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The Smessage and Nmessage functions are a bit different from the previous version, because the NXT display is now a shared output device. So, you must put the TextOut and NumOut API functions inside a critical section, delimited by the Acquire(display) and Release(display) statements. The AnnounceDir and Biped_init functions are pretty much the same as before. However, the RealignLegs subroutine is completely different. It doesn t move motors directly, but is used to discipline the realignment tasks access to the motors. Before continuing the discussion, read the code in Listing 5-7. Listing 5-7. The main() and Walk() Tasks of the Omni-Biped Multitask Program task main () { Biped_init(); } task Walk () { int timer; Follows (main); while (true) { AcquireLegs(); AnnounceDir (direction); OnFwdSyncEx (BOTH_LEGS, WALK_SPEED, sign(direction)*90, RESET_NONE); if (direction==FORWARD) { while (!obstacle) Wait(50); } else { timer = 0;

namespace ACME.POS.UserInterface.Configuration.Design { public class WebServiceConfigurationDesignManager : ConfigurationDesignManager { public override void Register(IServiceProvider serviceProvider) { WebServiceCommandRegistrar webServiceCommandRegistrar = new WebServiceCommandRegistrar(serviceProvider); webServiceCommandRegistrar.Register(); } protected override void OpenCore(IServiceProvider serviceProvider, ConfigurationApplicationNode rootNode,

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) If your client program has to figure out for itself how much data to read, it s a good idea to call the read() method (with a byte array to read the data into) Unlike readFully(), read() won t block if it can t fill the whole array (although it will block if there s no data to read at all and the server hasn t yet closed the stream) As long as there s at least one byte of data to read, the method read() reads as many bytes of data as it can and then returns the number of bytes it read To make sure you got all the data, you can call read() multiple times (specifying an offset to avoid overwriting the data you ve already read) until the method returns a value of -1 to indicate that the end of the stream has been reached.

ConfigurationSection section) { if (null != section) { WebServiceSettingsNodeBuilder builder = new WebServiceSettingsNodeBuilder(serviceProvider, (WebServiceSettings)section); rootNode.AddNode(builder.Build()); } } protected override ConfigurationSectionInfo GetConfigurationSectionInfo(IServiceProvider serviceProvider) { ConfigurationNode rootNode = ServiceHelper.GetCurrentRootNode(serviceProvider); WebServiceSettingsNode node = null; if (rootNode != null) node = (WebServiceSettingsNode)rootNode. Hierarchy.FindNodeByType(rootNode, typeof(WebServiceSettingsNode)); WebServiceSettings webServiceSection = null; if (node == null) { webServiceSection = null; } else { WebServiceSettingsBuilder builder = new WebServiceSettingsBuilder(serviceProvider, node); webServiceSection = builder.Build(); } return new ConfigurationSectionInfo(node, webServiceSection, WebServiceSettings.SectionName); } } }

while (!obstacle && timer<TURN_TIME) { timer++; } } ReleaseLegs(); RealignLegs(); if (obstacle) { Smessage("BACKWARD"); AcquireLegs(); OnRevSyncEx (BOTH_LEGS, WALK_SPEED, 0, RESET_NONE); while (obstacle) Wait(50); ReleaseLegs(); RealignLegs(); } if (direction==FORWARD) direction = 1-2*Random(2); else direction = FORWARD; } } In this multitask program, the main task simply calls the Biped_init subroutine and exits. This leaves space for all other concurrent tasks in the program that contain the statement Follows(main). The concurrent tasks are as follows: Sight: Reads the Ultrasonic Sensor continuously and shares information about obstacles using the global variable obstacle, the output of the hysteresis cycle filter. Walk: Contains the loop corresponding to the main loop in the single-thread program. The robot goes straight until it sees an obstacle. It then backs up until the obstacle fades away, turns randomly, and then starts the loop again. AlignRightLeg and AlignLeftLeg: This time, the legs are reset in separate tasks, so that the duties can be accomplished simultaneously, thus saving time. As mentioned before, some of these tasks share the same resources. In particular, Walk shares the motors with AlignRightLeg and AlignLeftLeg. To avoid conflicts, when one of these tasks wants to use the motors, it must first acquire the corresponding mutex, use the motors inside the critical section, and release the mutex when done. For example, the Walk task calls the AcquireLegs() and ReleaseLegs() functions (see Listing 5-6) to enclose the critical section where it uses the motors. In Listing 5-8, you can see the code of one of the alignment tasks (the code for the other leg is similar and thus omitted). Listing 5-8. The Code of the Task to Realign the Right Leg Position task AlignRightLeg () { Follows(main); long right_count; while (true)

The last task is to add the ConfigurationDesignerManager attribute to the Assembly.cs file. This helps the Configuration Console to determine if this assembly contains a configuration design manager and of what System.Type it is. Here is an example of this assembly attribute and the necessary using statement: using Microsoft.Practices.EnterpriseLibrary.Configuration.Design; using ACME.POS.Client.Configuration.Design; //Other assembly information [assembly: ConfigurationDesignManager(typeof( WebServiceConfigurationDesignManager))] After compiling the code and copying the configuration components to the executing folder of the Configuration Console, you should be able to choose a new ACME POS Web Service Settings configuration node, as shown in Figure 5-17.

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