public IEnumerator <ITask> DriveAllStopHandler(drive.AllStop allstop)
{
this.state.DriveState.TimeStamp = DateTime.Now;
serialcomservice.SendAndGetRequest sg = new serialcomservice.SendAndGetRequest();
sg.Timeout = this.state.DefaultResponsePause;
sg.Data = new serialcomservice.Packet(board.CreatePacket <sbyte>(board.SetFullStopString));
var resultPort = this.serialCOMServicePort.SendAndGet(sg);
yield return(resultPort.Choice());
soap.Fault f = (soap.Fault)resultPort;
if (f != null)
{
LogError(string.Format("Failed to send command: {0}", Encoding.ASCII.GetString(sg.Data.Message)));
allstop.ResponsePort.Post(f);
yield break;
}
if (this.HasFWError((serialcomservice.Packet)resultPort))
{
f = soap.Fault.FromCodeSubcodeReason(soap.FaultCodes.Receiver, DsspFaultCodes.OperationFailed, "Error received from FW!");
allstop.ResponsePort.Post(f);
yield break;
}
// Reflect into our state
this.state.DriveState.LeftWheel.MotorState.CurrentPower = GDDriveFullStop;
this.state.DriveState.RightWheel.MotorState.CurrentPower = GDDriveFullStop;
this.state.DriveState.LeftWheel.WheelSpeed = 0;
this.state.DriveState.RightWheel.WheelSpeed = 0;
this.state.DriveState.IsEnabled = false;
allstop.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
public void DriveAllStopHandler(drive.AllStop allstop)
{
this.controllerDrivePort.Post(
new drive.AllStop()
{
Body = allstop.Body, ResponsePort = allstop.ResponsePort
});
}
public IEnumerator <ITask> AllStopHandler(drive.AllStop allStop)
{
drive.SetDrivePower zeroPower = new drive.SetDrivePower();
zeroPower.Body = new drive.SetDrivePowerRequest(0.0, 0.0);
zeroPower.ResponsePort = allStop.ResponsePort;
_mainPort.Post(zeroPower);
yield break;
}
public void DriveAllStopHandler(diffdrive.AllStop estop)
{
if (this.driveEntity == null)
{
throw new InvalidOperationException("Simulation entity not registered with service");
}
this.driveEntity.SetMotorTorque(0, 0);
this.driveEntity.SetVelocity(0);
// AllStop disables the drive
this.driveEntity.IsEnabled = false;
this.UpdateStateFromSimulation();
estop.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// send update for entire state
this.subMgrPort.Post(new submgr.Submit(this.state.DriveState, DsspActions.UpdateRequest));
}
