public void RunLclVarScenario_UnsafeRead()
{
TestLibrary.TestFramework.BeginScenario(nameof(RunLclVarScenario_UnsafeRead));
var data = Unsafe.ReadUnaligned <UInt32>(ref Unsafe.As <UInt32, byte>(ref _data));
var result = ArmBase.ReverseElementBits(data);
ValidateResult(data, result);
}
public void RunLclVarScenario_UnsafeRead()
{
TestLibrary.TestFramework.BeginScenario(nameof(RunLclVarScenario_UnsafeRead));
var data = Unsafe.ReadUnaligned <Int32>(ref Unsafe.As <Int32, byte>(ref _data));
var result = ArmBase.LeadingZeroCount(data);
ValidateResult(data, result);
}
public void RunClassLclFldScenario()
{
TestLibrary.TestFramework.BeginScenario(nameof(RunClassLclFldScenario));
var test = new ScalarUnaryOpTest__ReverseElementBits_UInt32();
var result = ArmBase.ReverseElementBits(test._fld);
ValidateResult(test._fld, result);
}
public void RunStructLclFldScenario()
{
TestLibrary.TestFramework.BeginScenario(nameof(RunStructLclFldScenario));
var test = TestStruct.Create();
var result = ArmBase.LeadingZeroCount(test._fld);
ValidateResult(test._fld, result);
}
public void RunClassLclFldScenario()
{
TestLibrary.TestFramework.BeginScenario(nameof(RunClassLclFldScenario));
var test = new ScalarUnaryOpTest__LeadingZeroCount_Int32();
var result = ArmBase.LeadingZeroCount(test._fld);
ValidateResult(test._fld, result);
}
public ReadyClass(LegBase Rleg, LegBase LLeg, ArmBase Rarm, ArmBase LArm) : base(Rleg, LLeg, Rarm, LArm)
{
this.RLeg = RLeg;
this.LLeg = LLeg;
this.RArm = Rarm;
this.LArm = LArm;
TargetListMiddleward = new string[] { "5", "10", "5" };
}
public ShutDown(LegBase Rleg, LegBase LLeg, ArmBase Rarm, ArmBase LArm) : base(Rleg, LLeg, Rarm, LArm)
{
this.RLeg = RLeg;
this.LLeg = LLeg;
this.RArm = Rarm;
this.LArm = LArm;
//TargetListMiddleward = new string[] { "5", "10", "5" };
//TargetListBackward = new string[] { "-0", "0", "-0" };
//TargetListMiddleward = new string[] { "0", "0", "0" };
}
public void RunClsVarScenario()
{
TestLibrary.TestFramework.BeginScenario(nameof(RunClsVarScenario));
var result = ArmBase.ReverseElementBits(
_clsVar
);
ValidateResult(_clsVar, result);
}
public void RunClsVarScenario()
{
TestLibrary.TestFramework.BeginScenario(nameof(RunClsVarScenario));
var result = ArmBase.LeadingZeroCount(
_clsVar
);
ValidateResult(_clsVar, result);
}
public Arm2Class(ArmBase Rarm, ArmBase LArm) : base(Rarm, LArm)
{
this.RArm = Rarm;
this.LArm = LArm;
RArm.myMotor1.MyMotor.CustomData = "1,190,20";
RArm.myMotor2.MyMotor.CustomData = "1,0,20";
RArm.myMotor3.MyMotor.CustomData = "1,80,20";
}
public Arm1Class(ArmBase Rarm, ArmBase LArm) : base(Rarm, LArm)
{
this.RArm = Rarm;
this.LArm = LArm;
RArm.myMotor1.MyMotor.CustomData = "1,220,10";
RArm.myMotor2.MyMotor.CustomData = "1,0,10";
RArm.myMotor3.MyMotor.CustomData = "1,140,10";
RArm.myMotor4.MyMotor.CustomData = "1,90,10";
status = 0;
}
public HaltClass(LegBase Rleg, LegBase LLeg, ArmBase Rarm, ArmBase LArm) : base(Rleg, LLeg, Rarm, LArm)
{
this.RLeg = RLeg;
this.LLeg = LLeg;
this.RArm = Rarm;
this.LArm = LArm;
TargetListForward = new string[] { "10", "10", "5" };
TargetListBackward = new string[] { "-0", "0", "-0" };
TargetListMiddleward = new string[] { "0", "0", "0" };
RArm.myMotor1.MyMotor.CustomData = "1,0,10";
RArm.myMotor2.MyMotor.CustomData = "1,0,10";
}
public RunClass(LegBase Rleg, LegBase LLeg, ArmBase Rarm, ArmBase LArm) : base(Rleg, LLeg, Rarm, LArm)
{
this.RLeg = RLeg;
this.LLeg = LLeg;
this.RArm = Rarm;
this.LArm = LArm;
TargetListForward = new string[] { "40", "30", "-10" };
TargetListBackward = new string[] { "-30", "10", "20" };
TargetListMiddleward = new string[] { "50", "60", "40" };
RArm.myMotor1.MyMotor.CustomData = "1,90,20";
