public IEnumerator <ITask> PanTiltOperationHandler(pxPT.PanTiltOperation op)
{
pxPT.PanTiltOperationRequest req = op.Body;
LogInfo("Received request: " + req.OperationType.ToString());
switch (req.OperationType)
{
case pxPT.PanTiltOperationRequest.OpType.MoveDown:
MoveBottom(_state.CamID);
break;
case pxPT.PanTiltOperationRequest.OpType.MoveLeft:
MoveLeft(_state.CamID);
break;
case pxPT.PanTiltOperationRequest.OpType.MoveRight:
MoveRight(_state.CamID);
break;
case pxPT.PanTiltOperationRequest.OpType.MoveUp:
MoveTop(_state.CamID);
break;
case pxPT.PanTiltOperationRequest.OpType.Reset:
MoveHome(_state.CamID);
break;
}
op.ResponsePort.Post(DefaultUpdateResponseType.Instance);
yield break;
}
IEnumerator<ITask> OnPanTiltMoveHandler(OnPTMove ptm)
{
LogInfo("OnPanTiltMoveHandler");
pxPanTilt.PanTiltOperationRequest ptreq =
new pxPanTilt.PanTiltOperationRequest();
ptreq.OperationType = ptm.PTCommand;
pxPanTilt.PanTiltOperation ptop = new pxPanTilt.PanTiltOperation(ptreq);
LogInfo("Sending request to PanTilt: " + ptm.PTCommand.ToString());
_pantiltPort.Post(ptop);
yield return Arbiter.Choice(
ptop.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
LogInfo("PT Command Succeeded");
},
delegate(Fault f)
{
LogError(f);
}
);
}
IEnumerator<ITask> OnConnectPanTiltHandler(OnConnectPanTilt onConnectPanTilt)
{
_pantiltPort = ServiceForwarder<pxPanTilt.GenericPanTiltOperations>(onConnectPanTilt.Service);
// Send a reset
pxPanTilt.PanTiltOperationRequest resetReq =
new pxPanTilt.PanTiltOperationRequest();
resetReq.OperationType = pxPanTilt.PanTiltOperationRequest.OpType.Reset;
pxPanTilt.PanTiltOperation resetOp = new pxPanTilt.PanTiltOperation(resetReq);
_pantiltPort.Post(resetOp);
yield return Arbiter.Choice(
resetOp.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
LogInfo("Reset Command Suceeded");
},
delegate(Fault f)
{
LogError(f);
}
);
}
