private void _Add(Command command)
{
if (command == null)
{
return;
}
if (m_adding)
{
Console.Error.WriteLine($"WARNING: Cannot start command from cancel method. Ignoring: {command}");
}
if (!m_commandTable.ContainsKey(command))
{
IEnumerable <Subsystem> requirements = command.GetRequirements();
if (requirements.Any(subsystem => subsystem.GetCurrentCommand() != null && !subsystem.GetCurrentCommand().Interruptible))
{
return;
}
m_adding = true;
requirements = command.GetRequirements();
foreach (var subsystem in requirements)
{
if (subsystem.GetCurrentCommand() != null)
{
subsystem.GetCurrentCommand().Cancel();
Remove(subsystem.GetCurrentCommand());
}
subsystem.SetCurrentCommand(command);
}
m_adding = false;
LinkedListElement element = new LinkedListElement();
element.SetData(command);
if (m_firstCommand == null)
{
m_firstCommand = m_lastCommand = element;
}
else
{
m_lastCommand.Add(element);
m_lastCommand = element;
}
m_commandTable.Add(command, element);
m_runningCommandsChanged = true;
command.StartRunning();
}
}
private void _Add(Command command)
{
if (command == null)
{
return;
}
if (m_adding)
{
Console.Error.WriteLine($"WARNING: Cannot start command from cancel method. Ignoring: {command}");
}
if (!m_activeCommands.Contains(command))
{
var requirements = command.GetRequirements();
var currentCommands = requirements.Select(subsystem => subsystem.GetCurrentCommand())
.Where(x => x != null);
// If there are any non-interruptible commands on the subsystems required for this command
if (currentCommands.Any(cmd => !cmd.Interruptible))
{
return;
}
m_adding = true;
foreach (var subsystem in requirements)
{
if (subsystem.GetCurrentCommand() != null)
{
subsystem.GetCurrentCommand().Cancel();
Remove(subsystem.GetCurrentCommand());
}
subsystem.SetCurrentCommand(command);
}
m_adding = false;
m_activeCommands.Add(command);
m_runningCommandsChanged = true;
command.StartRunning();
}
}
private void _Add(Command command)
{
if (command == null)
{
return;
}
if (m_adding)
{
Console.Error.WriteLine($"WARNING: Cannot start command from cancel method. Ignoring: {command}");
}
if (!m_commandTable.ContainsKey(command))
{
IEnumerable<Subsystem> requirements = command.GetRequirements();
if (requirements.Any(subsystem => subsystem.GetCurrentCommand() != null && !subsystem.GetCurrentCommand().Interruptible))
{
return;
}
m_adding = true;
requirements = command.GetRequirements();
foreach (var subsystem in requirements)
{
if (subsystem.GetCurrentCommand() != null)
{
subsystem.GetCurrentCommand().Cancel();
Remove(subsystem.GetCurrentCommand());
}
subsystem.SetCurrentCommand(command);
}
m_adding = false;
LinkedListElement element = new LinkedListElement();
element.SetData(command);
if (m_firstCommand == null)
{
m_firstCommand = m_lastCommand = element;
}
else
{
m_lastCommand.Add(element);
m_lastCommand = element;
}
m_commandTable.Add(command, element);
m_runningCommandsChanged = true;
command.StartRunning();
}
}
/// <inheritdoc/>
internal override void _Execute()
{
Entry entry = null;
Command cmd = null;
bool firstRun = false;
if (m_currentCommandIndex == -1)
{
firstRun = true;
m_currentCommandIndex = 0;
}
while (m_currentCommandIndex < m_commands.Count())
{
if (cmd != null)
{
if (entry.IsTimedOut())
{
cmd._Cancel();
}
if (cmd.Run())
{
break;
}
else
{
cmd.Removed();
m_currentCommandIndex++;
firstRun = true;
cmd = null;
continue;
}
}
entry = m_commands[m_currentCommandIndex];
cmd = null;
switch (entry.state)
{
case Entry.IN_SEQUENCE:
cmd = entry.command;
if (firstRun)
{
cmd.StartRunning();
CancelConflicts(cmd);
}
firstRun = false;
break;
case Entry.BRANCH_PEER:
m_currentCommandIndex++;
entry.command.Start();
break;
case Entry.BRANCH_CHILD:
m_currentCommandIndex++;
CancelConflicts(entry.command);
entry.command.StartRunning();
m_children.Add(entry);
break;
}
}
for (int i = 0; i < m_children.Count; i++)
{
entry = m_children[i];
Command child = entry.command;
if (entry.IsTimedOut())
{
child._Cancel();
}
if (!child.Run())
{
child.Removed();
m_children.RemoveAt(i--);
}
}
}
