public IEnumerator <ITask> ReplaceHandler(motor.Replace replace)
{
_state = replace.Body;
SaveState(_state);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
/// <summary>
/// Copy generic state to this state, transforming data members.
/// </summary>
/// <param name="genericState"></param>
public void CopyFromGenericState(pxmotor.MotorState genericState)
{
if (!string.IsNullOrEmpty(genericState.Name))
{
this.Name = genericState.Name;
}
switch (genericState.HardwareIdentifier)
{
case 1:
this.MotorPort = NxtMotorPort.MotorA;
break;
case 2:
this.MotorPort = NxtMotorPort.MotorB;
break;
case 3:
this.MotorPort = NxtMotorPort.MotorC;
break;
}
this.TargetPower = genericState.CurrentPower;
this.ReversePolarity = genericState.ReversePolarity;
}
/// <summary>
/// Transform current state to the specified generic state.
/// </summary>
/// <param name="genericState"></param>
/// <returns></returns>
public pxmotor.MotorState ToGenericState(pxmotor.MotorState genericState)
{
genericState.Name = this.Name;
switch (this.MotorPort)
{
case NxtMotorPort.MotorA:
genericState.HardwareIdentifier = 1;
break;
case NxtMotorPort.MotorB:
genericState.HardwareIdentifier = 2;
break;
case NxtMotorPort.MotorC:
genericState.HardwareIdentifier = 3;
break;
default:
genericState.HardwareIdentifier = 0;
break;
}
genericState.CurrentPower = this.TargetPower;
genericState.ReversePolarity = this.ReversePolarity;
genericState.PowerScalingFactor = 100.0;
return(genericState);
}
public virtual IEnumerator <ITask> ReplaceHandler(motor.Replace replace)
{
LogInfo(string.Format("Configuring {0} to port {1}", replace.Body.Name, replace.Body.HardwareIdentifier));
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
SaveState(_state);
yield break;
}
protected override void Start()
{
// call base Start() method that will activate operation handlers, log uri, insert to directory
base.Start();
// initialize default state.
// we expect the drive to set actual state for us (in ReplaceHandler).
if (_state == null)
{
_state = new pxmotor.MotorState();
_state.PowerScalingFactor = 10.0d; // actually will be percent, for example 40.0d
_state.HardwareIdentifier = 1; // 1=Left 2=Right
_state.Name = "Left";
_state.CurrentPower = 0.0;
}
}
protected override void Start()
{
//configure motor
if (_state == null)
{
_state = new motor.MotorState("Unconfigured Motor", 1, 100, false, new PhysicalModel.Proxy.Pose());
SaveState(_state);
}
// Listen for each of my handlers
ActivateDsspOperationHandlers();
// Insert ourselves into the directory so that others can find us
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new motor.MotorState();
_state.Name = "LeftMotor";
//NOTE: name must contain either 'left' or 'right'
//default name is 'left' for use in Tutorial 2
//name should really be loaded by manifest
}
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
}
/// <summary>
/// Service Start
/// </summary>
protected override void Start()
{
if (_state == null)
{
_state = new motor.MotorState();
_state.Name = "LeftMotor";
//NOTE: name must contain either 'left' or 'right'
//default name is 'left' for use in Tutorial 2
//name should really be loaded by manifest
}
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
}
protected override void Start()
{
// Motor is uninitialized
if (_state == null)
{
_state = new motor.MotorState();
_state.HardwareIdentifier = 1;
_state.Name = "Default Surveyor SRV-1 Motor on Port 1";
_state.CurrentPower = 0.0;
_state.PowerScalingFactor = 1.0;
SaveState(_state);
}
// Listen on the main port for requests and call the appropriate handler.
ActivateDsspOperationHandlers();
// Publish the service to the local Node Directory
DirectoryInsert();
// display HTTP service Uri
LogInfo(LogGroups.Console, "Service uri: ");
}
public virtual IEnumerator<ITask> ReplaceHandler(motor.Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
protected override void Start()
{
// call base Start() method that will activate operation handlers, log uri, insert to directory
base.Start();
// initialize default state.
