IEnumerator <ITask> OnConnectArticulatedArmHandler(OnConnectArticulatedArm onConnect)
{
arm.ArticulatedArmState armState = null;
if (onConnect.DriveControl != _driveControl)
{
yield break;
}
_articulatedArmPort = ServiceForwarder <arm.ArticulatedArmOperations>(onConnect.Service);
yield return(Arbiter.Choice(
_articulatedArmPort.Get(new GetRequestType()),
delegate(arm.ArticulatedArmState state) { armState = state; },
delegate(Fault f) { LogError(f); }
));
if (armState == null)
{
yield break;
}
WinFormsServicePort.FormInvoke(delegate()
{
_driveControl.ReplaceArticulatedArmJointList(armState);
});
yield break;
}
IEnumerator<ITask> OnConnectArticulatedArmHandler(OnConnectArticulatedArm onConnect)
{
arm.ArticulatedArmState armState = null;
if (onConnect.DriveControl != _driveControl)
yield break;
_articulatedArmPort = ServiceForwarder<arm.ArticulatedArmOperations>(onConnect.Service);
yield return Arbiter.Choice(
_articulatedArmPort.Get(new GetRequestType()),
delegate(arm.ArticulatedArmState state) { armState = state; },
delegate(Fault f) { LogError(f); }
);
if (armState == null)
yield break;
WinFormsServicePort.FormInvoke(delegate()
{
_driveControl.ReplaceArticulatedArmJointList(armState);
});
yield break;
}
IEnumerator <ITask> AddArticulatedArm()
{
Vector3 position = new Vector3(0, 0, 0);
// Create an instance of our custom arm entity.
// Source code for this entity can be found under
// Samples\Simulation\Entities\Entities.cs
KukaLBR3Entity entity = new KukaLBR3Entity(position);
// Name the entity
entity.State.Name = "LBR3Arm";
// Insert entity in simulation.
SimulationEngine.GlobalInstancePort.Insert(entity);
// create simulated arm service
DsspResponsePort <CreateResponse> resultPort = CreateService(
Microsoft.Robotics.Services.Simulation.LBR3Arm.Proxy.Contract.Identifier,
Microsoft.Robotics.Simulation.Partners.CreateEntityPartner("http://localhost/" + entity.State.Name));
// asynchronously handle service creation result.
yield return(Arbiter.Choice(resultPort,
delegate(CreateResponse rsp)
{
_armServicePort = ServiceForwarder <arm.ArticulatedArmOperations>(rsp.Service);
},
delegate(Fault fault)
{
LogError(fault);
}));
if (_armServicePort == null)
{
yield break;
}
// we re-issue the get until we get a response with a fully initialized state
do
{
yield return(Arbiter.Receive(false, TimeoutPort(1000), delegate(DateTime signal) { }));
yield return(Arbiter.Choice(
_armServicePort.Get(new GetRequestType()),
delegate(arm.ArticulatedArmState state)
{
_cachedArmState = state;
},
delegate(Fault f)
{
LogError(f);
}));
// exit on error
if (_cachedArmState == null)
{
yield break;
}
} while (_cachedArmState.Joints == null);
// Start a timer that will move the arm in a loop
// Comment out the line below if you want to control
// the arm through SimpleDashboard
// Spawn<DateTime>(DateTime.Now, MoveArm);
}
