public void Start()
{
//controller.ValidateCustom(RobotModel, "ValidateAll");
foreach (SubprogramNode element in RobotModel.SubprogramNode)
{
go(element, "");
}
foreach (AbstractNode n in RobotModel.AbstractNode)
{
if (n is ParallelNode)
{
int cur = 0;
var list = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(n);
for (int i = 0; i < list.Count; i++)
{
if (!list[i].Condition.Equals(AbstractNodeReferencesTargetAbstractNode.GetLinksToSourceAbstractNode(n)[0].Condition))
{
writer.WriteLine("function " + n.ElemName + "_" + cur + "() {");
writer.PushIndent(" ");
generate(n.TargetAbstractNode[i], "FinishNode", true, false, "", list[i].Condition);
writer.PopIndent();
writer.WriteLine("}");
cur++;
}
}
}
}
AbstractNode f = null;
writer.WriteLine("function main() {");
writer.PushIndent(" ");
foreach (AbstractNode ab in RobotModel.AbstractNode)
{
if (ab is StartNode)
{
f = ab;
break;
}
}
generate(f.TargetAbstractNode[0], "FinishNode", true, false, "", "");
writer.PopIndent();
writer.WriteLine("}");
}
AbstractNode generate(AbstractNode f, String end, bool flag, bool isCycle, String subName, String thread)
{
while (f != null && (isCycle || (flag ? !f.ElemName.StartsWith(end) : !f.ElemName.Equals(end))))
{
if (!isCycle && !(f is FinishNode) && !(f is EndParallelNode))
{
if (nodes.Contains(f.ElemName))
{
context.LogError("Incorrect cycle found", "cycle");
return(null);
}
nodes.Add(f.ElemName);
}
if (!isCycle && !(f is FinishNode) && (f is IterationsNode && f.SourceAbstractNode.Count == 3 || (f is EndIfNode) && f.SourceAbstractNode.Count == 3 || !(f is IterationsNode) && !(f is EndIfNode) && !(f is EndParallelNode) && f.SourceAbstractNode.Count == 2))
{
f = generate(f, f.ElemName, false, true, subName, thread);
}
else if (f is FinishNode)
{
break;
}
//Warning(f.GetType().ToString());
else if (f is IfNode)
{
AbstractNode g = null, g1 = null;
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
else if (cond.Equals("true"))
{
g = generate(f.TargetAbstractNode[i], "EndIfNode", true, false, subName, thread);
}
else
{
g1 = generate(f.TargetAbstractNode[i], "EndIfNode", true, false, subName, thread);
}
}
if (g1 == null)
{
f = g;
}
else if (g == null)
{
f = g1;
}
else if (f != g)
{
context.LogError("EndIF must be the same", "if", f);
return(null);
}
}
else if (f is SubprogramCallNode)
{
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
f = f.TargetAbstractNode[i];
}
}
else if (f is IterationsNode)
{
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
f = generate(f.TargetAbstractNode[i], f.ElemName, false, false, subName, thread);
}
}
else if (f is EndParallelNode)
{
if (!AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[0].Condition.Equals(thread))
{
break;
}
else
{
var list = AbstractNodeReferencesTargetAbstractNode.GetLinksToSourceAbstractNode(f);
f = f.TargetAbstractNode[0];
}
}
else if (f is ParallelNode)
{
var list = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f);
AbstractNode g = null, g0 = null;
int cur = 0;
if (list.Count(obj => obj.Condition == thread) != 1)
{
context.LogError("Only one link must be the same thread", "thread", f);
return(null);
}
for (int i = 0; i < list.Count; i++)
{
if (!thread.Equals(list[i].Condition))
{
if (hs.Contains(list[i].Condition))
{
context.LogError("Repeatable thread name", "thread", f);
return(null);
}
hs.Add(list[i].Condition);
AbstractNode g1 = generate(list[i].TargetAbstractNode, "FinishNode", true, false, "", list[i].Condition);
if (g0 != null && g1 != g0)
{
context.LogError("EndParallel must be the same", "parallel", f);
return(null);
}
else
{
g0 = g1;
}
cur++;
}
else
{
g = f.TargetAbstractNode[i];
}
}
f = g;
}
else if (f is BreakNode)
{
break;
}
else if (f is SwitchNode)
{
AbstractNode g, g0 = null;
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
g = generate(f.TargetAbstractNode[i], "EndSwitch", true, false, subName, thread);
if (g != null)
{
if (g0 != null && g != g0)
{
context.LogError("EndSwitch must be the same", "switch", f);
return(null);
}
else
{
g0 = g;
}
}
}
f = g0;
}
else if (f is WaitSensorNode || f is DelayNode || f is MotorsNode || f is MotorsOffNode || f is WaitTouchNode)
{
f = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f).First(obj => obj.Condition != "out").TargetAbstractNode;
}
isCycle = false;
}
if (f != null)
{
nodes.Add(f.ElemName);
}
if (f == null)
{
return(null);
}
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
return(f.TargetAbstractNode[i]);
}
}
return(f.TargetAbstractNode.Count > 0 ? f.TargetAbstractNode[f.TargetAbstractNode.Count - 1] : null);
}
AbstractNode generate(AbstractNode f, String end, bool flag, bool isCycle, String subName, String thread)
{
while (isCycle || (f != null && (flag ? !f.ElemName.StartsWith(end) : !f.ElemName.Equals(end))))
{
if (!isCycle && !(f is FinishNode) && (f is IterationsNode && f.SourceAbstractNode.Count == 3 || (f is EndIfNode) && f.SourceAbstractNode.Count == 3 || !(f is IterationsNode) && !(f is EndIfNode) && !(f is EndParallelNode) && f.SourceAbstractNode.Count == 2))
{
writer.WriteLine("while(true) {");
writer.PushIndent(" ");
