void trpbUpdateProximityNotification(proxibrick.UpdateProximityData update)
{
//LogInfo("DriveBehaviorServiceBase: trpbUpdateProximityNotification()");
//Tracer.Trace("DriveBehaviorServiceBase: trpbUpdateProximityNotification()");
if (!_mapperVicinity.robotState.ignoreProximity)
{
try
{
proxibrick.ProximityDataDssSerializable prx = update.Body;
_state.MostRecentProximity = prx;
updateMapperWithOdometryData();
updateMapperWithProximityData(prx);
setGuiCurrentProximity(prx);
if (!_doUnitTest)
{
Decide(SensorEventSource.IrDirected);
}
}
catch (Exception exc)
{
Tracer.Trace("trpbUpdateProximityNotification() - " + exc);
}
}
}
void trpbUpdateProximityNotification(proxibrick.UpdateProximityData update)
{
//LogInfo("DriveBehaviorServiceBase: trpbUpdateProximityNotification()");
//Tracer.Trace("DriveBehaviorServiceBase: trpbUpdateProximityNotification()");
try
{
proxibrick.ProximityDataDssSerializable prx = update.Body;
state.MostRecentProximity = prx;
//
// Inform subscribed services that the state has changed.
//
//submgrPort.Post(new submgr.Submit(state, DsspActions.ReplaceRequest));
}
catch (Exception exc)
{
Tracer.Trace("trpbUpdateProximityNotification() - " + exc);
}
}