public void updateData(TBFrame data)
{
List <IDataClientPrx> clients;
lock (this)
{
clients = new List <IDataClientPrx>(_Clients);
}
foreach (var client in clients)
{
try
{
client.begin_update(data);
}
catch (Ice.TimeoutException te)
{
//DO Nothing! :D
}
catch (Ice.LocalException le)
{
Console.Error.WriteLine("Remove Client because of: " + le.ToString());
lock (this)
{
_Clients.Remove(client);
}
}
}
}
public Receiver(ref TBFrame frame, ref Robot bot, ref AMD_IDataServer_update cb)
{
_Frame = frame;
_Bot = bot;
_CallBack = cb;
}
public void update(TBFrame data)
{
switch (data.Id)
{
case Constants.TB_COMMAND_ID:
break;
case Constants.TB_VELOCITY_ID:
if (!(data is TBVelocity))
{
throw new Exception("Frame is not a Velocity Frame");
}
TBVelocity velocityData = (TBVelocity)data;
if (velocityData.SubId == Constants.TB_VELOCITY_FORWARD)
{
_Bot.setVelocity(velocityData.speedLeft * 4, velocityData.speedRight * 4, WheelDirection.Forwards, WheelDirection.Forwards);
}
else if (velocityData.SubId == Constants.TB_VELOCITY_BACKWARD)
{
_Bot.setVelocity(velocityData.speedLeft * 4, velocityData.speedRight * 4, WheelDirection.Backwards, WheelDirection.Backwards);
}
else if (velocityData.SubId == Constants.TB_VELOCITY_TURN_LEFT)
{
_Bot.setVelocity(velocityData.speedLeft * 4, velocityData.speedRight * 4, WheelDirection.Backwards, WheelDirection.Forwards);
}
else if (velocityData.SubId == Constants.TB_VELOCITY_TURN_RIGHT)
{
_Bot.setVelocity(velocityData.speedLeft * 4, velocityData.speedRight * 4, WheelDirection.Forwards, WheelDirection.Backwards);
}
break;
case Constants.TB_POSITION_ID:
if (!(data is TBPosition))
{
throw new Exception("Frame is not a Position Frame");
}
TBPosition positionData = (TBPosition)data;
_Bot.PositionRequested = true;
if (positionData.SubId == Constants.TB_POSITION_FORWARD)
{
_Bot.setPosition((ushort)positionData.distance);
}
else if (positionData.SubId == Constants.TB_POSITION_BACKWARD)
{
_Bot.setPosition(-(ushort)positionData.distance);
}
else if (positionData.SubId == Constants.TB_POSITION_TURN_LEFT)
{
_Bot.setAngle(-(ushort)positionData.distance);
}
else if (positionData.SubId == Constants.TB_POSITION_TURN_RIGHT)
{
_Bot.setAngle((ushort)positionData.distance);
}
break;
case Constants.TB_ERROR_ID:
break;
}
}
public override void update_async(AMD_IDataServer_update cb__, TBFrame data, Ice.Current current__)
{
Receiver r = new Receiver(ref data, ref _Bot, ref cb__);
ThreadPool.QueueUserWorkItem(r.ThreadPoolCallback);
}
