public IActionResult TiltDownHead(long id)
{
HeadVO robotHead = _robotService.GetHead(id);
int newInclinationNumber = ((int)robotHead.HeadInclination) + 1;
return(ChangeRobotInclination(id, robotHead, newInclinationNumber));
}
public IActionResult RotateHeadToRight(long id)
{
HeadVO robotHead = _robotService.GetHead(id);
int newRotationNumber = ((int)robotHead.HeadRotation) + 1;
return(ChangeRobotHeadRotation(id, robotHead, newRotationNumber));
}
public bool PutHead(long id, HeadVO headMoved)
{
bool isHeadMoved = false;
using (var client = new HttpClient())
{
client.BaseAddress = new Uri(_kraftwerkAPIUrl);
Task <HttpResponseMessage> putTask = client.PutAsJsonAsync <HeadVO>($"api/Robot/{id}/Head", headMoved);
putTask.Wait();
HttpResponseMessage result = putTask.Result;
if (result.IsSuccessStatusCode)
{
isHeadMoved = true;
}
else if (result.StatusCode == HttpStatusCode.BadRequest)
{
isHeadMoved = false;
}
}
return(isHeadMoved);
}
private JsonResult ChangeRobotHeadRotation(long id, HeadVO robotHead, int newRotationNumber)
{
HeadRotation newHeadRotation;
string newHeadRotationDescription = string.Empty;
bool isValidMovement = newRotationNumber.TryParseEnum(out newHeadRotation);
if (isValidMovement)
{
robotHead.HeadRotation = newHeadRotation;
newHeadRotationDescription = robotHead.HeadRotation.GetDescription();
bool isHeadMoved = _robotService.PutHead(id, robotHead);
if (isHeadMoved == false)
{
isValidMovement = false;
}
}
return(Json(new { isValidMovement, description = newHeadRotationDescription }));
}
public HeadVO GetHead(long id)
{
HeadVO head = null;
using (var client = new HttpClient())
{
client.BaseAddress = new Uri(_kraftwerkAPIUrl);
Task <HttpResponseMessage> responseTask = client.GetAsync($"api/robot/{id}/Head");
responseTask.Wait();
HttpResponseMessage result = responseTask.Result;
if (result.IsSuccessStatusCode)
{
Task <HeadVO> readTask = result.Content.ReadAsAsync <HeadVO>();
readTask.Wait();
head = readTask.Result;
}
}
return(head);
}
public bool CanMoveHead(RobotVO robot, HeadVO headMoved)
{
bool isInclinationMovement = IsInclinationMovement(robot, headMoved.HeadInclination);
bool isRotationMovement = IsRotationMovement(robot, headMoved.HeadRotation);
// Não pode haver dois movimentos de uma vez
if (isInclinationMovement && isRotationMovement)
{
return(false);
}
if (isInclinationMovement)
{
return(ChangeInclination(robot, headMoved.HeadInclination));
}
if (isRotationMovement)
{
return(ChangeRotation(robot, headMoved.HeadRotation));
}
//Não houve movimento
return(true);
}
