protected override Response AsyncTask(Command command) { bool result; double[] desireParams; TBWriter.Spaced(TBWriter.time() + " ===>>> COMMAND RECEIVED : " + command.CommandName + " ; Params{" + command.Parameters + "}"); if (!Parse.string2doubleArray(command.Parameters, out desireParams)) { desireParams = new double[2]; desireParams[0] = 0.0; desireParams[1] = 0.15; } result = taskPlanner.Cmd_AlignWithEdge(desireParams[0], desireParams[1]); TBWriter.Spaced(TBWriter.time() + " <<<=== COMMAND TERMINATED : " + command.CommandName + " ; Result{" + result + "} Params{" + command.Parameters + "}"); return(Response.CreateFromCommand(command, result)); }