/// <summary>
/// 调度命令，可以是命令的一部分
/// </summary>
/// <param name="stringReader">原始字符流</param>
/// <param name="env">环境</param>
/// <param name="result">调度结果</param>
/// <returns>是否调度成功</returns>
public bool Dispatch(StringReader stringReader, TEnv env, out ICmdResult result)
{
StringReader reader = stringReader;
// 跳过空白
reader.Skip(Config.ListSeps);
// 记录位置，应为之后可能会读取别名，也用于解析失败，恢复用
int start = reader.Cursor;
// 读取命令头，或者别名
string alias = stringReader.Read(ArgUtil.IsNameChar);
int offset = 0;
// 查找替换项，并计算偏移
if (!string.IsNullOrEmpty(alias) && aliases.TryGetValue(alias, out string replacement))
{
reader = new StringReader(replacement + reader.ReadRest());
offset = alias.Length - replacement.Length;
}
else
{
// 恢复原始字符流
stringReader.Cursor = start;
reader = new StringReader(reader.ReadRest());
}
// 恢复原始字符流
stringReader.Cursor = start;
List <ICmdResult> res = new List <ICmdResult>();
// 开始调度
bool ret = Root.Dispatch(this, reader, env, new Args(), 0, res);
// 查找匹配成功的最长命令
List <ICmdResult> matched = new List <ICmdResult>();
List <ICmdResult> errors = new List <ICmdResult>();
foreach (var cc in res)
{
(cc.IsError ? errors : matched).Add(cc);
}
if (ret && matched.Count > 0)
{
result = GetLongestCmd(matched);
}
else if (!ret && errors.Count > 0)
{
// 如果没有最长成功命令，则返回最长错误
result = GetLongestCmd(errors);
}
else
{
// 否则出错
result = new ErrorResult(0, 0, "未知错误");
reader.Cursor = start;
return(false);
}
reader.Skip(result.MatchedLength);
// 此时reader已经不是原来的reader了，这样一来就要重新计算原始字符流的读取长度
stringReader.Skip(reader.Cursor + offset);
return(ret);
}
/// <summary>
/// Shedule a command to send
/// </summary>
/// <param name="command">Serial Command, without newline</param>
/// <param name="callback">Callback to get result</param>
public void SheduleCommand(string command, ICmdResult callback)
{
Console.WriteLine("Shedule send command: \"" + command + "\"");
lock (queue)
{
QueueEntry cmd = new QueueEntry();
cmd.Command = command;
cmd.ResultListener = callback;
queue.Enqueue(cmd);
System.Threading.Monitor.Pulse(queue);
}
}
private ICmdResult DetectionObstacles(IPosition inputPosition)
{
ICmdResult cmdResult = Mef.Instance.GetCmdResult();
if (Obstacles.Count(o => o.Equals(inputPosition)) > 0)
{
cmdResult.Completed = false;
cmdResult.DetectedObstacle = true;
cmdResult.ObstaclePosition = inputPosition;
}
return(cmdResult);
}
private ICmdResult GetLongestCmd(List <ICmdResult> list)
{
ICmdResult result = list[0];
foreach (var cc in list)
{
if (cc != result && cc.ArgLength > result.ArgLength)
{
result = cc;
}
}
return(result);
}
public ICmdResult Execute()
{
ICmdResult cmdResult = Mef.Instance.GetCmdResult();
foreach (var cmd in _commandList)
{
cmdResult = cmd.Execute();
if (cmdResult.DetectedObstacle)
{
break;
}
}
return(cmdResult);
}
/// <summary>
/// 调度命令，必须是完整命令，不能多，也不能少
/// </summary>
/// <param name="raw">原始字符串</param>
/// <param name="env">环境</param>
/// <param name="result">结果，可能是编译成功的指令或错误信息</param>
/// <returns>是否调度成功</returns>
public bool Dispatch(string raw, TEnv env, out ICmdResult result)
{
raw = raw.TrimStart();
StringReader reader = new StringReader(raw);
if (!Dispatch(reader, env, out result))
{
return(false);
}
else if (reader.SkipWhiteSpace())
{
result = new ErrorResult(
result.MatchedLength,
0,
"未能识别的部分：" +
reader.ReadToEndOrMaxOrEmpty(Config.MaxCut, Config.EmptyStrTip));
return(false);
}
return(true);
}