//Checks all Files on runtime
private static void File_Check()
{
if (!Directory.Exists("Files/"))
{
Directory.CreateDirectory("Files/");
}
if (!File.Exists("Files/auth.json"))
{
File.Create("Files/auth.json");
auth_Exists = false;
}
if (!File.Exists(CommandFunctions.linkPath))
{
File.Create(CommandFunctions.linkPath).Close();
}
else
{
CommandFunctions.UpdateLinks(File.ReadAllLines("Files/Links.txt").ToList());
}
if (!File.Exists(CommandFunctions.usercommandsPath))
{
File.Create(CommandFunctions.usercommandsPath).Close();
}
if (!File.Exists(CommandFunctions.usermessagesPath))
{
File.Create(CommandFunctions.usermessagesPath).Close();
}
}
private void bd_OnExecute(NameValueMap Context)
{
// Link button clicks to their respective commands.
switch (bd.InternalName)
{
case "my_first_button":
CommandFunctions.RunAnExe();
return;
case "my_second_button":
CommandFunctions.PopupMessage();
return;
case "close_doc_button":
CommandFunctions.CloseDocument();
return;
case "export_dxf_button":
CommandFunctions.ExportDxf();
return;
default:
return;
}
}
public void Place_XYvalueInRange_ReturntTrue()
{
var commandFunctions = new CommandFunctions();
var x = 3;
var y = 0;
var direction = EnumFaces.NORTH;
var result = commandFunctions.Place(x, y, direction);
Assert.IsTrue(result);
}
public void Place_XYvaluesOutOfRange_ReturnFalse()
{
var commandFunctions = new CommandFunctions();
var x = 5;
var y = 0;
var direction = EnumFaces.NORTH;
var result = commandFunctions.Place(x, y, direction);
Assert.IsFalse(result);
}
public void Turn_LeftTurnWithNorthFace_ReurnWest()
{
//Arrange
var commandFunctions = new CommandFunctions();
var expectedValue = EnumFaces.WEST;
//Act
commandFunctions.Turn(EnumFaces.NORTH, EnumTurn.LEFT);
//Assert
Assert.AreEqual(commandFunctions.CurrentFace, expectedValue);
}
public async Task AddLink(string link)
{
string linktest = link.Substring(0, 5);
if (linktest.ToLower() != "https")
{
await ReplyAsync("Please provide a link with https at the beginning");
}
int tmp = CommandFunctions.AddLink(link);
await ReplyAsync($"Link added successfully and is #{tmp}");
}
//Command Handler
private async Task HandleCommandAsync(SocketMessage arg)
{
//Stores user message and initilizes message position
SocketUserMessage message = arg as SocketUserMessage;
int argPos = 0;
IGuildChannel bots;
if (message == null)
{
return;
}
//checks to see if the user is a bot
else
//Checks for prefix or specified passthrough commands
if (message.HasStringPrefix("!", ref argPos) ||
message.Content.ToLower() == "help" ||
message.Content.ToLower() == "linking" ||
message.Content.ToLower() == "calculator" ||
message.Content.ToLower() == "blackjack" ||
message.Content.ToLower() == "k")
{
//Saves user Input to a debug file for later inspection
CommandFunctions.UserCommand(message);
if (message.Author.IsBot)
{
return;
}
//generates an object from the user message
SocketCommandContext context = new SocketCommandContext(_client, message);
//Attempts to run the command and outputs accordingly
IResult result = await _commands.ExecuteAsync(context, argPos, _services);
if (!result.IsSuccess)
{
Console.WriteLine(result.ErrorReason);
await message.Channel.SendMessageAsync(result.ErrorReason);
}
if (result.Error.Equals(CommandError.UnmetPrecondition))
{
await message.Channel.SendMessageAsync(result.ErrorReason);
}
}
//if something fails the Prefix check it just returns
else
{
if (!message.Author.IsBot)
{
CommandFunctions.UserMessages(message);
}
return;
}
}
public void Move_WithNorthDirectionAndInValidValue_ReturnTrue()
{
var commandFunctions = new CommandFunctions
{
XValue = 1,
YValue = 4,
CurrentFace = EnumFaces.NORTH
};
var expectedValue = 4;
commandFunctions.Move();
Assert.AreEqual(expectedValue, commandFunctions.YValue);
}
/// <summary>
/// 痉挛复位
/// </summary>
/// <param name="Pos">复位点位置</param>
/// <param name="Speed">复位速度</param>
/// <param name="Deviation">误差</param>
/// <returns></returns>
IEnumerator WaitForSpasmReset(Vector2 Pos, int Speed, int Deviation)
{
//如果有痉挛，清除痉挛
if (CommandFunctions.IsCaution)
{
DynaLinkHS.CmdClearAlm();
}
float waittime = 0;
do
{
yield return(new WaitForSeconds(0.5f));
waittime += 0.5f;
DynaLinkHS.CmdClearAlm();
}while (CommandFunctions.IsCaution && waittime <= 2f);
if (waittime > 2)
{
Debug.Log("清除痉挛失败");
CommandFunctions.spasmState = CommandFunctions.SpasmState.Recovering;
yield break;
}
DynaLinkHS.CmdServoOff();
Ienumerator = CommandFunctions.WaitForResetting(Pos, Speed, Deviation);
//等待复位到上一个点
