public virtual IEnumerator <ITask> PlayToneHandler(tone.PlayTone request)
{
if (request.Body.Frequency < 0 || request.Body.Duration < 0)
{
LogError("Improper PlayTone Frequency or Duration");
request.ResponsePort.Post(new Fault());
yield break;
}
brick.PlayToneBody play = new brick.PlayToneBody();
play.Frequency1 = request.Body.Frequency;
play.Frequency2 = 0;
play.Duration = request.Body.Duration;
Activate(Arbiter.Choice(_scribblerPort.PlayTone(play),
delegate(DefaultUpdateResponseType response)
{
request.ResponsePort.Post(DefaultUpdateResponseType.Instance);
},
delegate(Fault fault)
{
request.ResponsePort.Post(new Fault());
}
));
yield break;
}
IEnumerator <ITask> ToneHandler()
{
beeping = true;
brick.PlayToneBody tone = new brick.PlayToneBody();
tone.Duration = _state.PlayDuration;
tone.Frequency1 = _state.Frequency1;
tone.Frequency2 = _state.Frequency2;
_scribblerPort.PlayTone(tone);
//wait play time + pause time
yield return(Arbiter.Receive(false, TimeoutPort(_state.PlayDuration + _state.PauseDuration),
delegate(DateTime t) { }));
beeping = false;
//get state and call handler again because we still might be backing up
yield return(Arbiter.Receive <brick.ScribblerState>(false, _scribblerPort.Get(new GetRequestType()),
delegate(brick.ScribblerState scribblerState)
{
MotorNotificationHandler(new brick.Replace(scribblerState));
}
));
}
IEnumerator<ITask> ToneHandler()
{
beeping = true;
brick.PlayToneBody tone = new brick.PlayToneBody();
tone.Duration = _state.PlayDuration;
tone.Frequency1 = _state.Frequency1;
tone.Frequency2 = _state.Frequency2;
_scribblerPort.PlayTone(tone);
//wait play time + pause time
yield return Arbiter.Receive(false, TimeoutPort(_state.PlayDuration + _state.PauseDuration),
delegate(DateTime t) { });
beeping = false;
//get state and call handler again because we still might be backing up
yield return Arbiter.Receive<brick.ScribblerState>(false, _scribblerPort.Get(new GetRequestType()),
delegate(brick.ScribblerState scribblerState)
{
MotorNotificationHandler(new brick.Replace(scribblerState));
}
);
}
