protected virtual void Initialize()
{
// Initialize the port
sensorPort = DssEnvironment.ServiceForwarder <sonar.SonarOperations>(new Uri(serviceUri));
}
IEnumerator<ITask> OnConnectSonarHandler(OnConnectSonar onConnectSonar)
{
if (onConnectSonar.DriveControl != _driveControl)
yield break;
_sonarPort = ServiceForwarder<pxsonar.SonarOperations>(onConnectSonar.Service);
_sonarShutdown = new Port<Shutdown>();
pxsonar.ReliableSubscribe subscribe = new pxsonar.ReliableSubscribe(
new ReliableSubscribeRequestType(5)
);
subscribe.NotificationPort = _sonarNotify;
subscribe.NotificationShutdownPort = _sonarShutdown;
_sonarPort.Post(subscribe);
yield return Arbiter.Choice(
subscribe.ResponsePort,
delegate(SubscribeResponseType response)
{
LogInfo("Subscribed to " + onConnectSonar.Service);
},
delegate(Fault fault)
{
_sonarShutdown = null;
LogError(fault);
}
);
}