yield return(StartCoroutine(Ienumerator));
//如果痉挛复位中出现断开连接或者急停，停止复位，并把状态重新切换为在痉挛复位阶段
if (CommandFunctions.IsEmrgencyStop || !CommandFunctions.IsConnected || CommandFunctions.IsCaution)
{
Debug.Log("出现急停或者断开连接,ResettingFailed");
//把状态重新切换为在痉挛复位阶段
CommandFunctions.spasmState = CommandFunctions.SpasmState.Recovering;
yield break;
}
if (CommandFunctions.IsFault)
{
if (CommandFunctions.IsCaution)
{
DynaLinkHS.CmdClearAlm();
}
}
Debug.Log("痉挛复位完成");
//复位完成，痉挛处理过程结束，切换标志位
ControlSpasmAgain = false;
//CommandFunctions.IsSpasmFinished = true;
CommandFunctions.spasmState = CommandFunctions.SpasmState.NoSpasm;
}
public async Task DeleteLink(int input)
{
if (input == 0)
{
input = 1;
}
if (input > CommandFunctions.LinksPub.Count)
{
await ReplyAsync($"Your index exceeds the size of the list, the list is currently: {input}" +
"\nLinks long");
return;
}
CommandFunctions.RemoveLink(input - 1);
await ReplyAsync("Link removed from list!");
}
/// <summary>
/// 游戏结束后复位
/// </summary>
/// <param name="Pos">复位点位置</param>
/// <param name="Speed">复位速度</param>
/// <param name="Deviation">误差</param>
/// <returns></returns>
IEnumerator WaitForEndReset(Vector2 Pos, int Speed, int Deviation)
{
//开始等待复位完成
yield return(StartCoroutine(CommandFunctions.WaitForResetting(Pos, Speed, Deviation)));
//如果是出现断开连接或者急停或者痉挛，停止复位，等故障清除后重新复位
if (CommandFunctions.IsEmrgencyStop || !CommandFunctions.IsConnected || CommandFunctions.IsCaution || CommandFunctions.IsPause)
{
Debug.Log("出现急停或者断开连接,ResettingFailed");
CommandFunctions.resettingState = CommandFunctions.ResettingState.EndResetting;
yield break;
}
//复位结束，改变游戏结束复位标志位。
Debug.Log("ResettingFinished");
CommandFunctions.resettingState = CommandFunctions.ResettingState.ResetFinshed;
CommandFunctions.IsInReset = false;
CommandFunctions.IsResetEndFinished = true;
MainCore.Instance.IsGaming = false;
}
IEnumerator PassiveMoveToRespawnLoc()
{
while (DynaLinkHS.MotionInProcess)
{
Debug.LogWarning("<color=orange>Motion in process! Waiting one frame!</color>");
yield return("Wait for one frame");
}
Vector2 targetVec = MachinePara.ResetVect;
CommandFunctions.InitializeStartReset(targetVec, 150000, 300);
Debug.Log(string.Format("<color=cyan>PassiveMoveTo:</color> ({0}, {1})", (int)targetVec.x, (int)targetVec.y));
do
{
yield return(new WaitForSeconds(1f));
} while (!CommandFunctions.IsResetStartFinished || DynaLinkHS.MotionInProcess);
CommandFunctions.IsResetStartFinished = false;
GameStart.Instance.OpenOrCloseMessagePage(false, HiddenObjectPage.ResettingPage);
Debug.Log("<color=yellow>End resetting!</color>");
yield return("End resetting!");
}
private void MySecondButton_OnExecute(NameValueMap Context)
{
CommandFunctions.PopupMessage();
}
/// <summary>
/// Called on Update
/// </summary>
void MonitorMachineStatus()
{
if (DiagnosticStatus.MotStatus.Caution && !_isbool)
{
OpenUIForm("Spasm");
_isCaution = true;
//CommandFunctions.SpasmRecover(new Vector2(81500, 35600), 150000, 300, 3, 60);
Vector2 rePoint = new Vector2();
if (_canStartGame)
{
rePoint.x = Mathf.CeilToInt(_lastPos.x / MachinePara.WidthScale);
rePoint.y = Mathf.CeilToInt(_lastPos.y / MachinePara.HeightScale);
}
else
{
rePoint = MachinePara.ResetVect;
}
CommandFunctions.SpasmRecover(rePoint, 150000, 300, 3, 60);
_isbool = true;
}
if (CommandFunctions.IsSpasmFinished)
{
Debug.LogWarning("<color=orange>" + CommandFunctions.IsInReset + "</color>");
if (CommandFunctions.IsInReset)
{
CommandFunctions.RestartReset();
}
//else
//{
// if (GlobalApplication.CanRecord)
// SendMachineCmd();
//}
CommandFunctions.IsSpasmFinished = false;
_isbool = false;
_isCaution = false;
}
//if (CommandFunctions.IsSpasmAgain)
//{
// Debug.Log("二次痉挛");
// CommandFunctions.SpasmAgainRecover();
// CommandFunctions.IsSpasmAgain = false;
//}
if (!CommandFunctions.IsConnected || DynaLinkHS.EMstop || _isCaution)
{
GlobalApplication.IsPause = true;
_canSendCmd = true;
}
else
{
if (!_isGameStop)
{
GlobalApplication.IsPause = false;
}
}
if (_canSendCmd && _canStartGame && !_isCaution && CommandFunctions.IsConnected && !DynaLinkHS.EMstop)
{
if (_isGameStop)
{
DynaLinkHS.CmdServoOn();
}
else
{
SendMachineCmd();
}
_canSendCmd = false;
}
}
private void CloseDocButton_OnExecute(NameValueMap Context)
{
CommandFunctions.CloseDocument();
}
public async Task Roll(int dice_size = 6)
{
await ReplyAsync($"You rolled a {CommandFunctions.DiceRoll(dice_size + 1)}");
}
// Link button clicks to their respective commands.
private void MyFirstButton_OnExecute(NameValueMap Context)
{
CommandFunctions.RunAnExe();
}
