandler(drop);
}
IEnumerator <ITask> DoDrop(DsspDefaultDrop drop)
{
if (_state.IsActive)
{
LogInfo("Explorer service is being dropped while moving, Requesting Stop.");
yield return(Arbiter.Choice(
StopMoving(),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault fault) { }
));
yield return(Arbiter.Choice(
DisableMotor(),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault fault) { }
));
}
LogInfo("Dropping Explorer.");
base.DefaultDropHandler(drop);
}
void DropHandler(DsspDefaultDrop drop)
{
Tracer.Trace("TrackRoamerBrickProximityBoardService::DropHandler()");
_state.LinkState = "Dropping service - Closing link to Proximity Board";
_state.IsConnected = false;
try
{
if (_pbCommander != null)
{
// release dispatcher queue resource
ResourceManagerPort.Post(new FreeExecutionResource(_pbCommander.TaskQueue));
_pbCommander.Close();
_pbCommander = null;
_state.IsConnected = false;
}
}
finally
{
base.DefaultDropHandler(drop);
}
}
public void DropHandler(DsspDefaultDrop drop)
{
// Collect the state informations and write them in the state
_state.WindowControlX = _windowControl.Location.X;
_state.WindowControlY = _windowControl.Location.Y;
_state.WindowPIDTuningX = _windowPIDTuning.Location.X;
_state.WindowPIDTuningY = _windowPIDTuning.Location.Y;
_state.WindowSimulationSettingsX = _windowSimulationSettings.Location.X;
_state.WindowSimulationSettingsY = _windowSimulationSettings.Location.Y;
_state.WindowStatisticsX = _windowStatistics.Location.X;
_state.WindowStatisticsY = _windowStatistics.Location.Y;
_state.AttitudeP = _multicopterEntity.pidControllerAttitudeX.Kp;
_state.AttitudeI = _multicopterEntity.pidControllerAttitudeX.Ki;
_state.AttitudeD = _multicopterEntity.pidControllerAttitudeX.Kd;
_state.AltitudeP = _multicopterEntity.pidControllerAltitude.Kp;
_state.AltitudeI = _multicopterEntity.pidControllerAltitude.Ki;
_state.AltitudeD = _multicopterEntity.pidControllerAltitude.Kd;
_state.PositionP = _multicopterEntity.pidControllerPositionX.Kp;
_state.PositionI = _multicopterEntity.pidControllerPositionX.Ki;
_state.PositionD = _multicopterEntity.pidControllerPositionX.Kd;
_state.WindSimulationActivated = _multicopterEntity.windSimulationActivated;
_state.WindDirection = _multicopterEntity.settingsWindDirection;
_state.WindIntensity = _multicopterEntity.settingsWindIntensity;
_state.WindDirectionFluctuation = _multicopterEntity.settingsWindDirectionFluctuation;
_state.WindIntensityFluctuation = _multicopterEntity.settingsWindIntensityFluctuation;
_state.YScale = _windowStatistics.YScale;
// Save the state as a file
base.SaveState(_state);
// Quit the program
base.DefaultDropHandler(drop);
}
public virtual IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
// Close the Connection to the LEGO
if (_brickPort != null)
_brickPort.Close();
base.DefaultDropHandler(drop);
yield break;
}
public virtual IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
// Close the serial port
Close close = new Close();
_commOpenClosePort.Post(close);
yield return Arbiter.Choice(close.ResponsePort,
EmptyHandler<DefaultSubmitResponseType>,
EmptyHandler<Fault>);
drop.ResponsePort.Post(DefaultDropResponseType.Instance);
yield break;
}
public void DropHandler(DsspDefaultDrop drop)
{
DssEnvironment.ControlPanelPort.Shutdown();
DssEnvironment.Shutdown();
}
public virtual IEnumerator<ITask> DualDropHandler(DsspDefaultDrop drop)
{
// detach from the brick
_legoBrickPort.Detach(ServiceInfo.Service);
base.DefaultDropHandler(drop);
yield break;
}
public virtual void DropHandler(DsspDefaultDrop drop)
{
LogInfo(LogGroups.Console, string.Format("Shutting down simulation iRobot: {0}", _state.Name));
base.DefaultDropHandler(drop);
}
IEnumerator<ITask> DoDrop(DsspDefaultDrop drop)
{
if (_state.IsActive)
{
LogInfo("Explorer service is being dropped while moving, Requesting Stop.");
yield return Arbiter.Choice(
StopMoving(),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault fault) { }
);
yield return Arbiter.Choice(
DisableMotor(),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault fault) { }
);
}
LogInfo("Dropping Explorer.");
base.DefaultDropHandler(drop);
}
public IEnumerator<ITask> DoDrop(DsspDefaultDrop drop)
{
Talker.Say(9, "Dropping Drive Behavior Service Base");
_state.Dropping = true;
ClearHeadAnimations();
AllLightsOff();
// we trust the brick to shutdown gracefully. If we start issuing commands here, the drive and brick will not respond anyway,
// as they are going down too.