// we expect the drive to set actual state for us (in ReplaceHandler).
if (_state == null)
{
_state = new pxmotor.MotorState();
_state.PowerScalingFactor = 10.0d; // actually will be percent, for example 40.0d
_state.HardwareIdentifier = 1; // 1=Left 2=Right
_state.Name = "Left";
_state.CurrentPower = 0.0;
}
}
public virtual IEnumerator <ITask> ReplaceHandler(pxmotor.Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
public IEnumerator <ITask> ConfigureDrive(DriveState state)
{
PartnerType leftMotorPartner = this.ServiceInfo.PartnerList.Find(delegate(PartnerType partner) { return(partner.Name.Name == "LeftMotor"); });
PartnerType rightMotorPartner = this.ServiceInfo.PartnerList.Find(delegate(PartnerType partner) { return(partner.Name.Name == "RightMotor"); });
// Configure the left motor connection
motorbase.MotorState Lconfigure = new motorbase.MotorState();
Lconfigure.HardwareIdentifier = _state.LeftMotorPortNumber;
Lconfigure.Name = "Left Motor";
Lconfigure.PowerScalingFactor = 1;
yield return(Arbiter.Choice(_leftMotorPort.Replace(Lconfigure),
delegate(DefaultReplaceResponseType success)
{
LogInfo("Left Motor Port set");
},
delegate(Fault fault)
{
LogError(fault);
_initFault = true;
}));
if (_initFault)
{
yield break;
}
// Configure the right motor connection
motorbase.MotorState Rconfigure = new motorbase.MotorState();
Rconfigure.HardwareIdentifier = _state.RightMotorPortNumber;
Rconfigure.Name = "Right Motor";
Rconfigure.PowerScalingFactor = 1;
yield return(Arbiter.Choice(_rightMotorPort.Replace(Rconfigure),
delegate(DefaultReplaceResponseType success)
{
LogInfo("Right Motor Port set");
},
delegate(Fault fault)
{
LogError(fault);
_initFault = true;
}));
if (_initFault)
{
yield break;
}
// Configure the drive service
drivesrv.DriveDifferentialTwoWheelState driveState = new drivesrv.DriveDifferentialTwoWheelState();
driveState.DistanceBetweenWheels = state.DistanceBetweenWheels;
driveState.TimeStamp = DateTime.Now;
driveState.LeftWheel = new motorbase.WheeledMotorState();
driveState.LeftWheel.Radius = _state.WheelRadius;
driveState.LeftWheel.Name = "Left Wheel";
driveState.LeftWheel.MotorState = new motorbase.MotorState();
driveState.LeftWheel.GearRatio = 1.0;
driveState.LeftWheel.EncoderState = new encoderbase.EncoderState();
driveState.RightWheel = new motorbase.WheeledMotorState();
driveState.RightWheel.Radius = _state.WheelRadius;
driveState.RightWheel.Name = "Right Wheel";
driveState.RightWheel.MotorState = new motorbase.MotorState();
driveState.RightWheel.GearRatio = 1.0;
driveState.RightWheel.EncoderState = new encoderbase.EncoderState();
driveState.IsEnabled = true;
yield return(Arbiter.Choice(_drivePort.Update(driveState),
delegate(DefaultUpdateResponseType success)
{
LogInfo("Drive configuration updated");
},
delegate(Fault f)
{
LogError(f);
_initFault = true;
}));
if (_initFault)
{
yield break;
}
drivesrv.EnableDriveRequest en = new drivesrv.EnableDriveRequest();
en.Enable = true;
yield return(Arbiter.Receive <DefaultUpdateResponseType>(false, _drivePort.EnableDrive(en),
delegate(DefaultUpdateResponseType response){}));
yield break;
}
