private void LoadCommands()
{
foreach (var type in Assembly.GetCallingAssembly().GetTypes().Where(t => t.IsSubclassOf(typeof(CommandBase))))
{
SystemCommands.Add(type.FullName, type);
}
var dlls = Directory.GetFiles(Path.GetDirectoryName(Assembly.GetEntryAssembly().Location)).ToList().FindAll(s => Path.GetExtension(s) == ".dll");
dlls.RemoveAll(s => Path.GetFileName(s) == "BlendoBot.dll" || Path.GetFileName(s) == "BlendoBotLib.dll");
foreach (string dll in dlls)
{
var assembly = Assembly.LoadFrom(dll);
var types = assembly.ExportedTypes.ToList().FindAll(t => t.IsSubclassOf(typeof(CommandBase)));
foreach (var type in types)
{
LoadedCommands.Add(type.FullName, type);
Log(this, new LogEventArgs {
Type = LogType.Log,
Message = $"Detected command {type.FullName}"
});
}
}
}
public void Send(string command, string onResult = null)
{
lock (_lockObject)
{
_uiContext.Send(
x =>
{
CommunicationLog.Insert(0, "grbl <=" + command);
if (CommunicationLog.Count > 500)
{
CommunicationLog.Remove(CommunicationLog.Last());
}
}, null);
}
OnCommunicationLogUpdated();
var cmd = new Command {
Data = command, CommandOnResult = onResult
};
_commandPreProcessor.Process(ref cmd);
switch (cmd.Type)
{
case RequestType.Realtime:
Send(cmd);
break;
case RequestType.System:
{
lock (_lockObject)
{
if (!SystemCommands.DataInQueue(cmd.Data, 3))
{
SystemCommands.Add(command);
}
}
break;
}
default:
{
lock (_lockObject)
{
ManualCommands.Add(command);
}
break;
}
}
}
/// <summary>
/// Indexes the <see cref="ModelInputs"/> and <see cref="SystemEvents"/>,
/// plus <see cref="ModelOutputs"/> and <see cref="SystemCommands"/>,
/// whenever a <see cref="TransitionSystem"/> is added or removed.
/// </summary>
private void IndexSystems()
{
ModelInputs.Clear();
ModelOutputs.Clear();
SystemCommands.Clear();
SystemEvents.Clear();
foreach (TransitionSystem system in Systems)
{
foreach (Transition transition in system.Transitions)
{
if (transition is ReactiveTransition reactive)
{
if (typeof(ModelAction).IsAssignableFrom(reactive.Action))
{
ModelInputs.Add(reactive.Action);
}
else if (typeof(ISystemAction).IsAssignableFrom(reactive.Action))
{
SystemEvents.Add(reactive.Action);
}
}
else if (transition is ProactiveTransition proactive)
{
if (typeof(ModelAction).IsAssignableFrom(proactive.Action))
{
ModelOutputs.Add(proactive.Action);
}
else if (typeof(ISystemAction).IsAssignableFrom(proactive.Action))
{
SystemCommands.Add(proactive.Action);
}
}
}
}
}