RArm.myMotor2.MyMotor.CustomData = "1,0,20";
}
static unsafe int Main(string[] args)
{
int testResult = ArmBase.IsSupported ? Pass : Fail;
try
{
ArmBase.Yield();
}
catch (Exception e)
{
testResult = (ArmBase.IsSupported || (e is not PlatformNotSupportedException)) ? Fail : Pass;
}
return(testResult);
}
public Program()
{
ArmR1 = GridTerminalSystem.GetBlockWithName("Rotor R") as IMyMotorStator;
ArmR2 = GridTerminalSystem.GetBlockWithName("Small Conveyor Hinge R1") as IMyMotorStator;
ArmR3 = GridTerminalSystem.GetBlockWithName("Two-ended Motor") as IMyMotorStator;
ArmR4 = GridTerminalSystem.GetBlockWithName("Two-ended Rotor") as IMyMotorStator;
ArmL1 = GridTerminalSystem.GetBlockWithName("Rotor L") as IMyMotorStator;
ArmL2 = GridTerminalSystem.GetBlockWithName("Small Conveyor Hinge L1") as IMyMotorStator;
mySensor = GridTerminalSystem.GetBlockWithName("Sensor") as IMySensorBlock;
Arm1 = new ArmBase(ArmR1, true, ArmR2, false, ArmR3, false, ArmR4, false);
Arm2 = new ArmBase(ArmL1, false, ArmL2, false, ArmL2, false, ArmL2, false);
DriveEntity = new WalkClass(Arm1, Arm2);
Runtime.UpdateFrequency = UpdateFrequency.Update1;
}
public static int LeadingZeroCount(uint value)
{
if (Lzcnt.IsSupported)
{
// LZCNT contract is 0->32
return((int)Lzcnt.LeadingZeroCount(value));
}
if (ArmBase.IsSupported)
{
return(ArmBase.LeadingZeroCount(value));
}
// Unguarded fallback contract is 0->31
if (value == 0)
{
return(32);
}
return(31 - Log2SoftwareFallback(value));
}
/// <summary>
/// コンストラクタ
/// </summary>
public Program()
{
cockpit = GridTerminalSystem.GetBlockWithName("Azimuth Open Cockpit") as IMyCockpit;
GridTerminalSystem.GetBlockGroupWithName("Gyros").GetBlocks(gyros);
roterR1 = GridTerminalSystem.GetBlockWithName("Hinge R1") as IMyMotorStator;
roterR2 = GridTerminalSystem.GetBlockWithName("Hinge R2") as IMyMotorStator;
roterR3 = GridTerminalSystem.GetBlockWithName("Hinge R3") as IMyMotorStator;
roterL1 = GridTerminalSystem.GetBlockWithName("Hinge L1") as IMyMotorStator;
roterL2 = GridTerminalSystem.GetBlockWithName("Hinge L2") as IMyMotorStator;
roterL3 = GridTerminalSystem.GetBlockWithName("Hinge L3") as IMyMotorStator;
ArmR1 = GridTerminalSystem.GetBlockWithName("Rotor R") as IMyMotorStator;
ArmR2 = GridTerminalSystem.GetBlockWithName("Small Conveyor Hinge R1") as IMyMotorStator;
ArmL1 = GridTerminalSystem.GetBlockWithName("Rotor L") as IMyMotorStator;
ArmL2 = GridTerminalSystem.GetBlockWithName("Small Conveyor Hinge L1") as IMyMotorStator;
mySensor = GridTerminalSystem.GetBlockWithName("Sensor") as IMySensorBlock;
text = GridTerminalSystem.GetBlockWithName("Text panel") as IMyTextPanel;
befTime = DateTime.UtcNow;
buff1 = new LegBase(roterR1, true, roterR2, false, roterR3, true);
buff2 = new LegBase(roterL1, false, roterL2, false, roterL3, true);
Arm1 = new ArmBase(ArmR1, true, ArmR2, false, ArmR2, false);
Arm2 = new ArmBase(ArmL1, false, ArmL2, false, ArmL2, false);
DriveEntity = new HaltClass(buff1, buff2, Arm1, Arm2);
st = "Walk";
Me.CustomData = "Walk";
Runtime.UpdateFrequency = UpdateFrequency.Update1;
nowTime = DateTime.UtcNow;
befTime = DateTime.UtcNow;
}
public void RunStructFldScenario(ScalarUnaryOpTest__LeadingZeroCount_UInt32 testClass)
{
var result = ArmBase.LeadingZeroCount(_fld);
testClass.ValidateResult(_fld, result);
}
public void RunStructFldScenario(ScalarUnaryOpTest__ReverseElementBits_Int32 testClass)
{
var result = ArmBase.ReverseElementBits(_fld);
testClass.ValidateResult(_fld, result);
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="RLeg">右足</param>
/// <param name="LLeg">左脚</param>
public OperationBase(ArmBase Rarm, ArmBase LArm)
{
this.RArm = Rarm;
this.LArm = LArm;
ctrlStatus = Utilty.StatusEnum.off;
}
