/// <summary>
/// Subscribe to notifications when bumpers are pressed
/// </summary>
void SubscribeToBumpers()
{
// Create bumper notification port
bumper.ContactSensorArrayOperations bumperNotificationPort = new bumper.ContactSensorArrayOperations();
// Subscribe to the bumper service, send notifications to bumperNotificationPort
_bumperPort.Subscribe(bumperNotificationPort);
// Start listening for Bumper Replace notifications
Activate(
Arbiter.Receive <bumper.Update>
(true, bumperNotificationPort, BumperHandler));
}
/// <summary>
/// Subscribe to the Bumpers service
/// </summary>
void SubscribeToBumpers()
{
// Create the bumper notification port.
#region CODECLIP 04-1
bumper.ContactSensorArrayOperations bumperNotificationPort = new bumper.ContactSensorArrayOperations();
#endregion
// Subscribe to the bumper service, receive notifications on the bumperNotificationPort.
#region CODECLIP 04-2
_bumperPort.Subscribe(bumperNotificationPort);
#endregion
// Start listening for updates from the bumper service.
#region CODECLIP 04-3
Activate(
Arbiter.Receive <bumper.Update>
(true, bumperNotificationPort, BumperHandler));
#endregion
}
protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <contact.ContactSensorArrayOperations>(new Uri(serviceUri));
}
/// <summary>
/// Handles Bumper service connection request
/// </summary>
/// <param name="onConnectBumpers">Bumper connection request</param>
/// <returns></returns>
IEnumerator<ITask> OnConnectBumpersHandler(OnConnectBumpers onConnectBumpers)
{
if (onConnectBumpers.DriveControl != _driveControl)
yield break;
_bumpersPort = ServiceForwarder<pxbumper.ContactSensorArrayOperations>(onConnectBumpers.Service);
_bumpersShutdown = new Port<Shutdown>();
pxbumper.ReliableSubscribe subscribe = new pxbumper.ReliableSubscribe(
new ReliableSubscribeRequestType(5)
);
subscribe.NotificationPort = _bumpersNotify;
subscribe.NotificationShutdownPort = _bumpersShutdown;
_bumpersPort.Post(subscribe);
yield return Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectBumpers.Service);
},
delegate(Fault fault)
{
_bumpersShutdown = null;
LogError(fault);
}
);
}
