/// <summary>
/// Subscribe to appropriate sensor type and port on NXT
/// Hook up notifications
/// and then post success or failure
/// <param name="successPort"></param>
/// </summary>
private IEnumerator <ITask> SubscribeToNXT(Port <bool> successPort)
{
if (!_subscribed)
{
//create a custom subscription request
nxt.CustomSubscribeRequestType request = new nxt.CustomSubscribeRequestType();
//select only the sensor and port we want
//NOTE: this name must match the NXT sensor name. (see NXT readme)
request.Sensors = new Collection <nxt.SensorDefinition>();
foreach (LegoNxtBumperConfig config in _bumperConfigState.BumperConfigList)
{
nxt.SensorDefinition sensor = new nxt.SensorDefinition();
sensor.Type = config.SensorType;
sensor.Port = config.HardwareIdentifier;
request.Sensors.Add(sensor);
}
//Subscribe to the NXT and wait for a response
yield return
(Arbiter.Choice(_legoPort.SelectiveSubscribe(request, _notificationPort),
delegate(SubscribeResponseType Rsp)
{
//update our state with subscription status
_subscribed = true;
},
delegate(Fault fail)
{
LogError("Bumper subscription failed", fail);
successPort.Post(false);
}
));
if (_subscribed)
{
LogInfo("Bumper subscription success");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive <nxt.Configure>(true, _notificationPort, SensorNotificationHandler)
);
}
}
successPort.Post(_subscribed);
yield break;
}
/// <summary>
/// Subscribe to appropriate sensor type and port on NXT
/// </summary>
private void SubscribeToNXT()
{
// Create a notification port
legoNXT.LegoNxtOperations _notificationPort = new legoNXT.LegoNxtOperations();
//create a custom subscription request
legoNXT.CustomSubscribeRequestType request = new legoNXT.CustomSubscribeRequestType();
//select only the sensor and port we want
//NOTE: this name must match the NXT sensor name. (see NXT readme)
request.Sensors = new Collection <legoNXT.SensorDefinition>();
legoNXT.SensorDefinition sensor = new legoNXT.SensorDefinition();
sensor.Type = legoNXT.SensorDefinition.SensorType.Encoder;
sensor.Port = _state.HardwareIdentifier;
request.Sensors.Add(sensor);
//Subscribe to the NXT and wait for a response
Activate(
Arbiter.Choice(_legoPort.SelectiveSubscribe(request, _notificationPort),
delegate(SubscribeResponseType Rsp)
{
//update our state with subscription status
_subscribed = true;
LogInfo(sensor.Type + sensor.Port + " subscription success");
//Subscription was successful, start listening for sensor change notifications
_mainInterleave.CombineWith(new Interleave(
new ExclusiveReceiverGroup(
Arbiter.Receive <legoNXT.Configure>(true, _notificationPort, SensorNotificationHandler)
),
new ConcurrentReceiverGroup()
));
//Activate(
//);
},
delegate(Fault F)
{
LogError(sensor.Type + sensor.Port + "subscription failed");
}
)
);
}
/// <summary>
/// Subscribe to appropriate sensor type and port on NXT
/// </summary>
private void SubscribeToNXT()
{
// Create a notification port
legoNXT.LegoNxtOperations _notificationPort = new legoNXT.LegoNxtOperations();
//create a custom subscription request
legoNXT.CustomSubscribeRequestType request = new legoNXT.CustomSubscribeRequestType();
//select only the sensor and port we want
//NOTE: this name must match the NXT sensor name. (see NXT readme)
request.Sensors = new Collection <legoNXT.SensorDefinition>();
legoNXT.SensorDefinition sensor1 = new legoNXT.SensorDefinition();
sensor1.Type = legoNXT.SensorDefinition.SensorType.Motor;
sensor1.Port = _state.Motor1Port;
request.Sensors.Add(sensor1);
legoNXT.SensorDefinition sensor2 = new legoNXT.SensorDefinition();
sensor2.Type = legoNXT.SensorDefinition.SensorType.Motor;
sensor2.Port = _state.Motor2Port;
request.Sensors.Add(sensor2);
//Subscribe to the NXT and wait for a response
Activate(
Arbiter.Choice(_legoPort.SelectiveSubscribe(request, _notificationPort),
delegate(SubscribeResponseType Rsp)
{
//update our state with subscription status
_subscribed = true;
LogInfo("lego backup subscription success");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive <legoNXT.Configure>(true, _notificationPort, SensorNotificationHandler)
);
},
delegate(Fault F)
{
LogError(sensor1.Type + sensor1.Port + "subscription failed");
}
)
);
}
