public IEnumerator <ITask> AllStopHandler(drive.AllStop allStop)
{
drive.SetDrivePower zeroPower = new drive.SetDrivePower();
zeroPower.Body = new drive.SetDrivePowerRequest(0.0d, 0.0d);
zeroPower.ResponsePort = allStop.ResponsePort;
_mainPort.Post(zeroPower);
yield break;
}
public virtual IEnumerator <ITask> AllStopHandler(drive.AllStop update)
{
// Create a Drive request with both wheels stopped.
// Call the SetDrivePowerHandler, but redirect the responses
// to our response port.
drive.SetDrivePower setDrivePower = new drive.SetDrivePower(new drive.SetDrivePowerRequest(), update.ResponsePort);
SpawnIterator <drive.SetDrivePower>(setDrivePower, SetDrivePowerHandler);
yield break;
}
public IEnumerator <ITask> AllStopHandler(diffdrive.AllStop estop)
{
if (_entity == null)
{
throw new InvalidOperationException("Simulation entity not registered with service");
}
_entity.SetMotorTorque(0, 0);
_entity.SetVelocity(0);
// AllStop disables the drive
_entity.IsEnabled = false;
UpdateStateFromSimulation();
estop.ResponsePort.Post(DefaultUpdateResponseType.Instance);
// send update for entire state
_subMgrPort.Post(new submgr.Submit(_state, DsspActions.UpdateRequest));
yield break;
}
public override void Stop()
{
drive.AllStopRequest allStopReq = new drive.AllStopRequest();
drive.AllStop allStop = new drive.AllStop(allStopReq);
drivePort.Post(allStop);
bool done = false;
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <DefaultUpdateResponseType>(false,
allStop.ResponsePort,
delegate(DefaultUpdateResponseType state)
{
done = true;
}
));
while (!done)
{
;
}
}
