public static string GetText(NaoCommand command)
{
var type = typeof(NaoCommand);
var memInfo = type.GetMember(command.ToString());
var attributes = memInfo[0].GetCustomAttributes(typeof(NaoCommandAttribute), false);
var text = attributes != null && attributes.Length > 0 ? ((NaoCommandAttribute)attributes[0]).Text : command.ToString();
return(text);
}
public NaoState GetNext(NaoCommand command)
{
NaoStateTransition transition = new NaoStateTransition(CurrentState, command);
NaoState nextState;
if (!this._transitions.TryGetValue(transition, out nextState))
{
throw new Exception("Invalid transition: " + this.CurrentState + " -> " + command);
}
return(nextState);
}
/// <summary>
/// Pauses the specified command
/// </summary>
/// <param name="command"></param>
public void Pause(NaoCommand command)
{
switch (command)
{
case NaoCommand.GoToGrabLocation:
if (this._walkToNaoMark != null)
{
this._walkToNaoMark.StopWalking();
}
break;
case NaoCommand.WalkWithObject:
_objectHandlingExecuter.StopWalking();
break;
case NaoCommand.SynchRobot:
this._robotSynch.CancelSynchronization();
break;
}
}
/// <summary>
/// Executes the specified command
/// </summary>
/// <param name="command"></param>
/// <param name="commandParameters"></param>
public void Execute(NaoCommand command, Dictionary <string, string> commandParameters)
{
switch (command)
{
case NaoCommand.GoToGrabLocation:
GoToGrabLocation();
break;
case NaoCommand.GoToLiftPosition:
break;
case NaoCommand.SynchRobot:
break;
case NaoCommand.WalkToCheckpoint:
break;
case NaoCommand.WalkWithObject:
break;
}
System.Threading.Thread.Sleep(1000);
}
public NaoStateTransition(NaoState currentState, NaoCommand command)
{
this._currentState = currentState;
this._command = command;
}
public static string GetText(this NaoCommand value)
{
return(NaoCommandAttribute.GetText(value));
}
protected void ExecuteCommand(NaoCommand command)
{
}
public NaoState MoveNext(NaoCommand command)
{
this.CurrentState = GetNext(command);
return(CurrentState);
}
