IEnumerator <ITask> OnConnectSickLRFHandler(OnConnectSickLRF onConnectSickLRF)
{
if (onConnectSickLRF.DriveControl != _driveControl)
{
yield break;
}
_laserPort = ServiceForwarder <sicklrf.SickLRFOperations>(onConnectSickLRF.Service);
_laserShutdown = new Port <Shutdown>();
sicklrf.ReliableSubscribe subscribe = new sicklrf.ReliableSubscribe(
new ReliableSubscribeRequestType(5)
);
subscribe.NotificationPort = _laserNotify;
subscribe.NotificationShutdownPort = _laserShutdown;
_laserPort.Post(subscribe);
yield return(Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectSickLRF.Service);
},
delegate(Fault fault)
{
_laserShutdown = null;
LogError(fault);
}
));
}
IEnumerator<ITask> OnConnectSickLRFHandler(OnConnectSickLRF onConnectSickLRF)
{
if (onConnectSickLRF.DriveControl != _driveControl)
yield break;
_laserPort = ServiceForwarder<sicklrf.SickLRFOperations>(onConnectSickLRF.Service);
_laserShutdown = new Port<Shutdown>();
sicklrf.ReliableSubscribe subscribe = new sicklrf.ReliableSubscribe(
new ReliableSubscribeRequestType(5)
);
subscribe.NotificationPort = _laserNotify;
subscribe.NotificationShutdownPort = _laserShutdown;
_laserPort.Post(subscribe);
yield return Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectSickLRF.Service);
},
delegate(Fault fault)
{
_laserShutdown = null;
LogError(fault);
}
);
}