/// <summary>
/// Main execution method
/// </summary>
/// <param name="programGraph"> Visual program to execute </param>
/// <param name="writeToConsole"> Method to writing to console </param>
public void Execute(IModel programGraph, Action<string> writeToConsole)
{
var curNode = this.GetInitNode(programGraph, writeToConsole);
if (curNode == null)
{
return;
}
writeToConsole("Running your code");
var client = new MultirotorClient();
while (recursionLevel >= 0)
{
Execution.Exec.ExecuteNode(ref curNode, client, programGraph, writeToConsole);
curNode = Execution.Exec.GetNextNode(curNode, client, programGraph, writeToConsole);
if (curNode == null)
{
return;
}
writeToConsole($"Node {curNode.Name} done");
}
client.Land();
client.Dispose();
writeToConsole("Program done");
}
public override void ExecuteNode(INode node, MultirotorClient client)
=> client.Land();
