public void NewHaltEventTest()
{
goalComs.SetStream(haltInputStream);
INaoEvent result = NaoEventFactory.NewEvent(
(byte)EventCode.Halt);
Assert.IsInstanceOf(typeof(HaltEvent), result);
}
public void NewPickupEventTest()
{
goalComs.SetStream(pickupInputStream);
INaoEvent result = NaoEventFactory.NewEvent(
(byte)EventCode.Pickup);
Assert.IsInstanceOf(typeof(PickupEvent), result);
}
public void NewGoToEventTest()
{
goalComs.SetStream(goToInputStream);
INaoEvent result = NaoEventFactory.NewEvent(
(byte)EventCode.GoTo);
Assert.IsInstanceOf(typeof(GoToEvent), result);
}
/// <summary>
/// Posts the selected event to the Nao event-queue.
/// </summary>
/// <param name="naoEvent">The selected event.</param>
protected override void PostEvent(INaoEvent naoEvent)
{
base.PostEvent(naoEvent);
if (NaoState.Instance.Connected)
EventQueue.Nao.Post(naoEvent);
else
Logger.Log(this,
"Cannot post " + naoEvent + ", NaoState is not connected to any Nao.");
}
/// <summary>
/// Posts the selected event to the Goal event-queue.
/// </summary>
/// <param name="goalEvent">The event to post.</param>
protected override void PostEvent(INaoEvent goalEvent)
{
base.PostEvent(goalEvent);
if (GoalCommunicator.Instance.Running)
EventQueue.Goal.Post(goalEvent);
else
Logger.Log(this,
"Cannot post " + goalEvent +
", goal communicator is not connected to any server.");
}
/// <summary>
/// Fires given event.
/// </summary>
/// <param name="e">An event.</param>
private void FireEvent(INaoEvent e)
{
Logger.Log(this, "Firing: " + e);
if (EventFiring != null)
{
EventFiring(e);
}
e.Fire();
eventTimer.Restart();
Logger.Log(this, "Event " + e + " finished firing.");
}
/// <summary>
/// Posts the selected event to the Nao event-queue.
/// </summary>
/// <param name="naoEvent">The selected event.</param>
protected override void PostEvent(INaoEvent naoEvent)
{
base.PostEvent(naoEvent);
if (NaoState.Instance.Connected)
{
EventQueue.Nao.Post(naoEvent);
}
else
{
Logger.Log(this,
"Cannot post " + naoEvent + ", NaoState is not connected to any Nao.");
}
}
/// <summary>
/// Clears the queue and returns all events that were removed.
/// </summary>
/// <returns>List of events.</returns>
public List <INaoEvent> ClearAndGet()
{
List <INaoEvent> events = new List <INaoEvent>();
while (!q.IsEmpty())
{
INaoEvent e = NextEvent;
if (e != null)
{
events.Add(e);
}
}
return(events);
}
/// <summary>
/// Posts the selected event to the Goal event-queue.
/// </summary>
/// <param name="goalEvent">The event to post.</param>
protected override void PostEvent(INaoEvent goalEvent)
{
base.PostEvent(goalEvent);
if (GoalCommunicator.Instance.Running)
{
EventQueue.Goal.Post(goalEvent);
}
else
{
Logger.Log(this,
"Cannot post " + goalEvent +
", goal communicator is not connected to any server.");
}
}
/// <summary>
/// Posts an event to the queue.
/// </summary>
/// <param name="events">A NaoEvent.</param>
/// <exception cref="InvalidOperationException">The queue was terminated prior to this method-invocation.</exception>
public void Post(INaoEvent e)
{
if (e.ExecutionBehavior == ExecutionBehavior.Instantaneous)
{
FireEvent(e);
return;
}
lock (q)
{
Logger.Log(this, "Posting event: " + e.ToString());
q.Enqueue(e, (int)e.Priority);
}
locker.Set();
// log nao events pending
if (this == Nao)
{
Logger.Log(this, ToString());
}
}
/// <summary>
/// Attempts to read incoming data from the server.
/// </summary>
private void ReceiveData()
{
if (!Running)
{
return;
}
byte code = 0;
try
{
code = communicationStream.ReadByte();
if (!Running)
{
return;
}
INaoEvent naoEvent = NaoEventFactory.NewEvent(code);
EventQueue.Nao.Post(naoEvent);
}
catch (InvalidEventCodeException e)
{
Logger.Except(e);
Logger.Log(this, "Invalid event code received: " + code);
INaoEvent failureEvent = new FailureEvent(code);
EventQueue.Goal.Post(failureEvent);
}
catch (Exception e)
{
if (e is InvalidOperationException || e is IOException)
{
Logger.Log(this, "Communication stream got closed.");
communicationStream.Open = false;
}
else
{
Logger.Log(this, "Unexpected exception occurred while processing incoming data: " + e);
}
}
}
public void Fired(INaoEvent e)
{
events.Add(e);
}
/// <summary>
/// Posts the event.
/// </summary>
/// <param name="naoEvent">A Nao event.</param>
protected virtual void PostEvent(INaoEvent naoEvent)
{
}
/// <summary>
/// Fires given event.
/// </summary>
/// <param name="e">An event.</param>
private void FireEvent(INaoEvent e)
{
Logger.Log(this, "Firing: " + e);
if (EventFiring != null)
EventFiring(e);
e.Fire();
eventTimer.Restart();
Logger.Log(this, "Event " + e + " finished firing.");
}
/// <summary>
/// Posts an event to the queue.
/// </summary>
/// <param name="events">A NaoEvent.</param>
/// <exception cref="InvalidOperationException">The queue was terminated prior to this method-invocation.</exception>
public void Post(INaoEvent e)
{
if (e.ExecutionBehavior == ExecutionBehavior.Instantaneous)
{
FireEvent(e);
return;
}
lock (q)
{
Logger.Log(this, "Posting event: " + e.ToString());
q.Enqueue(e, (int)e.Priority);
}
locker.Set();
// log nao events pending
if (this == Nao)
{
Logger.Log(this, ToString());
}
}
public void Fired(INaoEvent e)
{
events.Add(e);
}
public void NewInvalidEventTest()
{
goalComs.SetStream(invalidInputStream);
INaoEvent result = NaoEventFactory.NewEvent(
invalidEventCode);
}
