public override INode GetNextNode(INode node, MultirotorClient client, IModel graph, Action <string> writeToMessageBox)
{
var outEdges = graph.Edges.Where(x => x.From == node).ToList();
if (outEdges.Count != 2)
{
writeToMessageBox("Error: ifNode out edges count is not equal 2 ");
client.Dispose();
return(null);
}
IEdge edge = outEdges[0];
if (this.condition)
{
return((INode)(edge.Attributes.ToList()[0].StringValue == "true"
? edge.To
: outEdges[1].To));
}
else
{
return((INode)(edge.Attributes.ToList()[0].StringValue == "false"
? edge.To
: outEdges[1].To));
}
}
public virtual INode GetNextNode(
INode node,
MultirotorClient client,
IModel graph,
Action<string> writeToMessageBox)
{
var outEdges = graph.Edges.Where(x => x.From == node).ToList();
if (outEdges.Count > 1)
{
writeToMessageBox("Error: Node " + node.Name + " has more than the 1 out edge ");
client.Dispose();
return null;
}
if (outEdges.Count == 0)
{
if (recursionNodes.Count > 0)
{
return recursionNodes.Pop();
}
writeToMessageBox("Error: Node " + node.Name +
" has no out edges and it is not the final node ");
client.Dispose();
return null;
}
return (INode)outEdges[0].To;
}
/// <summary>
/// Main execution method
/// </summary>
/// <param name="programGraph"> Visual program to execute </param>
/// <param name="writeToConsole"> Method to writing to console </param>
public void Execute(IModel programGraph, Action<string> writeToConsole)
{
var curNode = this.GetInitNode(programGraph, writeToConsole);
if (curNode == null)
{
return;
}
writeToConsole("Running your code");
var client = new MultirotorClient();
while (recursionLevel >= 0)
{
Execution.Exec.ExecuteNode(ref curNode, client, programGraph, writeToConsole);
curNode = Execution.Exec.GetNextNode(curNode, client, programGraph, writeToConsole);
if (curNode == null)
{
return;
}
writeToConsole($"Node {curNode.Name} done");
}
client.Land();
client.Dispose();
writeToConsole("Program done");
}
public override void ExecuteNode(INode node, MultirotorClient client)
{
var t = float.Parse(node.Attributes.ToList()[0].StringValue);
client.EnableApiControl();
client.MoveByVelocityZ(float.Parse(node.Attributes.ToList()[0].StringValue));
}
public override void ExecuteNode(INode node, MultirotorClient client)
{
if (recursionLevel == 0)
{
client.CreateClient();
client.ConfirmConnection();
client.EnableApiControl();
}
}
public INode GetNextNode(
INode node,
MultirotorClient client,
IModel graph,
Action<string> writeToMessageBox)
{
if (!strategies.ContainsKey(node.Name))
{
return strategies["aInitialNode"].GetNextNode(node, client, graph, writeToMessageBox);
}
return strategies[node.Name].GetNextNode(node, client, graph, writeToMessageBox);
}
public void ExecuteNode(ref INode node, MultirotorClient client, IModel graph, Action<string> writeToMessageBox)
{
if (!strategies.ContainsKey(node.Name))
{
recursionNodes.Push(strategies["aInitialNode"].GetNextNode(node, client, graph, writeToMessageBox));
node = (INode)node.Function;
++recursionLevel;
this.ExecuteNode(ref node, client, graph, writeToMessageBox);
return;
}
strategies[node.Name].ExecuteNode(node, client);
}
public void ExecuteNode(ref INode node, MultirotorClient client, IModel graph, Action <string> writeToMessageBox)
{
if (!strategies.ContainsKey(node.Name))
{
// TODO: Functions were removed from repo, so this code does not work now.
recursionNodes.Push(strategies["aInitialNode"].GetNextNode(node, client, graph, writeToMessageBox));
++recursionLevel;
this.ExecuteNode(ref node, client, graph, writeToMessageBox);
return;
}
strategies[node.Name].ExecuteNode(node, client);
}
private bool CheckCondition(MultirotorClient client, string conditionString)
{
string sourceCode =
@"using System;
using System.IO;
using WpfEditor.AirSim;
public class Code
{
public bool Exe(MultirotorClient client)
{
return " + conditionString + @";
}
}";
bool ans = false;
if (!bool.TryParse(this.EvalCode("Code", "Exe", sourceCode, new object[] { client }), out ans))
{
return true;
}
return ans;
}
public abstract void ExecuteNode(INode node, MultirotorClient client);
public override void ExecuteNode(INode node, MultirotorClient client)
=> this.condition = this.CheckCondition(client, node.Attributes.ToList()[0].StringValue);
public override void ExecuteNode(INode node, MultirotorClient client)
{
client.Hover();
client.EnableApiControl();
}
public override void ExecuteNode(INode node, MultirotorClient client)
=> client.Sleep(float.Parse(node.Attributes.ToList()[0].StringValue));
public override void ExecuteNode(INode node, MultirotorClient client)
=> client.Land();
public override void ExecuteNode(INode node, MultirotorClient client)
{
--recursionLevel;
}