/// <summary>
/// DriveDistance Initialization Constructor
/// </summary>
/// <param name="body"></param>
public DriveDistance(DriveDistanceRequest body)
{
Body = body;
}
public void DriveDistanceHandler(diffdrive.DriveDistance driveDistance)
{
if (this.driveEntity == null)
{
throw new InvalidOperationException("Simulation entity not registered with service");
}
if (!this.state.DriveState.IsEnabled)
{
driveDistance.ResponsePort.Post(Fault.FromException(new Exception("Drive is not enabled.")));
LogError("DriveDistance request to disabled drive.");
return;
}
if ((driveDistance.Body.Power > 1.0f) || (driveDistance.Body.Power < -1.0f))
{
// invalid drive power
driveDistance.ResponsePort.Post(Fault.FromException(new Exception("Invalid Power parameter.")));
LogError("Invalid Power parameter in DriveDistanceHandler.");
return;
}
this.state.DriveState.DriveDistanceStage = driveDistance.Body.DriveDistanceStage;
if (driveDistance.Body.DriveDistanceStage == diffdrive.DriveStage.InitialRequest)
{
var entityResponse = new Port <engine.OperationResult>();
Activate(
Arbiter.Receive(
false,
entityResponse,
result =>
{
// post a message to ourselves indicating that the drive distance has completed
var req = new diffdrive.DriveDistanceRequest(0, 0);
switch (result)
{
case engine.OperationResult.Error:
req.DriveDistanceStage = diffdrive.DriveStage.Canceled;
break;
case engine.OperationResult.Canceled:
req.DriveDistanceStage = diffdrive.DriveStage.Canceled;
break;
case engine.OperationResult.Completed:
req.DriveDistanceStage = diffdrive.DriveStage.Completed;
break;
}
this.drivePort.Post(new diffdrive.DriveDistance(req));
}));
this.driveEntity.DriveDistance(
(float)driveDistance.Body.Distance, (float)driveDistance.Body.Power, entityResponse);
var req2 = new diffdrive.DriveDistanceRequest(0, 0)
{
DriveDistanceStage = diffdrive.DriveStage.Started
};
this.drivePort.Post(new diffdrive.DriveDistance(req2));
}
else
{
SendNotification(this.subMgrPort, driveDistance);
}
driveDistance.ResponsePort.Post(DefaultUpdateResponseType.Instance);
}
