IEnumerator <ITask> OnEStopHandler(OnEStop onEStop)
{
if (onEStop.DriveControl == _driveControl && _drivePort != null)
{
LogInfo("Requesting EStop");
drive.AllStopRequest request = new drive.AllStopRequest();
_drivePort.AllStop(request);
}
yield break;
}
protected void DriveOutputHandler(DriveOutputState output)
{
if (output.AllStop)
{
Arbiter.Activate(TaskQueue,
Arbiter.Choice(
_drivePort.AllStop(new drive.AllStopRequest()),
delegate(DefaultUpdateResponseType success) { },
delegate(W3C.Soap.Fault failure)
{
LogError("Failed to Stop!");
}
)
);
}
else
{
_drivePort.SetDrivePower(output);
}
}
//public override bool Equals(Object obj)
//{
// if (obj is String)
// {
// string truncUri = ServiceInfo.Service.Substring(ServiceInfo.Service.IndexOf('/', ServiceInfo.Service.IndexOf("//") + 2));
// return String.Equals(truncUri, obj);
// }
// else
// return String.Equals(this.ServiceInfo.Service, ((DriveAdapter)obj).ServiceInfo.Service);
//}
public void Stop()
{
RSUtils.ReceiveSync <DefaultUpdateResponseType>(taskQueue, drivePort.AllStop(), Myro.Utilities.Params.DefaultRecieveTimeout);
}