IEnumerator <ITask> OnEStopHandler(OnEStop onEStop)
{
if (onEStop.DriveControl == _driveControl && _drivePort != null)
{
LogInfo("Requesting EStop");
drive.AllStopRequest request = new drive.AllStopRequest();
_drivePort.AllStop(request);
}
yield break;
}
/// <summary>
/// Handle Motion Commands
/// </summary>
/// <param name="onCommand">The motion command</param>
/// <returns>An Iterator</returns>
private IEnumerator <ITask> OnMotionCommandHandler(OnMotionCommand onCommand)
{
if (onCommand.DashboardForm == this.dashboardForm && this.drivePort != null)
{
switch (onCommand.Command)
{
case MOTIONCOMMANDS.Rotate:
var rotRequest = new drive.RotateDegreesRequest
{
Degrees = onCommand.Parameter, Power = onCommand.Power * MotorPowerSaleFactor
};
yield return(Arbiter.Choice(this.drivePort.RotateDegrees(rotRequest), EmptyHandler, LogError));
break;
case MOTIONCOMMANDS.Translate:
var transRequest = new drive.DriveDistanceRequest
{
Distance = onCommand.Parameter, Power = onCommand.Power * MotorPowerSaleFactor
};
yield return(Arbiter.Choice(this.drivePort.DriveDistance(transRequest), EmptyHandler, LogError));
break;
case MOTIONCOMMANDS.Enable:
var request = new drive.EnableDriveRequest {
Enable = true
};
yield return(Arbiter.Choice(this.drivePort.EnableDrive(request), EmptyHandler, LogError));
break;
default:
LogInfo("Requesting EStop");
var stopRequest = new drive.AllStopRequest();
yield return(Arbiter.Choice(this.drivePort.AllStop(stopRequest), EmptyHandler, LogError));
break;
}
}
yield break;
}
public override void Stop()
{
drive.AllStopRequest allStopReq = new drive.AllStopRequest();
drive.AllStop allStop = new drive.AllStop(allStopReq);
drivePort.Post(allStop);
bool done = false;
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <DefaultUpdateResponseType>(false,
allStop.ResponsePort,
delegate(DefaultUpdateResponseType state)
{
done = true;
}
));
while (!done)
{
;
}
}
IEnumerator<ITask> OnEStopHandler(OnEStop onEStop)
{
if (onEStop.DriveControl == _driveControl && _drivePort != null)
{
LogInfo("Requesting EStop");
drive.AllStopRequest request = new drive.AllStopRequest();
yield return Arbiter.Choice(
_drivePort.AllStop(request),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault f)
{
LogError(f);
}
);
}
}
/// <summary>
/// DoStop
/// </summary>
/// <param name="done">Port to post success message to</param>
/// <returns>True/False depending on whether the AllStop worked</returns>
IEnumerator<ITask> DoStop(Port<bool> done)
{
drive.AllStopRequest stopReq = new drive.AllStopRequest();
string msg;
msg = "Stop";
LogInfo(LogGroups.Console, msg);
yield return
Arbiter.Choice(
_drivePort.AllStop(stopReq),
delegate(DefaultUpdateResponseType success)
{
_state.DrivePowerLeft = 0;
_state.DrivePowerRight = 0;
_state.MoveState = MoveStates.Stop;
done.Post(true);
},
delegate(W3C.Soap.Fault failure)
{
// report error but report done anyway. we will attempt
// to do the next step in wander behavior even if turn failed
LogError("Failed to Stop!");
done.Post(false);
});
}
// StopNow() is a quick stop that is called as soon as a
// bumper press is detected. Unfortunately, inertia makes
// the robot keep bumping up against the wall. This results
// in a flood of messages. If there are to many to process,
// there might still be some in the queue after the behavior
// has finished, and the robot will stop even though it is
// no longer in contact with the wall ... This leaves it
// stranded and you have to start it again :-(
void StopNow()
{
drive.AllStopRequest stopReq = new drive.AllStopRequest();
string msg;
msg = "Stop";
LogInfo(LogGroups.Console, msg);
// TT Jul-2007 - Oops! This Arbiter.Choice was not activated
Arbiter.Activate(TaskQueue,
Arbiter.Choice(
_drivePort.AllStop(stopReq),
delegate(DefaultUpdateResponseType success)
{
_state.DrivePowerLeft = 0;
_state.DrivePowerRight = 0;
_state.MoveState = MoveStates.Stop;
},
delegate(W3C.Soap.Fault failure)
{
LogError("Failed to Stop!");
}
)
);
}
IEnumerator<ITask> OnEStopHandler(OnEStop onEStop)
{
if (onEStop.DriveControl == _driveControl && _drivePort != null)
{
LogInfo("Requesting EStop");
drive.AllStopRequest request = new drive.AllStopRequest();
_drivePort.AllStop(request);
}
yield break;
}
