void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_entity = (SonarEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
// CreateDefaultState();
RaycastProperties raycastProperties = new RaycastProperties();
raycastProperties.StartAngle = (float)-_state.AngularRange / 2.0f;
raycastProperties.EndAngle = (float)_state.AngularRange / 2.0f;
raycastProperties.AngleIncrement = (float)_state.AngularResolution;
// raycastProperties.Range = LASER_RANGE;
raycastProperties.Range = SONAR_RANGE;
// Raul - This should be the pose of the sonar transducer.
// Raul - I consider 8 Sonar transducers rays in the P3DX frontal ring
// Raul - coming from a common central point.
raycastProperties.OriginPose = new Pose();
_entity.RaycastProperties = raycastProperties;
_entity.Register(_raycastResults);
// attach handler to raycast results port
Activate(Arbiter.Receive(true, _raycastResults, RaycastResultsHandler));
}
void InsertEntityNotificationHandlerFirstTime(InsertSimulationEntity ins)
{
InsertEntityNotificationHandler(ins);
base.Start();
MainPortInterleave.CombineWith(
new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive <InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandler),
Arbiter.Receive <DeleteSimulationEntity>(true, _notificationTarget, DeleteEntityNotificationHandler)
),
new ConcurrentReceiverGroup()
)
);
}
void InsertEntityNotificationHandlerFirstTime(InsertSimulationEntity ins)
{
InsertEntityNotificationHandler(ins);
Activate(Arbiter.Interleave(
new TeardownReceiverGroup
(
),
new ExclusiveReceiverGroup(
Arbiter.Receive <FromWinformMsg>(true, _fromWinformPort, OnWinformMessageHandler),
Arbiter.Receive <InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandler),
Arbiter.Receive <DeleteSimulationEntity>(true, _notificationTarget, DeleteEntityNotificationHandler)
),
new ConcurrentReceiverGroup()
));
}
void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_entity = (SonarEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
// CreateDefaultState();
RaycastProperties raycastProperties = new RaycastProperties();
raycastProperties.StartAngle = (float) -_state.AngularRange / 2.0f;
raycastProperties.EndAngle = (float) _state.AngularRange / 2.0f;
raycastProperties.AngleIncrement = (float)_state.AngularResolution;
// raycastProperties.Range = LASER_RANGE;
raycastProperties.Range = SONAR_RANGE;
// Raul - This should be the pose of the sonar transducer.
// Raul - I consider 8 Sonar transducers rays in the P3DX frontal ring
// Raul - coming from a common central point.
raycastProperties.OriginPose = new Pose();
_entity.RaycastProperties = raycastProperties;
_entity.Register(_raycastResults);
// attach handler to raycast results port
Activate(Arbiter.Receive(true, _raycastResults, RaycastResultsHandler));
}
void InsertEntityNotificationHandlerFirstTime(InsertSimulationEntity ins)
{
InsertEntityNotificationHandler(ins);
base.Start();
MainPortInterleave.CombineWith(
new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive<InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandler),
Arbiter.Receive<DeleteSimulationEntity>(true, _notificationTarget, DeleteEntityNotificationHandler)
),
new ConcurrentReceiverGroup()
)
);
}
void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_observer = (CameraEntity)ins.Body;
_observer.Subscribe(_bitmapPort);
}
void InsertEntityNotificationHandlerFirstTime(InsertSimulationEntity ins)
{
_bitmapPort = new Port<Bitmap>();
InsertEntityNotificationHandler(ins);
Activate(Arbiter.Interleave(
new TeardownReceiverGroup
(
),
new ExclusiveReceiverGroup(
Arbiter.ReceiveFromPortSet<OnSimulLoaded>(true, _eventsPort, OnSimulLoadedHandler),
Arbiter.ReceiveFromPortSet<OnSimulDrag>(true, _eventsPort, OnSimulDragHandler),
Arbiter.ReceiveFromPortSet<OnSimulZoom>(true, _eventsPort, OnSimulZoomHandler),
Arbiter.Receive<InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandler),
Arbiter.Receive<DeleteSimulationEntity>(true, _notificationTarget, DeleteEntityNotificationHandler),
Arbiter.Receive<Bitmap>(true, _bitmapPort, UpdateCameraImage)
),
new ConcurrentReceiverGroup()
));
}
void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_observer = (CameraEntity)ins.Body;
// kick of polling
Activate(new Task(() => UpdateCameraImage(DateTime.UtcNow)));
}
private void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_robotArm = (SimulatedRobotArmEntity)ins.Body;
_robotArm.ServiceContract = Contract.Identifier;
}
private void InsertEntityNotificationHandlerFirstTime(InsertSimulationEntity ins)
{
InsertEntityNotificationHandler(ins);
// Create the user interface form
WinFormsServicePort.Post(new RunForm(CreateForm));
// Listen on the main port for requests and call the appropriate handler.
MainPortInterleave.CombineWith(
new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive<InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandler),
Arbiter.Receive<DeleteSimulationEntity>(true, _notificationTarget, DeleteEntityNotificationHandler),
Arbiter.ReceiveWithIterator<armproxy.SetEndEffectorPose>(true, _armPort, SetEndEffectorHandler)
/*Arbiter.ReceiveWithIterator<armproxy.SetJointTargetPose>(true, _armPort, SetJointPoseHandler),
Arbiter.ReceiveWithIterator<armproxy.SetJointTargetVelocity>(true, _armPort, SetJointVelocityHandler)*/
),
new ConcurrentReceiverGroup(
/*Arbiter.ReceiveWithIterator<armproxy.Subscribe>(true, _armPort, SubscribeHandler),
Arbiter.ReceiveWithIterator<armproxy.GetEndEffectorPose>(true, _armPort, GetEndEffectorHandler),
Arbiter.Receive<DsspDefaultLookup>(true, _armPort, DefaultLookupHandler),
Arbiter.ReceiveWithIterator<armproxy.Get>(true, _armPort, ArmGetHandler)*/
)
)
);
}
