public void DriveRotateHandler(diffdrive.RotateDegrees rotate)
{
if (this.driveEntity == null)
{
throw new InvalidOperationException("Simulation entity not registered with service");
}
if (!this.state.DriveState.IsEnabled)
{
rotate.ResponsePort.Post(Fault.FromException(new Exception("Drive is not enabled.")));
LogError("RotateDegrees request to disabled drive.");
return;
}
this.state.DriveState.RotateDegreesStage = rotate.Body.RotateDegreesStage;
if (rotate.Body.RotateDegreesStage == diffdrive.DriveStage.InitialRequest)
{
var entityResponse = new Port <engine.OperationResult>();
Activate(
Arbiter.Receive(
false,
entityResponse,
result =>
{
// post a message to ourselves indicating that the drive distance has completed
var req = new diffdrive.RotateDegreesRequest(0, 0);
switch (result)
{
case engine.OperationResult.Error:
req.RotateDegreesStage = diffdrive.DriveStage.Canceled;
break;
case engine.OperationResult.Canceled:
req.RotateDegreesStage = diffdrive.DriveStage.Canceled;
break;
case engine.OperationResult.Completed:
req.RotateDegreesStage = diffdrive.DriveStage.Completed;
break;
}
this.drivePort.Post(new diffdrive.RotateDegrees(req));
}));
this.driveEntity.RotateDegrees((float)rotate.Body.Degrees, (float)rotate.Body.Power, entityResponse);
var req2 = new diffdrive.RotateDegreesRequest(0, 0)
{
RotateDegreesStage = diffdrive.DriveStage.Started
};
this.drivePort.Post(new diffdrive.RotateDegrees(req2));
}
else
{
SendNotification(this.subMgrPort, rotate);
}
rotate.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
/// <summary>
/// Request the drive to rotate or turn in position (positive values turn counterclockwise).
/// </summary>
/// <param name="body"></param>
public RotateDegrees(RotateDegreesRequest body)
{
Body = body;
}
