// function for evaluating a text file program for the motors
public static void runScript(Usc usc, string fileName)
{
//Getting program text from text file
string text = new StreamReader(fileName).ReadToEnd();
MessageBox.Show(text);
BytecodeProgram program = BytecodeReader.Read(text, usc.servoCount != 6);
BytecodeReader.WriteListing(program, fileName + ".lst");
// Stops any previous scripts that are running
usc.setScriptDone(1);
// ???
usc.eraseScript();
List <byte> byteList = program.getByteList();
if (byteList.Count > usc.maxScriptLength)
{
MessageBox.Show("Script too long for device (" + byteList.Count + " bytes)");
}
if (byteList.Count < usc.maxScriptLength)
{
byteList.Add((byte)Opcode.QUIT);
}
// Setting up subroutines
usc.setSubroutines(program.subroutineAddresses, program.subroutineCommands);
// Loading the bytes
usc.writeScript(byteList);
// Restarting
usc.reinitialize();
}
static void program(Usc usc, string filename)
{
string text = (new StreamReader(filename)).ReadToEnd();
BytecodeProgram program = BytecodeReader.Read(text, usc.servoCount != 6);
BytecodeReader.WriteListing(program, filename + ".lst");
usc.setScriptDone(1);
usc.eraseScript();
List <byte> byteList = program.getByteList();
if (byteList.Count > usc.maxScriptLength)
{
throw new Exception("Script too long for device (" + byteList.Count + " bytes)");
}
if (byteList.Count < usc.maxScriptLength)
{
byteList.Add((byte)Opcode.QUIT);
}
System.Console.WriteLine("Setting up subroutines...");
usc.setSubroutines(program.subroutineAddresses, program.subroutineCommands);
System.Console.WriteLine("Loading " + byteList.Count + " bytes...");
usc.writeScript(byteList);
System.Console.WriteLine("Restarting...");
usc.reinitialize();
}
static void configure(Usc usc, string filename)
{
Stream file = File.Open(filename, FileMode.Open);
StreamReader sr = new StreamReader(file);
List<String> warnings = new List<string>();
UscSettings settings = ConfigurationFile.load(sr, warnings);
usc.fixSettings(settings, warnings);
usc.setUscSettings(settings, true);
sr.Close();
file.Close();
usc.reinitialize();
}
static void configure(Usc usc, string filename)
{
Stream file = File.Open(filename, FileMode.Open);
StreamReader sr = new StreamReader(file);
List <String> warnings = new List <string>();
UscSettings settings = ConfigurationFile.load(sr, warnings);
usc.fixSettings(settings, warnings);
usc.setUscSettings(settings, true);
sr.Close();
file.Close();
usc.reinitialize();
}
static void program(Usc usc, string filename)
{
string text = (new StreamReader(filename)).ReadToEnd();
BytecodeProgram program = BytecodeReader.Read(text, usc.servoCount != 6);
BytecodeReader.WriteListing(program,filename+".lst");
usc.setScriptDone(1);
usc.eraseScript();
List<byte> byteList = program.getByteList();
if (byteList.Count > usc.maxScriptLength)
{
throw new Exception("Script too long for device (" + byteList.Count + " bytes)");
}
if (byteList.Count < usc.maxScriptLength)
{
byteList.Add((byte)Opcode.QUIT);
}
System.Console.WriteLine("Setting up subroutines...");
usc.setSubroutines(program.subroutineAddresses, program.subroutineCommands);
System.Console.WriteLine("Loading "+byteList.Count+" bytes...");
usc.writeScript(byteList);
System.Console.WriteLine("Restarting...");
usc.reinitialize();
}
