/// <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>();
//request.Sensors.Add("IRLeft");
//request.Sensors.Add("IRRight");
request.Sensors.Add("Stall");
//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("ScribblerStall subscription success");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive <brick.Replace>(true, _notificationPort, SensorNotificationHandler)
);
},
delegate(soap.Fault F)
{
LogError("ScribblerStall 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>();
//request.Sensors.Add("IRLeft");
//request.Sensors.Add("IRRight");
request.Sensors.Add("Stall");
//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("ScribblerStall subscription success");
//Subscription was successful, start listening for sensor change notifications
Activate(
Arbiter.Receive<brick.Replace>(true, _notificationPort, SensorNotificationHandler)
);
},
delegate(soap.Fault F)
{
LogError("ScribblerStall subscription failed");
}
)
);
}