// called from TrackRoamerBrickProximityBoardService:
public ProximityBoardCcrServiceCommander(DispatcherQueue dispatcherQueue, PBCommandPort uplinkPort, Int32 vendorId, Int32 productId)
: base(dispatcherQueue)
{
Tracer.Trace(string.Format("ProximityBoardCcrServiceCommander::ProximityBoardCcrServiceCommander() vendorId = 0x{0:X} productId = 0x{0:X}", vendorId, productId));
_pbCommanderDataEventsPort = uplinkPort;
_pmManager = new ProximityBoardManager(dispatcherQueue, vendorId, productId);
_pmManager.PicPxMod.DeviceAttachedEvent += new EventHandler <ProximityModuleEventArgs>(picpxmod_DeviceAttachedEvent);
_pmManager.PicPxMod.DeviceDetachedEvent += new EventHandler <ProximityModuleEventArgs>(picpxmod_DeviceDetachedEvent);
_pmManager.Start();
Activate <ITask>(
Arbiter.Receive <SonarData>(true, _pmManager.MeasurementsPort, SonarDataHandler),
Arbiter.Receive <DirectionData>(true, _pmManager.MeasurementsPort, DirectionDataHandler),
Arbiter.Receive <AccelerometerData>(true, _pmManager.MeasurementsPort, AccelerometerDataHandler),
Arbiter.Receive <ProximityData>(true, _pmManager.MeasurementsPort, ProximityDataHandler),
Arbiter.Receive <ParkingSensorData>(true, _pmManager.MeasurementsPort, ParkingSensorDataHandler),
Arbiter.Receive <AnalogData>(true, _pmManager.MeasurementsPort, AnalogDataHandler),
Arbiter.Receive <Exception>(true, _pmManager.MeasurementsPort, ExceptionHandler)
);
}