/// <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(Graph programGraph, Action <string> writeToConsole)
{
writeToMessageBox = writeToConsole;
graph = programGraph;
NodeViewModel curNode = GetInitNode();
if (curNode == null)
{
return;
}
writeToMessageBox("Running your code");
var client = new MultirotorClient();
while (curNode.Name != "aFinalNode")
{
Execution.ExecuteNode(curNode, client);
curNode = Execution.GetNextNode(curNode, client);
if (curNode == null)
{
return;
}
writeToMessageBox($"Node {curNode.Name} done");
}
client.Land();
client.Dispose();
writeToMessageBox("Program done");
}
private static 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 + @";
}
}";
return(bool.Parse(EvalCode("Code", "Exe", sourceCode, new object[] { client })));
}
public virtual NodeViewModel GetNextNode(NodeViewModel node, MultirotorClient client)
{
if (graph.DataGraph.OutEdges(node).Count() > 1)
{
writeToMessageBox("Error: Node " + node.Name + " has more than the 1 out edge ");
client.Dispose();
return(null);
}
if (!graph.DataGraph.OutEdges(node).Any())
{
writeToMessageBox("Error: Node " + node.Name +
" has no out edges and it is not the final node ");
client.Dispose();
return(null);
}
return(graph.DataGraph.OutEdges(node).ToList()[0].Target);
}
public override NodeViewModel GetNextNode(NodeViewModel node, MultirotorClient client)
{
if (graph.DataGraph.OutEdges(node).Count() != 2)
{
writeToMessageBox("Error: ifNode out edges count is not equal 2 ");
client.Dispose();
return(null);
}
if (condition)
{
EdgeViewModel edge = graph.DataGraph.OutEdges(node).ToList()[0];
return(edge.Attributes[0].Value == "true"
? edge.Target
: graph.DataGraph.OutEdges(node).ToList()[1].Target);
}
else
{
EdgeViewModel edge = graph.DataGraph.OutEdges(node).ToList()[0];
return(edge.Attributes[0].Value == "false"
? edge.Target
: graph.DataGraph.OutEdges(node).ToList()[1].Target);
}
}
public static NodeViewModel GetNextNode(NodeViewModel node, MultirotorClient client) => strategies[node.Name].GetNextNode(node, client);
public static void ExecuteNode(NodeViewModel node, MultirotorClient client) => strategies[node.Name].ExecuteNode(node, client);
public override void ExecuteNode(NodeViewModel node, MultirotorClient client) => condition = CheckCondition(client, node.Attributes[0].Value);
public override void ExecuteNode(NodeViewModel node, MultirotorClient client)
{
client.Hover();
client.EnableApiControl();
}
public override void ExecuteNode(NodeViewModel node, MultirotorClient client) => client.Sleep(float.Parse(node.Attributes[0].Value));
public override void ExecuteNode(NodeViewModel node, MultirotorClient client) => client.Land();
public override void ExecuteNode(NodeViewModel node, MultirotorClient client)
{
client.CreateClient();
client.ConfirmConnection();
client.EnableApiControl();
}
public abstract void ExecuteNode(NodeViewModel node, MultirotorClient client);
