public NXTProtocol(object s, NXTStreamType stype)
{
stream = s;
streamType = stype;
cmdThread = new Thread(CommandWorker);
lsGetStatusDelegate = null;
lsReadDelegate = null;
ultrasonicDelegate = null;
batteryLevelDelegate = null;
getVersionDelegate = null;
getOutputDelegate = null;
getInputDelegate = null;
messageReadDelegate = null;
keepAliveDelegate = null;
}
public static V ReturnValue <I, V>(this I inValue, GetInputDelegate <I, V> getValue) => TeronisTools.ReturnValue(inValue, getValue);
public NXTProtocol(object s, NXTStreamType stype)
{
stream = s;
streamType = stype;
cmdThread = new Thread(CommandWorker);
lsGetStatusDelegate = null;
lsReadDelegate = null;
ultrasonicDelegate = null;
batteryLevelDelegate = null;
getVersionDelegate = null;
getOutputDelegate = null;
getInputDelegate = null;
messageReadDelegate = null;
keepAliveDelegate = null;
}
public static V ReturnValue <I, V>(this I inValue, [MaybeNull] out I outInValue, GetInputDelegate <I, V> getValue) => TeronisTools.ReturnValue(inValue, out outInValue, getValue);
public override IEnumerable <AssociativeNode> BuildOutputAst(List <AssociativeNode> inputAstNodes)
{
getInput = GetNodeInputs;
//setup list to hold elements
List <object> cnstList = new List <object>();
List <string> instList = new List <string>();
List <string> toolList = new List <string>();
List <string> wobjList = new List <string>();
//get the inputs
if (NodeModel != null && NodeView != null)
{
try
{
cnstList = getInput.Invoke(0).OfType <object>().ToList();
instList = getInput.Invoke(1).OfType <string>().ToList();
toolList = getInput.Invoke(2).OfType <string>().ToList();
wobjList = getInput.Invoke(3).OfType <string>().ToList();
}catch
{
Warning("All inputs need valid connections");
}
Func <string, List <object>, List <string>, List <string>, List <string>, string> func =
ToroUIfunctions.processUIdata;
string progData = string.Empty;
_fileExists = false;
if (CustomUi != null && _ModFileLoc != null)
{
_fileExists = File.Exists(_ModFileLoc);
//if (_fileExists && HasConnectedInput(0) && HasConnectedInput(1) && HasConnectedInput(2) && HasConnectedInput(3))
if (_fileExists)
{
RunProcessRapidCode =
new TaskFactory().StartNew(
() =>
progData =
ToroUIfunctions.processUIdata(_ModFileLoc, cnstList, instList, toolList, wobjList));
RunProcessRapidCode.Wait();
_programData = AstFactory.BuildStringNode(progData);
GetFileDataAndPopulatePanel(false);
}
}
}
else
{
_programData = AstFactory.BuildStringNode("No program data created");
}
List <AssociativeNode> _controler = new List <AssociativeNode>(6);
if (CustomUi != null && CustomUi.SetupPanel.hasController)
{
foreach (var s in CustomUi.SetupPanel.selectedControler)
{
_controler.Add(AstFactory.BuildStringNode(s));
}
}
else
{
_controler = new List <AssociativeNode>(1)
{
AstFactory.BuildNullNode()
};
}
return(new[]
{
AstFactory.BuildAssignment(GetAstIdentifierForOutputIndex(0), _programData),
AstFactory.BuildAssignment(GetAstIdentifierForOutputIndex(1), AstFactory.BuildExprList(_controler))
});
}
