/// <summary>
/// Initialize the pantilt ops
/// </summary>
/// <returns>An iterator</returns>
private IEnumerator <ITask> ConnectPanTiltHandler()
{
Fault fault = null;
if (this.panTiltOps != null)
{
// Try to subscribe
yield return(this.panTiltOps
.Subscribe(this.panTiltNotify, typeof(pantilt.Rotate))
.Choice(EmptyHandler, f => fault = f));
if (fault != null)
{
// There is no Kinect partner
LogError(null, "Failed to subscribe to Pan/Tilt", fault);
yield break;
}
// Set the initial tilt angle now
var request = new OnChangeTilt(this.dashboardForm, this.state.TiltAngle);
SpawnIterator(request, this.OnChangeTiltHandler);
}
yield break;
}
/// <summary>
/// Handle Tilt Angle requests
/// </summary>
/// <param name="tilt">The Tilt request</param>
/// <returns>An iterator</returns>
private IEnumerator <ITask> OnChangeTiltHandler(OnChangeTilt tilt)
{
Fault fault = null;
var req = new pantilt.RotateMessage
{
RotatePanRequest = null,
RotateTiltRequest = new SingleAxisJoint.Proxy.RotateSingleAxisRequest
{
TargetRotationAngleInRadians = (float)(tilt.Tilt * Math.PI / 180.0),
IsRelative = false
}
};
yield return(this.panTiltOps.Rotate(req).Choice(EmptyHandler, f => fault = f));
if (fault != null)
{
LogError("Update Tilt failed: ", fault.ToException());
}
}
