public IEnumerator <ITask> SetDriveSpeedHandler(drive.SetDriveSpeed setDriveSpeed)
{
ValidateDriveConfiguration(true);
_state.TimeStamp = DateTime.Now;
LogError("Drive speed is not implemented");
throw new NotImplementedException();
}
public IEnumerator <ITask> SetSpeedHandler(diffdrive.SetDriveSpeed setSpeed)
{
if (_entity == null)
{
throw new InvalidOperationException("Simulation entity not registered with service");
}
if (!_state.IsEnabled)
{
setSpeed.ResponsePort.Post(Fault.FromException(new Exception("Drive is not enabled.")));
LogError("SetSpeed request to disabled drive.");
yield break;
}
_entity.SetVelocity(
(float)setSpeed.Body.LeftWheelSpeed,
(float)setSpeed.Body.RightWheelSpeed);
UpdateStateFromSimulation();
setSpeed.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// send update notification for entire state
_subMgrPort.Post(new submgr.Submit(_state, DsspActions.UpdateRequest));
yield break;
}
public IEnumerator <ITask> SetDriveSpeedHandler(drive.SetDriveSpeed setDriveSpeed)
{
LogError("Drive speed is not implemented");
yield break;
}
public virtual IEnumerator <ITask> SetDriveSpeedHandler(drive.SetDriveSpeed update)
{
// TODO: Implement SetDriveSpeed operation here.
throw new NotImplementedException("SetDriveSpeed is not Implemented.");
}