public IEnumerator <ITask> ReliableSubscribeHandler(bumper.ReliableSubscribe subscribe)
{
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
_subMgrPort.Post(new submgr.Submit(
subscribe.Body.Subscriber, DsspActions.ReplaceRequest, _state, null));
},
null
));
}
public IEnumerator <ITask> ReliableSubscribeHandler(pxContactSensor.ReliableSubscribe subscribe)
{
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
_subMgrPort.Post(new submgr.Submit(
subscribe.Body.Subscriber, dssp.DsspActions.ReplaceRequest, _state, null));
},
delegate(Exception ex) { LogError(ex); }
));
}
public IEnumerator <ITask> ReliableSubscribeHandler(bumper.ReliableSubscribe subscribe)
{
yield return(Arbiter.Choice(
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort),
delegate(SuccessResult success)
{
ProcessSubscribeResponse(subscribe.Body.Subscriber);
},
delegate(Exception fault)
{
LogError(fault);
}
));
}
public virtual IEnumerator <ITask> GenericReliableSubscribeHandler(contactsensor.ReliableSubscribe subscribe)
{
yield return((Choice)base.SubscribeHelper(_genericSubMgrPort, subscribe.Body, subscribe.ResponsePort));
}
public virtual IEnumerator <ITask> ReliableSubscribeHandler(bumper.ReliableSubscribe subscribe)
{
SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort);
yield break;
}
/// <summary>
/// Handles Bumper service connection request
/// </summary>
/// <param name="onConnectBumpers">Bumper connection request</param>
/// <returns></returns>
IEnumerator<ITask> OnConnectBumpersHandler(OnConnectBumpers onConnectBumpers)
{
if (onConnectBumpers.DriveControl != _driveControl)
yield break;
_bumpersPort = ServiceForwarder<pxbumper.ContactSensorArrayOperations>(onConnectBumpers.Service);
_bumpersShutdown = new Port<Shutdown>();
pxbumper.ReliableSubscribe subscribe = new pxbumper.ReliableSubscribe(
new ReliableSubscribeRequestType(5)
);
subscribe.NotificationPort = _bumpersNotify;
subscribe.NotificationShutdownPort = _bumpersShutdown;
_bumpersPort.Post(subscribe);
yield return Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectBumpers.Service);
},
delegate(Fault fault)
{
_bumpersShutdown = null;
LogError(fault);
}
);
}
public virtual IEnumerator<ITask> ReliableSubscribeHandler(pxbumper.ReliableSubscribe subscribe)
{
LogInfo("TrackRoamerBumper received Reliable Subscription request from Subscriber=" + subscribe.Body.Subscriber);
base.SubscribeHelper(_subMgrPort, subscribe.Body, subscribe.ResponsePort);
yield break;
}
