public IEnumerator <ITask> EnableDriveHandler(EnableDrive enableDrive)
{
_state.IsEnabled = enableDrive.Body.Enable;
_state.TimeStamp = DateTime.Now;
// if we are enabling the drive, validate that the motors are configured.
if (enableDrive.Body.Enable)
{
try
{
ValidateDriveConfiguration(false);
}
catch (InvalidOperationException)
{
// If validation fails,
// force the state to not be enabled.
_state.IsEnabled = false;
// rethrow the fault
throw;
}
}
// send notification to subscription manager
drive.Update update = new drive.Update(_state);
SendNotification <drive.Update>(_subMgrPort, update);
enableDrive.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
public void DriveEnableDriveHandler(drive.EnableDrive enabledrive)
{
this.controllerDrivePort.Post(
new drive.EnableDrive()
{
Body = enabledrive.Body, ResponsePort = enabledrive.ResponsePort
});
}
public IEnumerator <ITask> EnableDriveHandler(drive.EnableDrive enableDrive)
{
_state.IsEnabled = enableDrive.Body.Enable;
_state.TimeStamp = DateTime.Now;
// send notification to subscription manager
_subMgrPort.Post(new submgr.Submit(_state, DsspActions.UpdateRequest));
enableDrive.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
public void DriveEnableHandler(diffdrive.EnableDrive enable)
{
if (this.driveEntity == null)
{
throw new InvalidOperationException("Simulation entity not registered with service");
}
this.state.DriveState.IsEnabled = enable.Body.Enable;
this.driveEntity.IsEnabled = this.state.DriveState.IsEnabled;
this.UpdateStateFromSimulation();
enable.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// send update for entire state
this.subMgrPort.Post(new submgr.Submit(this.state.DriveState, DsspActions.UpdateRequest));
}
public IEnumerator <ITask> DriveEnableDriveHandler(drive.EnableDrive enabledrive)
{
this.state.DriveState.TimeStamp = DateTime.Now;
this.state.DriveState.IsEnabled = enabledrive.Body.Enable;
// The caller's intent is to disable the drive, so we need to set motor power to zero
if (!this.state.DriveState.IsEnabled)
{
serialcomservice.SendAndGetRequest sg = new serialcomservice.SendAndGetRequest();
sg.Timeout = this.state.DefaultResponsePause;
sg.Data = new serialcomservice.Packet(board.CreatePacket <byte>(board.SetFullStopString));
var resultPort = this.serialCOMServicePort.SendAndGet(sg);
yield return(resultPort.Choice());
soap.Fault f = (soap.Fault)resultPort;
if (f != null)
{
LogError(string.Format("Failed to send command: {0}", board.SetFullStopString));
enabledrive.ResponsePort.Post(f);
yield break;
}
if (this.HasFWError((serialcomservice.Packet)resultPort))
{
f = soap.Fault.FromCodeSubcodeReason(soap.FaultCodes.Receiver, DsspFaultCodes.OperationFailed, "Error received from FW!");
enabledrive.ResponsePort.Post(f);
yield break;
}
// Reflect into state
this.state.DriveState.LeftWheel.MotorState.CurrentPower = GDDriveFullStop;
this.state.DriveState.RightWheel.MotorState.CurrentPower = GDDriveFullStop;
this.state.DriveState.LeftWheel.WheelSpeed = 0;
this.state.DriveState.RightWheel.WheelSpeed = 0;
}
enabledrive.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
