static void ForwardCommand(Float32 distance)
{
// Ignore the distance because Sparki never moves more than 1 square.
Debug.Log($"Moving Sparki forward {distance} cm.");
sparki.needToMove = true;
}
void Update()
{
ros.Render();
Float32 msg = new Float32(100);
// Debug.Log(Publisher.GetMessageTopic());
ros.Publish(Publisher.GetMessageTopic(), msg);
}
internal static Cpu.Status NEGF(Script vm)
{
var srx = new SRX(vm, is_jump: false);
float f0 = Float32.FromInt(vm.cpu.registers[srx.dst]);
vm.cpu.registers[srx.dst] = Float32.ToInt(-f0);
return(Cpu.Status.OK);
}
internal static Cpu.Status CVTFW(Script vm)
{
var srx = new SRX(vm, is_jump: false);
float value = Float32.FromInt(vm.cpu.registers[srx.dst]);
// Floor float value to convert to int
vm.cpu.registers[srx.dst] = (int)value;
return(Cpu.Status.OK);
}
internal static Cpu.Status SUBF(Script vm)
{
var lrx = new LRX(vm);
float f0 = Float32.FromInt(vm.cpu.registers[lrx.dst]);
float f1 = Float32.FromInt(vm.cpu.registers[lrx.src]);
vm.cpu.registers[lrx.dst] = Float32.ToInt(f0 - f1);
return(Cpu.Status.OK);
}
internal static Cpu.Status CGEF(Script vm)
{
var lrx = new LRX(vm);
float f0 = Float32.FromInt(vm.cpu.registers[lrx.dst]);
float f1 = Float32.FromInt(vm.cpu.registers[lrx.src]);
vm.cpu.registers[Registers.EAX] = f0 >= f1 ? 1 : 0;
return(Cpu.Status.OK);
}
internal static Cpu.Status CVTWF(Script vm)
{
var srx = new SRX(vm, is_jump: false);
// Convert word to floating point
float value = (float)vm.cpu.registers[srx.dst];
// Store floating point representation in int value
vm.cpu.registers[srx.dst] = Float32.ToInt(value);
return(Cpu.Status.OK);
}
public bool EqualsType(MySubType other)
{
return(Bool == other.Bool &&
Int32 == other.Int32 &&
UInt32 == other.UInt32 &&
Int64 == other.Int64 &&
UInt64 == other.UInt64 &&
Float32.Equals(other.Float32) &&
Float64.Equals(other.Float64) &&
Enum == other.Enum &&
string.Equals(Str, other.Str));
}
protected bool EqualsType(MyType other)
{
return(Bool == other.Bool &&
Int32 == other.Int32 &&
UInt32 == other.UInt32 &&
Int64 == other.Int64 &&
UInt64 == other.UInt64 &&
Float32.Equals(other.Float32) &&
Float64.Equals(other.Float64) &&
string.Equals(Str, other.Str) &&
Enum == other.Enum &&
Equals(Struct, other.Struct));
}
static void TurnCommand(Float32 angle)
{
Debug.Log($"Turning Sparki {angle} degrees.");
sparki.needToTurn = (int)angle.data;
}
public Value(float v, Script vm = null)
{
value = Float32.ToInt(v);
is_void = false;
parent = vm;
}
private void _parse()
{
_datatype = ((DataType)m_io.ReadU1());
switch (Datatype)
{
case DataType.Integer:
{
_dataValue = new Integer(m_io, this, m_root);
break;
}
case DataType.Unsigned:
{
_dataValue = new Unsigned(m_io, this, m_root);
break;
}
case DataType.Long:
{
_dataValue = new Long(m_io, this, m_root);
break;
}
case DataType.Boolean:
{
_dataValue = new Boolean(m_io, this, m_root);
break;
}
case DataType.Structure:
{
_dataValue = new Structure(m_io, this, m_root);
break;
}
case DataType.Array:
{
_dataValue = new Array(m_io, this, m_root);
break;
}
case DataType.Float64:
{
_dataValue = new Float64(m_io, this, m_root);
break;
}
case DataType.DoNotCare:
{
_dataValue = new DoNotCare(m_io, this, m_root);
break;
}
case DataType.LongUnsigned:
{
_dataValue = new LongUnsigned(m_io, this, m_root);
break;
}
case DataType.Time:
{
_dataValue = new Time(m_io, this, m_root);
break;
}
case DataType.OctetString:
{
_dataValue = new OctetString(m_io, this, m_root);
break;
}
case DataType.NullData:
{
_dataValue = new NullData(m_io, this, m_root);
break;
}
case DataType.CompactArray:
{
_dataValue = new CompactArray(m_io, this, m_root);
break;
}
case DataType.DateTime:
{
_dataValue = new DateTime(m_io, this, m_root);
break;
}
case DataType.DoubleLongUnsigned:
{
_dataValue = new DoubleLongUnsigned(m_io, this, m_root);
break;
}
case DataType.Float32:
{
_dataValue = new Float32(m_io, this, m_root);
break;
}
case DataType.Long64Unsigned:
{
_dataValue = new Long64Unsigned(m_io, this, m_root);
break;
}
case DataType.DoubleLong:
{
_dataValue = new DoubleLong(m_io, this, m_root);
break;
}
case DataType.Long64:
{
_dataValue = new Long64(m_io, this, m_root);
break;
}
case DataType.Date:
{
_dataValue = new Date(m_io, this, m_root);
break;
}
case DataType.Enum:
{
_dataValue = new Enum(m_io, this, m_root);
break;
}
case DataType.Bcd:
{
_dataValue = new Bcd(m_io, this, m_root);
break;
}
case DataType.VisibleString:
{
_dataValue = new VisibleString(m_io, this, m_root);
break;
}
case DataType.BitString:
{
_dataValue = new BitString(m_io, this, m_root);
break;
}
}
}
void OnWinchMsg(Float32 winchMsg)
{
this.winchValue = winchMsg.data;
}
void OnHeadingMsg(Float32 headingMsg)
{
this.targetHeading = headingMsg.data;
}
