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Capstone active sensing #962

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merged 2 commits into from
Apr 6, 2020
Merged

Capstone active sensing #962

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608549d
accounting for ActiveObservation to Idle state changes
mrucker Apr 5, 2020
27a11e2
Merge branch 'develop' into capstone-active-sensing
mrucker Apr 5, 2020
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12 changes: 5 additions & 7 deletions ExampleSensingAgent.Shared/ExampleCapstoneAccelerationSensingAgent.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -213,11 +213,9 @@ private IEnumerable<IListeningProbe> Probes
{
get
{
IProbe probe;

//it is worth noting that there is a bug in TryGetProbe if it is called with a more specific interface than IProbe
//this is the reason why we pass in IProbe and then typecast to IListeningProbe after the probe is returned
if(Protocol.TryGetProbe<ILinearAccelerationDatum, IProbe>(out probe))
if (Protocol.TryGetProbe<ILinearAccelerationDatum, IProbe>(out IProbe probe))
{
yield return (IListeningProbe)probe;
}
Expand Down Expand Up @@ -315,19 +313,19 @@ protected override async Task OnStateChangedAsync(SensingAgentState previousStat
throw new Exception("Error, opportunistic control should be disabled for this agent");
}

if ( currentState == SensingAgentState.ActiveControl)
if (currentState == SensingAgentState.ActiveControl || currentState == SensingAgentState.ActiveObservation)
{
foreach(var probe in Probes)
{
probe.MaxDataStoresPerSecond = ProbeHz;
await probe.RestartAsync(); //whether the probe is stopped or currently running this should refresh
await probe.RestartAsync(); //this will work when whether the probes are stopped or currently running
}
}
else if (currentState == SensingAgentState.EndingControl)
else if (currentState == SensingAgentState.Idle)
{
foreach(var probe in Probes)
{
await probe.StopAsync(); //whether or not the probe is already stopped this should not cause an issue
await probe.StopAsync(); //this will work whether or not the probe is already stopped
}
}
}
Expand Down