public IEnumerator <ITask> WaitHandler(Wait wait)
{
// Create a variable to hold the completion status
drive.DriveStage result = drive.DriveStage.InitialRequest;
// Wait until the next Canceled or Completed notification
// NOTE: There is no guarantee that the notification is the result
// of a particular drive motion request, but it drive requests are
// always paired with Waits then this should be the case.
yield return((Receiver <drive.DriveStage>) Arbiter.Receive(false, completionPort,
delegate(drive.DriveStage status) { result = status; }));
// Make a new state and send it to ourselves as a Replace message
// This will force a notification out to subscribers
WaitForDriveCompletionState body = new WaitForDriveCompletionState();
body.LastStatus = result;
_mainPort.Post(new Replace(body));
// Finally, send back the response message so that the caller
// can now continue
wait.ResponsePort.Post(new WaitResponseType(result));
yield break;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="result"></param>
public WaitResponseType(drive.DriveStage result)
{
_driveStatus = result;
}
