public override bool Send(CommBuffer buffer, out bool send, out bool free)
{
Command comm = null;
if (!rotationSent)
{
comm = new Command_Rotate(c, angle);
free = false;
}
else
{
comm = new Command_Move(c, distance);
free = true;
}
bool dummySend, dummyFree;
comm.Send(buffer, out dummySend, out dummyFree);
send = true;
return(true);
}
Command ParseCommand(string line)
{
string upper = line.ToUpper();
if (upper.StartsWith("MOVE"))
{
return(Command_Move.Parse(c, line));
}
if (upper.StartsWith("ROTATE"))
{
return(Command_Rotate.Parse(c, line));
}
if (upper.StartsWith("TAKE"))
{
return(Command_PickUp.Parse(c, line));
}
if (upper.StartsWith("LETGO"))
{
return(Command_LetGo.Parse(c, line));
}
if (upper.StartsWith("WAIT"))
{
return(Command_Wait.Parse(c, line));
}
if (upper.StartsWith("SETANGLE"))
{
return(Command_SetAngle.Parse(c, line));
}
if (upper.StartsWith("LOOKAT"))
{
return(Command_LookAt.Parse(c, line));
}
if (upper.StartsWith("MOVETO"))
{
return(Command_MoveTo.Parse(c, line));
}
if (upper.StartsWith("SETPRESCALER"))
{
return(Command_SetPrescaler.Parse(c, line));
}
if (upper.StartsWith("SERVO_MOVE"))
{
return(Command_MoveServo.Parse(c, line));
}
if (upper.StartsWith("DELAY"))
{
return(Command_Delay.Parse(c, line));
}
if (upper.StartsWith("KILLSENSORS"))
{
return(new Command_KillSensors(c));
}
if (upper.StartsWith("ULTRASOUND_ON"))
{
return(new Command_UltrasoundOn(c));
}
if (upper.StartsWith("ULTRASOUND_OFF"))
{
return(new Command_UltrasoundOff(c));
}
throw new Exception("Invalid command!");
}