public virtual IEnumerator <ITask> AnalogReplaceHandler(pxanalogsensor.Replace replace)
{
_state.SensorPort = NxtCommon.GetNxtSensorPortFromHardwareIdentifier(replace.Body.HardwareIdentifier);
SendNotification <pxanalogsensor.Replace>(_genericSubMgrPort, replace);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
/// <summary>
/// Configure sensors
/// </summary>
/// <returns>A CCR iterator</returns>
private IEnumerator <ITask> ConfigureSensors()
{
int i = 0;
// Get each sensor's current state
// And assign hardware identifiers
var replaceSensorState = new analogsensor.Replace();
foreach (var sensor in this.sensorPorts)
{
var getResultPort = this.sensorPorts[i].Get();
yield return(getResultPort.Choice());
analogsensor.AnalogSensorState sensorState = getResultPort;
if (sensorState != null)
{
replaceSensorState.Body = sensorState;
}
else
{
replaceSensorState.Body = new analogsensor.AnalogSensorState();
}
replaceSensorState.Body.HardwareIdentifier = i;
sensor.Post(replaceSensorState);
i++;
}
ICollection <Fault> faults = null;
yield return(replaceSensorState.ResponsePort.MultipleItemReceive(
this.sensorPorts.Length,
(successes, f) =>
{
faults = f;
}));
if (faults != null && faults.Count > 0)
{
LogError("Failure configuring IR sensors");
this.mainPort.Post(new DsspDefaultDrop());
}
this.StartAfterConfigure();
}
/// <summary>
/// Analog Sensor Notification Handler
/// </summary>
/// <param name="notification"></param>
private void AnalogSensorNotificationHandler(analog.Replace notification)
{
LogVerbose(LogGroups.Console, string.Format("Sensor Notification: {0} {1}", notification.Body.HardwareIdentifier, notification.Body.RawMeasurement));
foreach (SensorRange key in _state.RuntimeConfiguration.Keys)
{
if (key.HardwareIdentifier != notification.Body.HardwareIdentifier)
{
continue;
}
PortConfiguration sensorConfig = _state.RuntimeConfiguration[key];
string contactSensorName = key.ContactSensorName;
int priorIx = _contactSensorArrayState.Sensors.FindIndex(
delegate(bumper.ContactSensor gencs)
{
return(gencs.HardwareIdentifier == notification.Body.HardwareIdentifier &&
gencs.Name == contactSensorName);
});
bool priorPressed = (priorIx < 0) ? false : _contactSensorArrayState.Sensors[priorIx].Pressed;
// Send a ContactSensor notification here.
bumper.ContactSensor cs = new bumper.ContactSensor(sensorConfig.HardwareIdentifier, contactSensorName);
cs.Pressed = sensorConfig.Pressed(notification.Body.RawMeasurement);
sensorConfig.Contact = cs.Pressed;
if (priorIx < 0)
{
_contactSensorArrayState.Sensors.Add(cs);
}
if (priorIx < 0 || priorPressed != cs.Pressed)
{
if (priorIx >= 0)
{
_contactSensorArrayState.Sensors[priorIx].Pressed = cs.Pressed;
}
SendNotification <bumper.Update>(_subMgrPort, new bumper.Update(cs));
}
}
}
public IEnumerator <ITask> ReplaceHandler(analog.Replace replace)
{
if (_subscribed)
{
throw new Exception("Already subscribed");
}
else if (ValidState(replace.Body))
{
_state = replace.Body;
SaveState(_state);
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
SubscribeToNXT();
}
else
{
throw new Exception("Invalid State");
}
yield break;
}
public virtual IEnumerator <ITask> ReplaceHandler(pxanalogsensor.Replace replace)
{
_state = replace.Body;
replace.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
public virtual IEnumerator <ITask> ReplaceHandler(pxanalogsensor.Replace replace)
{
replace.ResponsePort.Post(Fault.FromException(new InvalidOperationException("The LEGO NXT Ultrasonic sensor is updated from hardware.")));
yield break;
}