f = generate(f, f.ElemName, false, true, subName, thread);
writer.PopIndent();
writer.WriteLine("}");
//f = null;
}
else if (f is FinishNode)
{
writer.WriteLine("return;");
break;
}
//Warning(f.GetType().ToString());
else if (f is IfNode)
{
AbstractNode g = null;
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
else if (cond.Equals("true"))
{
writer.WriteLine("if (" + (f as IfNode).condition + ") {");
writer.PushIndent(" ");
g = generate(f.TargetAbstractNode[i], "EndIfNode", true, false, subName, thread);
writer.PopIndent();
writer.WriteLine("}");
}
}
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
else if (!cond.Equals("true"))
{
writer.WriteLine("else {");
writer.PushIndent(" ");
f = generate(f.TargetAbstractNode[i], "EndIfNode", true, false, subName, thread);
writer.PopIndent();
writer.WriteLine("}");
break;
}
}
if (f == null)
{
f = g;
}
}
else if (f is SubprogramCallNode)
{
writer.WriteLine(((SubprogramCallNode)f).Subprogram + "();");
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
f = f.TargetAbstractNode[i];
}
}
else if (f is IterationsNode)
{
writer.WriteLine(String.Format("for ({0} = 0; {0} < {1}; {0}++) {{", f.ElemName, (f as IterationsNode).number));
writer.PushIndent(" ");
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
f = generate(f.TargetAbstractNode[i], f.ElemName, false, false, subName, thread);
}
writer.PopIndent();
writer.WriteLine("}");
}
else if (f is EndParallelNode)
{
if (!AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[0].Condition.Equals(thread))
{
writer.WriteLine("return;");
break;
}
else
{
var list = AbstractNodeReferencesTargetAbstractNode.GetLinksToSourceAbstractNode(f);
for (int i = 0; i < list.Count; i++)
{
if (!thread.Equals(list[i].Condition))
{
writer.WriteLine("Threading.joinThread(\"{0}\");", list[i].Condition.Equals("") ? "main" : list[i].Condition);
}
}
f = f.TargetAbstractNode[0];
}
}
else if (f is ParallelNode)
{
var list = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f);
AbstractNode g = null;
int cur = 0;
for (int i = 0; i < list.Count; i++)
{
if (!thread.Equals(list[i].Condition))
{
writer.WriteLine("Threading.startThread(\"{0}\", \"{1}\");", list[i].Condition, subName + f.ElemName + "_" + cur);
cur++;
}
else
{
g = f.TargetAbstractNode[i];
}
}
f = g;
}
else if (f is BreakNode)
{
writer.WriteLine("break;");
break;
}
else if (f is SwitchNode)
{
writer.WriteLine(String.Format("switch ({0}) {{", ((SwitchNode)f).Condition));
AbstractNode g, g0 = null;
writer.PushIndent(" ");
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
continue;
}
else if (cond.Equals(""))
{
writer.WriteLine("default:");
}
else
{
writer.WriteLine(String.Format("case {0}:", AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition));
}
writer.PushIndent(" ");
g = generate(f.TargetAbstractNode[i], "EndSwitch", true, false, subName, thread);
writer.WriteLine("break;");
writer.PopIndent();
if (g != null)
{
g0 = g;
}
}
writer.PopIndent();
writer.WriteLine("}");
f = g0;
}
else if (f is MotorsNode)
{
String[] ports = ((MotorsNode)f).Ports.Split(',');
int power = ((MotorsNode)f).Power;
foreach (String s in ports)
{
writer.WriteLine("brick.motor({0}).setPower({1});", s, power);
}
f = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f).First(obj => obj.Condition != "out").TargetAbstractNode;
}
else if (f is DelayNode)
{
int ms = ((DelayNode)f).Time;
writer.WriteLine("script.wait({0});", ms);
f = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f).First(obj => obj.Condition != "out").TargetAbstractNode;
}
else if (f is WaitSensorNode)
{
int dist = ((WaitSensorNode)f).Distance;
string rv = ((WaitSensorNode)f).ReceivedValue;
string port = ((WaitSensorNode)f).Port;
writer.WriteLine("while (!(brick.sensor({0}).read() {1} {2})) {{", port, rv, dist);
writer.PushIndent(" ");
writer.WriteLine("script.wait(10);");
writer.PopIndent();
writer.WriteLine("}");
f = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f).First(obj => obj.Condition != "out").TargetAbstractNode;
}
else if (f is WaitTouchNode)
{
string port = ((WaitTouchNode)f).Port;
writer.WriteLine("while (brick.sensor({0}).read() < 0) {{", port);
writer.PushIndent(" ");
writer.WriteLine("script.wait(10);");
writer.PopIndent();
writer.WriteLine("}");
f = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f).First(obj => obj.Condition != "out").TargetAbstractNode;
}
else if (f is MotorsOffNode)
{
String[] ports = ((MotorsOffNode)f).Ports.Split(',');
foreach (String s in ports)
{
writer.WriteLine("brick.motor({0}).powerOff();", s);
}
f = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f).First(obj => obj.Condition != "out").TargetAbstractNode;
}
isCycle = false;
}
if (f is FinishNode && end.StartsWith("FinishNode"))
{
writer.WriteLine("return;");
}
if (f == null)
{
return(null);
}
for (int i = 0; i < f.TargetAbstractNode.Count; i++)
{
String cond = AbstractNodeReferencesTargetAbstractNode.GetLinksToTargetAbstractNode(f)[i].Condition;
if (cond.Equals("out"))
{
return(f.TargetAbstractNode[i]);
}
}
return(f.TargetAbstractNode.Count > 0 ? f.TargetAbstractNode[f.TargetAbstractNode.Count - 1] : null);
}