public MovementCommand(string unparsedText)
{
if (unparsedText == null)
{
throw new ArgumentNullException("Null string received");
}
if (IsValidIdentifier(unparsedText) == false)
{
throw new ArgumentException("Invalid identifier found in command: " + unparsedText);
}
rawCommand = unparsedText;
try
{
motorSide = ParseMotorSide(rawCommand);
motor1Direction = ParseDirection(rawCommand, 0);
motor2Direction = ParseDirection(rawCommand, 1);
motor3Direction = ParseDirection(rawCommand, 2);
foreach (string motorDirectionReading in new string[] {motor1Direction, motor2Direction, motor3Direction})
{
if(motorDirectionReading != CommandMetadata.Movement.Forward && motorDirectionReading != CommandMetadata.Movement.Backward)
{
throw new ArgumentException("Invalid direction value found in command: " + unparsedText);
}
}
motor1Speed = ParseSpeed(rawCommand, 0);
motor2Speed = ParseSpeed(rawCommand, 1);
motor3Speed = ParseSpeed(rawCommand, 2);
foreach (int motorSpeedReading in new int[]{motor1Speed, motor2Speed, motor3Speed})
{
if (motorSpeedReading > CommandMetadata.Movement.MaxSpeed || motorSpeedReading < CommandMetadata.Movement.MinSpeed)
{
throw new ArgumentException("Invalid speed value found in command: " + unparsedText);
}
}
}
catch (ArgumentException)
{
throw;
}
microcontroller = MicrocontrollerSingleton.Instance;
}
public MovementCommand(string unparsedText)
{
if (unparsedText == null)
{
throw new ArgumentNullException("Null string received");
}
if (IsValidIdentifier(unparsedText) == false)
{
throw new ArgumentException("Invalid identifier found in command: " + unparsedText);
}
rawCommand = unparsedText;
try
{
motorSide = ParseMotorSide(rawCommand);
motor1Direction = ParseDirection(rawCommand, 0);
motor2Direction = ParseDirection(rawCommand, 1);
motor3Direction = ParseDirection(rawCommand, 2);
foreach (string motorDirectionReading in new string[] { motor1Direction, motor2Direction, motor3Direction })
{
if (motorDirectionReading != CommandMetadata.Movement.Forward && motorDirectionReading != CommandMetadata.Movement.Backward)
{
throw new ArgumentException("Invalid direction value found in command: " + unparsedText);
}
}
motor1Speed = ParseSpeed(rawCommand, 0);
motor2Speed = ParseSpeed(rawCommand, 1);
motor3Speed = ParseSpeed(rawCommand, 2);
foreach (int motorSpeedReading in new int[] { motor1Speed, motor2Speed, motor3Speed })
{
if (motorSpeedReading > CommandMetadata.Movement.MaxSpeed || motorSpeedReading < CommandMetadata.Movement.MinSpeed)
{
throw new ArgumentException("Invalid speed value found in command: " + unparsedText);
}
}
}
catch (ArgumentException)
{
throw;
}
microcontroller = MicrocontrollerSingleton.Instance;
}
public TiltCommand(string unparsedCommand)
{
if (unparsedCommand == null)
{
throw new ArgumentNullException("Null string received");
}
rawCommand = unparsedCommand;
try
{
camIndex = ParseCamIndex(unparsedCommand);
tiltAngle = ParseTiltAngle(unparsedCommand);
}
catch (ArgumentException e)
{
Console.WriteLine(e.Message);
throw;
}
microcontroller = MicrocontrollerSingleton.Instance;
}
public PanCommand(string unparsedCommand)
{
//Extra error handling might be needed on a per-servo basis (ex: some servos are expected to do 360 degrees while others arent)
if (unparsedCommand == null)
{
throw new ArgumentNullException("Null string received");
}
rawCommand = unparsedCommand;
try
{
camIndex = ParseCamIndex(unparsedCommand);
panAngle = ParsePanAngle(unparsedCommand);
}
catch (ArgumentException)
{
throw;
}
microcontroller = MicrocontrollerSingleton.Instance;
}
public TiltCommand(string unparsedCommand)
{
if (unparsedCommand == null)
{
throw new ArgumentNullException("Null string received");
}
rawCommand = unparsedCommand;
try
{
camIndex = ParseCamIndex(unparsedCommand);
tiltAngle = ParseTiltAngle(unparsedCommand);
}
catch (ArgumentException e)
{
Console.WriteLine(e.Message);
throw;
}
microcontroller = MicrocontrollerSingleton.Instance;
}
public PanCommand(string unparsedCommand)
{
//Extra error handling might be needed on a per-servo basis (ex: some servos are expected to do 360 degrees while others arent)
if (unparsedCommand == null)
{
throw new ArgumentNullException("Null string received");
}
rawCommand = unparsedCommand;
try
{
camIndex = ParseCamIndex(unparsedCommand);
panAngle = ParsePanAngle(unparsedCommand);
}
catch (ArgumentException)
{
throw;
}
microcontroller = MicrocontrollerSingleton.Instance;
}
public KeepAliveCommand()
{
microcontroller = MicrocontrollerSingleton.Instance;
}
public KeepAliveCommand()
{
microcontroller = MicrocontrollerSingleton.Instance;
}
