void SetActuatorValueHandler(InternalSetActuatorValue setActuatorValue)
{
int actuatorID = setActuatorValue.actuatorID;
if ((actuatorID > 0) && (actuatorID <= 2))
{
float value = _state.actuator[actuatorID - 1].value = setActuatorValue.value;
LogVerbose("--- Actuator " + actuatorID.ToString() + " updated to " + value);
switch (actuatorID)
{
case 1:
_srv1.LeftMotorPower = value;
break;
case 2:
_srv1.RightMotorPower = value;
break;
}
setActuatorValue.ResponsePort.Post(new DefaultUpdateResponseType());
}
else
{
setActuatorValue.ResponsePort.Post(
Fault.FromCodeSubcodeReason(FaultCodes.Receiver,
DsspFaultCodes.OperationFailed,
"Bad Index")
);
}
}
private void SetActuator_Value(int actuatorID, float?actuatorValue)
{
if (actuatorValue == null)
{
return;
}
InternalSetActuatorValue update = new InternalSetActuatorValue();
update.actuatorID = actuatorID;
update.value = (float)actuatorValue;
update.ResponsePort = new DsspResponsePort <DefaultUpdateResponseType>();
_updatePort.Post(update);
Activate(
Arbiter.Choice(update.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
},
delegate(Fault fault)
{
LogError("Failed to send notification");
}
));
}