yield return Timeout(1000);
//if (_state.IsActive)
//{
// LogInfo("DriveBehaviorServiceBase service is being dropped while moving, Requesting Stop.");
// yield return Arbiter.Choice(
// StopMoving(),
// delegate(DefaultUpdateResponseType response) { },
// delegate(Fault fault) { }
// );
// yield return Arbiter.Choice(
// DisableMotor(),
// delegate(DefaultUpdateResponseType response) { },
// delegate(Fault fault) { }
// );
//}
LogInfo("Dropping DriveBehaviorServiceBase - calling base.DefaultDropHandler(drop)");
base.DefaultDropHandler(drop);
yield break;
}
IEnumerator<ITask> DoDrop(DsspDefaultDrop drop)
{
if (_mapForm != null)
{
MapForm map = _mapForm;
_mapForm = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!map.IsDisposed)
{
map.Close();
map.Dispose();
}
}
);
}
if (_state.IsActive)
{
LogInfo("ExplorerSimSonar service is being dropped while moving, Requesting Stop.");
yield return Arbiter.Choice(
StopMoving(),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault fault) { }
);
yield return Arbiter.Choice(
DisableMotor(),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault fault) { }
);
}
LogInfo("Dropping ExplorerSimSonar.");
base.DefaultDropHandler(drop);
}
void DropHandler(DsspDefaultDrop drop)
{
Tracer.Trace("TrackRoamerBrickProximityBoardService::DropHandler()");
_state.LinkState = "Dropping service - Closing link to Proximity Board";
_state.IsConnected = false;
try
{
if (_pbCommander != null)
{
// release dispatcher queue resource
ResourceManagerPort.Post(new FreeExecutionResource(_pbCommander.TaskQueue));
_pbCommander.Close();
_pbCommander = null;
_state.IsConnected = false;
}
}
finally
{
base.DefaultDropHandler(drop);
}
}
/// <summary>
/// Drop Handler shuts down SimpleDashboard
/// </summary>
/// <param name="drop"></param>
void DropHandler(DsspDefaultDrop drop)
{
PerformShutdown(ref _laserShutdown);
PerformShutdown(ref _motorShutdown);
if (_driveControl != null)
{
DriveControl drive = _driveControl;
_driveControl = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!drive.IsDisposed)
{
drive.Dispose();
}
}
);
}
base.DefaultDropHandler(drop);
}
/// <summary>
/// Drop Handler shuts down Dashboard
/// </summary>
/// <param name="drop"></param>
void DropHandler(DsspDefaultDrop drop)
{
SpawnIterator(drop, DropIterator);
}
public virtual IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
_legoBrickPort.Detach(ServiceInfo.Service);
// drop the service
base.DefaultDropHandler(drop);
yield break;
}
public void DropHandler(DsspDefaultDrop drop)
{
// Currently it is not possible to activate a handler that returns
// IEnumerator<ITask> in a teardown group. Thus we have to spawn the iterator ourselves
// to acheive the same effect.
// This issue will be addressed in upcomming releases.
SpawnIterator(drop, DoDrop);
}
public void DropHandler(DsspDefaultDrop drop)
{
this.serialPort.Dispose(); // Dispose will close the serial port
this.DefaultDropHandler(drop);
}
/// <summary>
/// Post(DsspDefaultDrop)
/// </summary>
/// <param name="item"></param>
/// <returns></returns>
public void Post(DsspDefaultDrop item)
{
base.PostUnknownType(item);
}
IEnumerator<ITask> DropIterator(DsspDefaultDrop drop)
{
LogInfo("Starting Drop");
/*
// Close the WebCam Form
if (_cameraForm != null)
{
WebCamForm cam = _cameraForm;
_cameraForm = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!cam.IsDisposed)
{
cam.Dispose();
}
}
);
}
*/
// Close the Dashboard Form
if (_driveControl != null)
{
DriveControl drive = _driveControl;
_driveControl = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!drive.IsDisposed)
{
drive.Dispose();
}
}
);
}
if (_laserShutdown != null)
{
yield return PerformShutdown(ref _laserShutdown);
}
if (_motorShutdown != null)
{
yield return PerformShutdown(ref _motorShutdown);
}
base.DefaultDropHandler(drop);
}
public void DropHandler(DsspDefaultDrop drop)
{
this.DefaultDropHandler(drop);
}
public virtual IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
LogInfo("TrackRoamerBrickPowerService:DropHandler()");
_state.Dropping = true; // makes sure the command loop is not calling controller
_brickConnection.Close();
base.DefaultDropHandler(drop);
yield break;
}
public virtual IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
if (_state.Connected)
{
_gpsConnection.Close();
_state.Connected = false;
}
base.DefaultDropHandler(drop);
yield break;
}
public void DropHandler(DsspDefaultDrop drop)
{
base.DefaultDropHandler(drop);
base.Shutdown();
}
void DropHandler(DsspDefaultDrop drop)
{
Tracer.Trace("SickLRF::DropHandler()");
try
{
if (_link != null)
{
// release dispatcher queue resource
ResourceManagerPort.Post(new FreeExecutionResource(_link.TaskQueue));
_link.Close();
_link = null;
}
}
finally
{
base.DefaultDropHandler(drop);
}
}
/// <summary>
/// Handles Drop Messages
/// </summary>
/// <param name="drop"></param>
/// <returns></returns>
//[ServiceHandler(ServiceHandlerBehavior.Teardown)]
IEnumerator<ITask> DropHandler(DsspDefaultDrop drop)
{
// cancel any active tasks that are still active
TaskQueue.Dispose();
DefaultDropHandler(drop);
yield break;
}
