public void Execute()
{
if (!CanExecute)
{
throw new InvalidOperationException("Cannot execute in the current state");
}
if (CurrentLine != null)
{
Command cmd;
switch (CurrentLine.Instruction)
{
case MoveInstruction _:
cmd = new MoveCommand(this);
break;
case ArithmeticInstruction _:
cmd = new ArithmeticCommand(this);
break;
case BranchInstruction _:
cmd = new BranchCommand(this);
break;
case HaltInstruction _:
cmd = new HaltCommand(this);
break;
case StoreInstruction _:
cmd = new StoreCommand(this);
break;
case LoadInstruction _:
cmd = new LoadCommand(this);
break;
case NoOperation _:
cmd = new NoCommand(this);
break;
default:
throw new ArgumentOutOfRangeException();
}
cmd.Execute();
}
}
public abstract void Visit(HaltCommand command);
public override void Visit(HaltCommand command)
{
Console.WriteLine("Halt");
}
public virtual T Visit(HaltCommand command)
{
return(default(T));
}
/// <summary>
/// When certain commands are trigered, we might want to do something else like trigger an event
/// </summary>
/// <param name="command"></param>
/// <param name="callback"></param>
private async void HandleRobotCommand(object sender, RobotCommandDetails details)
{
var command = details.RobotCommand;
switch (command.MessageType)
{
//These commands trigger events if the skill is regisered
case MessageType.Stop:
if (_locomotionCommandEventDetails != null)
{
MockedRobot.TriggerRobotEvent(new LocomotionCommandEvent(0, 0, _locomotionCommandEventDetails.EventId));
}
break;
case MessageType.Drive:
if (_locomotionCommandEventDetails != null)
{
DriveCommand newCommand = (DriveCommand)command;
MockedRobot.TriggerRobotEvent(new LocomotionCommandEvent(newCommand.LinearVelocity, newCommand.AngularVelocity, _locomotionCommandEventDetails.EventId));
}
break;
case MessageType.DriveTime:
if (_locomotionCommandEventDetails != null)
{
DriveTimeCommand newCommand = (DriveTimeCommand)command;
MockedRobot.TriggerRobotEvent(new LocomotionCommandEvent(newCommand.LinearVelocity, newCommand.AngularVelocity, _locomotionCommandEventDetails.EventId));
}
break;
case MessageType.Halt:
if (_haltCommandEventDetails != null)
{
HaltCommand newCommand = (HaltCommand)command;
MockedRobot.TriggerRobotEvent(new HaltCommandEvent(newCommand.MotorMasks, _haltCommandEventDetails.EventId));
}
break;
case MessageType.PlayAudio:
if (_audioPlayCompleteCommandEventDetails != null)
{
PlayAudioCommand newCommand = (PlayAudioCommand)command;
await Task.Delay(3000); //send an event 3 seconds after started playing for now...
MockedRobot.TriggerRobotEvent(new AudioPlayCompleteEvent(newCommand.FileName, _audioPlayCompleteCommandEventDetails.EventId));
}
break;
//Update state flag so know if events should really be sent
case MessageType.StartKeyPhraseRecognition:
_keyPhraseRecRunning = true;
break;
case MessageType.StopKeyPhraseRecognition:
_keyPhraseRecRunning = false;
break;
case MessageType.StartFaceDetection:
_faceDetectRunning = true;
break;
case MessageType.StartFaceRecognition:
_faceRecRunning = true;
break;
case MessageType.StopFaceDetection:
_faceDetectRunning = false;
break;
case MessageType.StopFaceRecognition:
_faceRecRunning = false;
break;
}
}
private ICommand CommandFromString(string name, string[] arguments)
{
ICommand command = null;
switch (name)
{
case "SET":
{
Register register = Registers[arguments[0]];
int value = int.Parse(arguments[1]);
command = new SetCommand(register, value);
break;
}
case "ADD":
{
Register registerOne = Registers[arguments[0]];
Register registerTwo = Registers[arguments[1]];
Register registerOut = Registers[arguments[2]];
command = new AddCommand(registerOne, registerTwo, registerOut);
break;
}
case "SUB":
{
Register registerOne = Registers[arguments[0]];
Register registerTwo = Registers[arguments[1]];
Register registerOut = Registers[arguments[2]];
command = new SubtractCommand(registerOne, registerTwo, registerOut);
break;
}
case "MUL":
{
Register registerOne = Registers[arguments[0]];
Register registerTwo = Registers[arguments[1]];
Register registerOut = Registers[arguments[2]];
command = new MultiplyCommand(registerOne, registerTwo, registerOut);
break;
}
case "DIV":
{
Register registerOne = Registers[arguments[0]];
Register registerTwo = Registers[arguments[1]];
Register registerOut = Registers[arguments[2]];
command = new DivideCommand(registerOne, registerTwo, registerOut);
break;
}
case "OUT":
{
if (Registers.ContainsKey(arguments[0]))
{
Register register = Registers[arguments[0]];
command = new OutCommand(register);
}
else
{
command = new OutCommand(arguments[0]);
}
break;
}
case "HLT":
{
command = new HaltCommand();
break;
}
case "JMP":
{
string label = arguments[0];
command = new JumpCommand(label);
break;
}
case "JIF":
{
Register registerOne = Registers[arguments[0]];
Register registerTwo = Registers[arguments[2]];
string conditionString = arguments[1];
JumpCondition jumpCondition = JumpCondition.Undefined;
switch (conditionString)
{
case "==":
jumpCondition = JumpCondition.Equal;
break;
case "<":
jumpCondition = JumpCondition.LessThan;
break;
case "<=":
jumpCondition = JumpCondition.LessThanOrEqual;
break;
case ">":
jumpCondition = JumpCondition.GreaterThan;
break;
case ">=":
jumpCondition = JumpCondition.GreaterThanOrEqual;
break;
case "!=":
jumpCondition = JumpCondition.NotEqual;
break;
}
string label = arguments[3];
command = new JumpIfCommand(registerOne, registerTwo, label, jumpCondition);
break;
}
case "CPY":
{
Register registerOne = Registers[arguments[0]];
Register registerTwo = Registers[arguments[1]];
command = new CopyCommand(registerOne, registerTwo);
break;
}
default:
if (name == "str:")
{
string stringKey = arguments[0];
string stringValue = string.Empty;
for (int i = 1; i < arguments.Length; i++)
{
stringValue += arguments[i];
if (i < arguments.Length)
{
stringValue += " ";
}
}
Program.RegisterString(stringKey, stringValue);
}
else if (name.Length > 1 && name.EndsWith(":"))
{
Program.MakeLabel(name.Substring(0, name.Length - 1));
break;
}
break;
}
return(command);
}
