/// <summary>
/// Subscribe to motors on Scribbler base
/// </summary>
private void SubscribeToScribblerBase()
{
// Create a notification port
brick.ScribblerOperations _notificationPort = new brick.ScribblerOperations();
//create a custom subscription request
brick.MySubscribeRequestType request = new brick.MySubscribeRequestType();
request.Sensors = new List <string>();
request.Sensors.Add("MOTORS");
//Subscribe to the ScribblerBase and wait for a response
Activate(
Arbiter.Choice(_scribblerPort.SelectiveSubscribe(request, _notificationPort),
delegate(SubscribeResponseType Rsp)
{
//update our state with subscription status
_subscribed = true;
LogInfo("Backup Monitor subscription success");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive <brick.Replace>(true, _notificationPort, MotorNotificationHandler)
);
},
delegate(soap.Fault F)
{
LogError("Backup Monitor subscription failed");
}
)
);
}
/// <summary>
/// Subscribe to appropriate sensors on Scribbler base
/// </summary>
private void SubscribeToScribblerBase()
{
// Create a notification port
brick.ScribblerOperations _notificationPort = new brick.ScribblerOperations();
//create a custom subscription request
brick.MySubscribeRequestType request = new brick.MySubscribeRequestType();
//select only the sensor and port we want
//NOTE: this name must match the scribbler sensor name.
request.Sensors = new List <string>();
foreach (bumper.ContactSensor entry in _state.Sensors)
{
request.Sensors.Add(entry.Name);
}
//Subscribe to the ScribblerBase and wait for a response
Activate(
Arbiter.Choice(_scribblerPort.SelectiveSubscribe(request, _notificationPort),
delegate(SubscribeResponseType Rsp)
{
//update our state with subscription status
_subscribed = true;
LogInfo("Bumper subscription success");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive <brick.Replace>(true, _notificationPort, SensorNotificationHandler)
);
},
delegate(soap.Fault F)
{
LogError("Bumper subscription failed");
}
)
);
}
