public OnConnectBumpers(DriveControl form, string service)
: base(form, service)
{
}
public OnQueryFrame(DriveControl form)
: base(form)
{
}
IEnumerator<ITask> DropIterator(DsspDefaultDrop drop)
{
LogInfo("Starting Drop");
/*
// Close the WebCam Form
if (_cameraForm != null)
{
WebCamForm cam = _cameraForm;
_cameraForm = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!cam.IsDisposed)
{
cam.Dispose();
}
}
);
}
*/
// Close the Dashboard Form
if (_driveControl != null)
{
DriveControl drive = _driveControl;
_driveControl = null;
WinFormsServicePort.FormInvoke(
delegate()
{
if (!drive.IsDisposed)
{
drive.Dispose();
}
}
);
}
if (_laserShutdown != null)
{
yield return PerformShutdown(ref _laserShutdown);
}
if (_motorShutdown != null)
{
yield return PerformShutdown(ref _motorShutdown);
}
base.DefaultDropHandler(drop);
}
public OnConnectPanTilt(DriveControl form, string service)
: base(form, service)
{
}
public OnConnectVision(DriveControl form, string service)
: base(form, service)
{
}
public OnConnectSetting(DriveControl form, string machine, ushort port)
: base(form)
{
_machine = machine;
_port = port;
}
public OnOptionSettings(DriveControl form, GUIOptions opt)
: base(form)
{
Options = new GUIOptions();
Options = opt;
}
public OnMove(DriveControl form, int left, int right)
: base(form)
{
// Changes from Ben Axelrod to let the robot run free!
// Fly my beauty, fly!!!
_left = left;// *750 / 1250;
_right = right;// *750 / 1250;
// End of Ben's changes
}
public OnRotate(DriveControl form, double angle, double power)
: base(form)
{
_angle = angle;
_power = power;
}
public OnChangeJoystick(DriveControl form)
: base(form)
{
}
public OnPTMove(DriveControl form, pxPanTilt.PanTiltOperationRequest.OpType cmd)
: base(form)
{
_ptcommand = cmd;
}
public OnClosed(DriveControl form)
: base(form)
{
}
public OnStartService(DriveControl form, string contract)
: base(form)
{
_contract = contract;
}
public OnConnectSimulatedArm(DriveControl form, string service)
: base(form, service)
{
}
public OnDisconnectBumpers(DriveControl form)
: base(form)
{
}
public OnTranslate(DriveControl form, double distance, double power)
: base(form)
{
_distance = distance;
_power = power;
}
public OnLogSetting(DriveControl form, bool log, string file)
: base(form)
{
_log = log;
_file = file;
}
public OnEStop(DriveControl form)
: base(form)
{
}
public OnOptionSettings(DriveControl form)
: base(form)
{
Options = new GUIOptions();
}
public OnSynchronizeArms(DriveControl form)
: base(form)
{
}
public OnConnectWebCam(DriveControl form, string service)
: base(form, service)
{
}
public OnApplyJointParameters(DriveControl form, int angle, string name)
: base(form)
{
_angle = angle;
_jointName = name;
}
public OnDisconnectWebCam(DriveControl form)
: base(form)
{
}
public OnDisconnectSickLRF(DriveControl form)
: base(form)
{
}
public OnDisconnectVision(DriveControl form)
: base(form)
{
}
public OnDisconnectSonar(DriveControl form)
: base(form)
{
}
void OnSimulLoadedHandler(OnSimulLoaded msg)
{
_driveControl = (DriveControl)msg.Object;
WinFormsServicePort.FormInvoke( delegate() {_driveControl.SetHeadless(_defaultConfig.Headless); });
}
public OnDisconnectGPS(DriveControl form)
: base(form)
{
}
IEnumerator<ITask> OnLoadHandler(OnLoad onLoad)
{
_driveControl = onLoad.DriveControl;
LogInfo("Loaded Form");
yield return EnumerateJoysticks();
yield return SubscribeToJoystick();
}
public OnConnectSonar(DriveControl form, string service)
: base(form, service)
{
}
