/// <inheritdoc />
public ProgramInstruction GetInstruction(int instructionId)
{
ProgramInstruction programInstruction = new ProgramInstruction();
Link.check_connection();
var command = "Prog_GIns";
Link.send_line(command);
Link.send_item(this);
Link.send_int(instructionId);
programInstruction.Name = Link.rec_line();
programInstruction.InstructionType = (InstructionType)Link.rec_int();
programInstruction.MoveType = MoveType.Invalid;
programInstruction.IsJointTarget = false;
programInstruction.Target = null;
programInstruction.Joints = null;
if (programInstruction.InstructionType == InstructionType.Move)
{
programInstruction.MoveType = (MoveType)Link.rec_int();
programInstruction.IsJointTarget = Link.rec_int() > 0 ? true : false;
programInstruction.Target = Link.rec_pose();
programInstruction.Joints = Link.rec_array();
}
Link.check_status();
return(programInstruction);
}
private void CheckToString(String mnemonic, String operandString, String expected, String message)
{
ProgramInstruction target = Make(mnemonic, operandString);
String actual = target.ToString();
Assert.AreEqual(expected, actual, message);
}
private void CheckGenerateCode(ProgramInstruction target, Word[] expectedWords, String message)
{
RelocatableModule relModule = new RelocatableModule();
target.GenerateCode(null, relModule);
RelocatableModuleTest.CheckWords(relModule, expectedWords, message);
}
internal static ProgramInstruction Make(String instructionField, String operandField)
{
ProgramInstruction instruction = ProgramInstructionFactory.Make(instructionField);
ReadBuffer buffer = new ReadBuffer(operandField);
instruction.ReadOperand(buffer);
return(instruction);
}
public void GenerateLiteralDc()
{
ProgramInstruction target = ProgramInstructionTest.Make(MnemonicDef.LD, "GR1,=1234,GR2");
LabelTable lblTable = new LabelTable();
String actual = target.GenerateLiteralDc(lblTable);
String expected = ProgramLineTest.MakeGeneratedLine("LTRL0001", "DC", "1234");
Assert.AreEqual(expected, actual, "リテラルの DC 命令が生成される");
}
private void CheckMake(String mnemonic, Type expectedType, String message)
{
try
{
ProgramInstruction instruction = ProgramInstructionFactory.Make(mnemonic);
Assert.IsNotNull(expectedType, message);
Assert.IsInstanceOfType(instruction, expectedType, message);
Assert.AreEqual(mnemonic, instruction.Mnemonic, "指定のニーモニックと命令のニーモニックが同じ");
}
catch (Casl2SimulatorException)
{
Assert.IsNull(expectedType, message);
}
}
internal static void CheckReadOperand(
ProgramInstruction target, String text, Boolean success, String message)
{
ReadBuffer buffer = new ReadBuffer(text);
try
{
target.ReadOperand(buffer);
Assert.IsTrue(success, message);
}
catch (Casl2SimulatorException)
{
Assert.IsFalse(success, message);
}
}
/// <inheritdoc />
public void SetInstruction(int instructionId, ProgramInstruction instruction)
{
Link.check_connection();
var command = "Prog_SIns";
Link.send_line(command);
Link.send_item(this);
Link.send_int(instructionId);
Link.send_line(instruction.Name);
Link.send_int((int)instruction.InstructionType);
if (instruction.InstructionType == InstructionType.Move)
{
Link.send_int((int)instruction.MoveType);
Link.send_int(instruction.IsJointTarget ? 1 : 0);
Link.send_pose(instruction.Target);
Link.send_array(instruction.Joints);
}
Link.check_status();
}
public void TestInitialize()
{
m_rAdrXOrR1R2_RAdrX = ProgramInstructionTest.Make(MnemonicDef.LD, "GR1,#ABCD,GR2");
m_rAdrXOrR1R2_R1R2 = ProgramInstructionTest.Make(MnemonicDef.LD, "GR3,GR4");
}
