利用Microsoft Robotics Studio远程控制机器人

核心提示： 订阅服务我们创建的大多数的服务是为了获取传感器的数据为目的的，这就需要这些服务去订阅Birck Service，利用Microsoft Robotics Studio远程控制机器人(9)，他们使用上面所实现的自定义订阅来订阅相应的传感器数据，下面我们看一个MyRobotBumper服务，这

订阅服务

我们创建的大多数的服务是为了获取传感器的数据为目的的，这就需要这些服务去订阅Birck Service，他们使用上面所实现的自定义订阅来订阅相应的传感器数据，下面我们看一个MyRobotBumper服务，这个服务实现了Robotics Common中的ContactSensorArray服务的Contract，和上面所说Motor Service的创建方式类似。

　1 using bumper = Microsoft.Robotics.Services.ContactSensor.Proxy;
　2 using brick = Robotics.MyBrickService.Proxy;
　3 using submgr = Microsoft.Dss.Services.SubscriptionManager;
　4
　5 private void SubscribeToNXT()
　6 {
　7 // Create a notification port
　8 brick..MyBrickServiceOperations _notificationPort = new brick.MyBrickServiceOperations();
　9 //create a custom subscription request
10 brick.MySubscribeRequestType request = new brick.MySubscribeRequestType();
11 //select only the sensor and ports we want
12 //NOTE: this name must match the names you define in MyBrickService
13 request.Sensors = new List();
14 foreach (bumper.ContactSensor sensor in _state.Sensors)
15 {
16 //Use Identifier as the port number of the sensor
17 request.Sensors.Add("TOUCH" + sensor.Identifier);
18 }
19 //Subscribe to the brick and wait for a response
20 Activate(
21 Arbiter.Choice(_myBrickPort.SelectiveSubscribe(request, _notificationPort),
22 delegate(SubscribeResponseType Rsp)
23 {
24 //update our state with subscription status
25 subscribed = true;
26 LogInfo("MyRobotBumper subscription success");
27 //Subscription was successful, start listening for sensor change notifications
28 Activate(
29 Arbiter.Receive
30 (true, _notificationPort, SensorNotificationHandler)
31 );
32 },
33 delegate(Fault F)
34 {
35 LogError("MyRobotBumper subscription failed");
36 })
37 );
38 }
39 private void SensorNotificationHandler(brick.Replace notify)
40 {
41 //update state
42 foreach (bumper.ContactSensor sensor in _state.Sensors)
43 {
44 bool newval = notify.Body.SensorPort[sensor.Identifier - 1] == 1 ? true : false;
45 bool changed = (sensor.pssed != newval);
46 sensor.TimeStamp = DateTime.Now;
47 sensor.pssed = newval;
48 if (changed)
49 {
50 //notify subscribers on any bumper pssed or unpssed
51 _subMgrPort.Post(new submgr.Submit(sensor, DsspActions.UpdateRequest));
52 }
53 }
54 }
55