/// <summary>
/// Subscribe to sensors and send notifications
/// to BumperNotificationHandler
/// </summary>
void SubscribeToBumperSensors()
{
_contactSensorPort.Subscribe(_contactNotificationPort);
// Attach handler to update notification on bumpers
Activate(Arbiter.Receive <contactsensor.Update>(true, _contactNotificationPort, BumperNotificationHandler));
}
protected override void Start()
{
#region request handler setup
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DropHandler)
),
new ExclusiveReceiverGroup(
Arbiter.Receive <LaserRangeFinderResetUpdate>(true, _mainPort, LaserRangeFinderResetUpdateHandler),
Arbiter.Receive <LaserRangeFinderUpdate>(true, _mainPort, LaserRangeFinderUpdateHandler),
Arbiter.Receive <BumpersUpdate>(true, _mainPort, BumpersUpdateHandler),
Arbiter.Receive <BumperUpdate>(true, _mainPort, BumperUpdateHandler),
Arbiter.Receive <DriveUpdate>(true, _mainPort, DriveUpdateHandler),
Arbiter.Receive <WatchDogUpdate>(true, _mainPort, WatchDogUpdateHandler)
),
new ConcurrentReceiverGroup(
Arbiter.Receive <Get>(true, _mainPort, GetHandler),
Arbiter.Receive <dssp.DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler)
)
)
);
#endregion
#region notification handler setup
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup(
Arbiter.Receive <sicklrf.Reset>(true, _laserNotify, LaserResetNotification),
Arbiter.Receive <drive.Update>(true, _driveNotify, DriveUpdateNotification),
Arbiter.Receive <bumper.Replace>(true, _bumperNotify, BumperReplaceNotification),
Arbiter.Receive <bumper.Update>(true, _bumperNotify, BumperUpdateNotification)
)
)
);
// We cannot replicate the activation of laser notifications because the
// handler uses Test() to skip old laser notifications.
Activate(
Arbiter.ReceiveWithIterator <sicklrf.Replace>(false, _laserNotify, LaserReplaceNotification)
);
#endregion
// Start watchdog timer
_mainPort.Post(new WatchDogUpdate(new WatchDogUpdateRequest(DateTime.Now)));
// Create Subscriptions
_bumperPort.Subscribe(_bumperNotify);
_drivePort.Subscribe(_driveNotify);
_laserPort.Subscribe(_laserNotify);
DirectoryInsert();
}
protected void SubscribeToBumpers()
{
_bumperPort.Subscribe(_bumperNotify);
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive <bumper.Update>(true, _bumperNotify, BumperHandler)
),
new ConcurrentReceiverGroup()
)
);
}
/// <summary>
/// Subscribe to notifications when bumpers are pressed
/// </summary>
void SubscribeToBumpers()
{
// Create bumper notification port
bumper.ContactSensorArrayOperations bumperNotificationPort = new bumper.ContactSensorArrayOperations();
// Subscribe to the bumper service, send notifications to bumperNotificationPort
_bumperPort.Subscribe(bumperNotificationPort);
// Start listening for Bumper Replace notifications
Activate(
Arbiter.Receive <bumper.Update>
(true, bumperNotificationPort, BumperHandler));
}
/// <summary>
/// Subscribe to the Bumpers service
/// </summary>
void SubscribeToBumpers()
{
// Create the bumper notification port.
#region CODECLIP 04-1
bumper.ContactSensorArrayOperations bumperNotificationPort = new bumper.ContactSensorArrayOperations();
#endregion
// Subscribe to the bumper service, receive notifications on the bumperNotificationPort.
#region CODECLIP 04-2
_bumperPort.Subscribe(bumperNotificationPort);
#endregion
// Start listening for updates from the bumper service.
#region CODECLIP 04-3
Activate(
Arbiter.Receive <bumper.Update>
(true, bumperNotificationPort, BumperHandler));
#endregion
}
