void StopMotorWithEncoderHandler(encoder.EncoderOperations encoderNotificationPort, encoder.UpdateTickCount msg, Motor.MotorOperations motorPort, int stopWheelAt)
{
if (msg.Body.Count >= stopWheelAt)
{
Motor.SetMotorPower stop = new Motor.SetMotorPower(0);
motorPort.Post(stop);
Arbiter.Choice(stop.ResponsePort,
delegate(DefaultUpdateResponseType resp) { },
delegate(Fault fault) { LogError(fault); }
);
}
else
{
// Call self to continue waiting for notifications
Activate(Arbiter.Receive<encoder.UpdateTickCount>(false, encoderNotificationPort,
delegate(encoder.UpdateTickCount update)
{
StopMotorWithEncoderHandler(encoderNotificationPort, update, motorPort, stopWheelAt);
}
));
}
}
