protected override void Start()
{
#region request handler setup
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(
Arbiter.Receive <DsspDefaultDrop>(false, _mainPort, DropHandler)
),
new ExclusiveReceiverGroup(
Arbiter.Receive <LaserRangeFinderResetUpdate>(true, _mainPort, LaserRangeFinderResetUpdateHandler),
Arbiter.Receive <LaserRangeFinderUpdate>(true, _mainPort, LaserRangeFinderUpdateHandler),
Arbiter.Receive <BumpersUpdate>(true, _mainPort, BumpersUpdateHandler),
Arbiter.Receive <BumperUpdate>(true, _mainPort, BumperUpdateHandler),
Arbiter.Receive <DriveUpdate>(true, _mainPort, DriveUpdateHandler),
Arbiter.Receive <WatchDogUpdate>(true, _mainPort, WatchDogUpdateHandler)
),
new ConcurrentReceiverGroup(
Arbiter.Receive <Get>(true, _mainPort, GetHandler),
Arbiter.Receive <dssp.DsspDefaultLookup>(true, _mainPort, DefaultLookupHandler)
)
)
);
#endregion
#region notification handler setup
Activate(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(),
new ConcurrentReceiverGroup(
Arbiter.Receive <sicklrf.Reset>(true, _laserNotify, LaserResetNotification),
Arbiter.Receive <drive.Update>(true, _driveNotify, DriveUpdateNotification),
Arbiter.Receive <bumper.Replace>(true, _bumperNotify, BumperReplaceNotification),
Arbiter.Receive <bumper.Update>(true, _bumperNotify, BumperUpdateNotification)
)
)
);
// We cannot replicate the activation of laser notifications because the
// handler uses Test() to skip old laser notifications.
Activate(
Arbiter.ReceiveWithIterator <sicklrf.Replace>(false, _laserNotify, LaserReplaceNotification)
);
#endregion
// Start watchdog timer
_mainPort.Post(new WatchDogUpdate(new WatchDogUpdateRequest(DateTime.Now)));
// Create Subscriptions
_bumperPort.Subscribe(_bumperNotify);
_drivePort.Subscribe(_driveNotify);
_laserPort.Subscribe(_laserNotify);
DirectoryInsert();
}
protected override void Start()
{
base.Start();
WinFormsServicePort.Post(new RunForm(StartForm));
#region CODECLIP 01-5
_drivePort.Subscribe(_driveNotify);
Activate(Arbiter.Receive <drive.Update>(true, _driveNotify, NotifyDriveUpdate));
#endregion
}
protected override void Start()
{
base.Start();
WinFormsServicePort.Post(new RunForm(StartForm));
// Start listening for colors
//SubscribeToColorSensor();
_drivePort.Subscribe(_driveNotify);
Activate(Arbiter.Receive <drive.Update>(true, _driveNotify, NotifyDriveUpdate));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
drivePort.Subscribe(driveNotificationPort);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service to know when the motors are enabled
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
RSUtils.ReceiveSync(taskQueue, drivePort.Subscribe(driveNotificationPort), Params.DefaultRecieveTimeout);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}
void ConnectToScribbler(DateTime dt)
{
Uri driveUri = null;
// Look for any active generic drive contract service running
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice(DssEnvironment.DirectoryQuery(drive.Contract.Identifier),
delegate(ServiceInfoType success)
{
driveUri = new Uri(success.Service);
Console.WriteLine("================\n" + driveUri);
// Initialize the port and subscribe to the service
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder <drive.DriveOperations>(driveUri);
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
drivePort.Subscribe(driveNotificationPort);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive <drive.Update>(true, driveNotificationPort, NotifyDriveUpdate)
);
autolock.Set();
},
delegate(W3C.Soap.Fault failure)
{
// Request failed. Sleep for 1 sec and look for 30 times.
if (++attemptCount >= 30)
{
DssEnvironment.LogError("Unable to find Drive Service, aborting - Press <Enter>");
Console.ReadLine();
DssEnvironment.Shutdown();
}
else
{
// Post a timer message that expires in 30 seconds
TimeSpan timeout = new TimeSpan(0, 0, 30);
DssEnvironment.TaskQueue.EnqueueTimer(timeout, _timerPort);
}
}
));
}
/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
// Initialize the state
if (_state == null)
{
_state = new WaitForDriveCompletionState();
}
_state.LastStatus = drive.DriveStage.InitialRequest;
// Subscribe to the drive for notification messages
_drivePort.Subscribe(_driveNotify);
// Add the necessary receivers
// NOTE: These are INDEPENDENT receivers.
// This is OK because they do not affect the state of the service.
Activate(Arbiter.ReceiveWithIterator <drive.DriveDistance>(true, _driveNotify, DriveDistanceUpdateHandler));
Activate(Arbiter.ReceiveWithIterator <drive.RotateDegrees>(true, _driveNotify, RotateDegreesUpdateHandler));
base.Start();
}
/// <summary>
/// Service start
/// </summary>
protected override void Start()
{
// Set this to true to see how it works with just SetDrivePower and
// timers to control the motions
useTimers = false;
// Subscribe to the drive for notification messages
_drivePort.Subscribe(_driveNotify);
// Add the necessary receivers
// NOTE: These are INDEPENDENT receivers.
// This is OK because they do not affect the state of the service.
Activate(Arbiter.ReceiveWithIterator <drive.DriveDistance>(true, _driveNotify, DriveDistanceUpdateHandler));
Activate(Arbiter.ReceiveWithIterator <drive.RotateDegrees>(true, _driveNotify, RotateDegreesUpdateHandler));
base.Start();
// Execute the geometric pattern
SpawnIterator(Behavior);
}
protected virtual void Initialize()
{
// Initialize the port and subscribe to the service to know when the motors are enabled
motorsOn = false;
drivePort = DssEnvironment.ServiceForwarder<drive.DriveOperations>(new Uri(ServiceInfo.Service));
drive.DriveOperations driveNotificationPort = new drive.DriveOperations();
RSUtils.ReceiveSync(taskQueue, drivePort.Subscribe(driveNotificationPort), Params.DefaultRecieveTimeout);
// Set up notifications
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Receive<drive.Update>(true, driveNotificationPort, NotifyDriveUpdate));
}