sonar and light sensor , Arbiter.Receive

Question

hi

arbiter is diffrent then from bumper or drive.. but what is it??

 

gr.

 

 

 

using

 

lightsensor = Microsoft.Robotics.Services.AnalogSensor.Proxy;

using

 

sonar = Microsoft.Robotics.Services.Sonar.Proxy;

 

[

Partner("lightsensor", Contract = lightsensor.Contract.Identifier,

CreationPolicy =

 

PartnerCreationPolicy.UseExisting)]

 

 

private lightsensor.AnalogSensorOperations _lightsensorPort = new lightsensor.AnalogSensorOperations();

 

 

private lightsensor.AnalogSensorOperations _lightsensorNotify = new lightsensor.AnalogSensorOperations();

[

 

Partner("sonar", Contract = sonar.Contract.Identifier,

CreationPolicy =

 

PartnerCreationPolicy.UseExisting)]

 

 

private sonar.SonarOperations _sonarPort = new sonar.SonarOperations();

 

 

private sonar.SonarOperations _sonarNotify = new sonar.SonarOperations();

 

 

  

 

void

 

 

SubscribeToLightSensor()

 

Arbiter.Receive<lightsensor.AnalogSensorState>

(

 

true, something should be in here, but it isn't _lightsensorNotify, LightsensorHandler));

 

void SubscribeToSonar()

 

new Microsoft.Robotics.Services.Sonar.Proxy.SonarOperations();

_sonarPort =

 

new Microsoft.Robotics.Services.Sonar.Proxy.SonarOperations();

 

Arbiter.Receive<sonar.SonarState>

(

 

true, "something should be in here, but it isn't _sonarNotify" , SonarHandler));

 

}

_sonarPort.Subscribe(_sonarNotify);

Activate(

 

{

_sonarNotify =

}

 

{

_lightsensorPort.Subscribe(_lightsensorNotify);

Activate(