private void ExecuteCommand(Command cmd)
{
StreamWriter writer = null;
try
{
String path = Path.Combine(Path.GetDirectoryName(Assembly.GetExecutingAssembly().GetName().CodeBase), "htdocs");
path = Path.Combine(path, "drive.txt");
writer = File.AppendText(path);
Drive drive = World.Robot.drv;
MethodInfo methodInfo = drive.GetType().GetMethod(cmd.Method, cmd.GetTypes().ToArray());
if (methodInfo != null && methodInfo.GetCustomAttributes(typeof(RunMethod), false).Length == 1)
{
methodInfo.Invoke(drive, cmd.GetValues().ToArray());
while (!drive.Done) { Thread.Sleep(20); }
writer.WriteLine(cmd.ToString());
}
else
{
Console.WriteLine("could not interpret command");
}
}
finally
{
if (writer != null)
{
writer.Flush();
writer.Close();
}
}
}
public void CommandTest()
{
XmlSerializer serializer = new XmlSerializer(typeof(Command));
StringWriter stringWriter = new StringWriter();
XmlWriter xmlWriter = XmlWriter.Create(stringWriter);
Command cmd = new Command(); // TODO: Initialize to an appropriate value
cmd.Method = "RunLine";//RunLine(float length, float speed, float acceleration)
cmd.Parameters.Add(1.0f);
cmd.Parameters.Add(1.0f);
cmd.Parameters.Add(1.0f);
serializer.Serialize(xmlWriter, cmd);
xmlWriter.Flush();
Debug.WriteLine(stringWriter.ToString());
//XmlSerializer serializer = new XmlSerializer(typeof(Command));
StringReader stringReader = new StringReader(stringWriter.ToString());
XmlReader xmlReader = XmlReader.Create(stringReader);
if (serializer.CanDeserialize(xmlReader))
{
object o = serializer.Deserialize(xmlReader);
if (o is Command)
{
Command cmdDeserialized = (Command)o;
Debug.WriteLine(cmdDeserialized.ToString());
}
}
}
public void InterpretCommandTest()
{
RunMode actualMode = Constants.IsWinCE ? RunMode.Real : RunMode.Virtual;
Drive drv = new Drive(actualMode);
Robot r = new Robot(actualMode);
World.Robot = r;
Interpreter interpreter = new Interpreter();
//Interpreter_Accessor target = new Interpreter_Accessor(); // TODO: Initialize to an appropriate value
Command cmd = new Command(); // TODO: Initialize to an appropriate value
cmd.Method = "RunLine";//RunLine(float length, float speed, float acceleration)
//cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 });
//cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 });
//cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 });
////cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 });
//interpreter.InterpretCommand(cmd);
//target.InterpretCommand(cmd);
Assert.Inconclusive("A method that does not return a value cannot be verified.");
}
