/// <summary>
/// Start the service
/// </summary>
protected override void Start()
{
if (this.state == null)
{
this.state = new ObstacleAvoidanceDriveState();
}
if (this.state.RobotWidth == 0)
{
this.state.RobotWidth = DefaultRobotWidthInMeters;
}
if (this.state.DepthCameraPosition.Y == 0)
{
this.state.DepthCameraPosition = new PhysicalModel.Vector3(0, 0.6f, -0.15f);
}
if (this.state.Controller == null)
{
this.state.Controller = new PIDController();
}
if (this.state.MaxPowerPerWheel <= 0 || this.state.MaxPowerPerWheel > 1)
{
this.state.MaxPowerPerWheel = DefaultMaximumMotorSpeed;
}
if (this.state.MinRotationSpeed <= 0 || this.state.MinRotationSpeed > this.state.MaxPowerPerWheel)
{
this.state.MinRotationSpeed = DefaultMinimumRotateInPlaceSpeed;
}
if (this.state.MaxDeltaPower == 0)
{
this.state.MaxDeltaPower = DefaultMaxDeltaPower;
}
this.depthCameraDefaultPose.Position = this.state.DepthCameraPosition;
// C:\Microsoft Robotics Dev Studio 4\samples\Config\obstacleavoidancedrive.user.config.xml
this.SaveState(this.state);
base.Start();
// Handlers that need write or exclusive access to state go under
// the exclusive group. Handlers that need read or shared access, and can be
// concurrent to other readers, go to the concurrent group.
// Other internal ports can be included in interleave so you can coordinate
// intermediate computation with top level handlers.
MainPortInterleave.CombineWith(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator<OnLoad>(true, this.eventsPort, this.OnLoadHandler),
Arbiter.Receive<OnClosed>(true, this.eventsPort, this.OnClosedHandler),
Arbiter.ReceiveWithIterator(true, this.samplePort, this.SampleSensors),
Arbiter.ReceiveWithIterator<OnPIDChanges>(true, this.eventsPort, this.OnPIDChangesHandler)),
new ConcurrentReceiverGroup(
Arbiter.ReceiveWithIterator<game.UpdateButtons>(true, this.gameControllerNotify, this.JoystickUpdateButtonsHandler))));
WinFormsServicePort.Post(new RunForm(this.CreateForm));
// kick off sampling interval
this.samplePort.Post(DateTime.UtcNow);
}