protected override Response AsyncTask(Command command)
{
TBWriter.Spaced(" >>> Received " + command.CommandName + " , received = [" + command.Parameters + "]");
string[] info = command.Parameters.Split(null as char[], StringSplitOptions.RemoveEmptyEntries);
if ((info == null) || (info.Length == 0))
{
return(Response.CreateFromCommand(command, false));
}
string obj1 = "";
string obj2 = "";
string armSelection = "";
string objectsTaked = "";
obj1 = info[0];
if ((info.Length > 1) && (info[1] != "left") && (info[1] != "right"))
{
obj2 = info[1];
}
else
{
obj2 = "";
}
if (command.Parameters.Contains("right"))
{
armSelection = "right";
}
else if (command.Parameters.Contains("left"))
{
armSelection = "left";
}
else
{
armSelection = "";
}
bool success;
if (taskPlanner.ArmToUse == useArms.useLeft)
{
armSelection = "left";
}
if (taskPlanner.ArmToUse == useArms.useRight)
{
armSelection = "right";
}
if (taskPlanner.Cmd_TakeObject(obj1, obj2, armSelection, out objectsTaked))
{
command.Parameters = objectsTaked;
success = true;
}
else
{
command.Parameters = objectsTaked;
success = false;
}
TBWriter.Spaced(" Terminated " + command.CommandName + " , sending = [" + command.Parameters + "] <<<");
return(Response.CreateFromCommand(command, success));
}
