public override IValue Execute(ActuatorBase state)
{
IValue value = new BooleanValue(false);
state.BreakLoop = true;
return(value);
}
public override IValue Execute(ActuatorBase state)
{
var v1 = mExpression1.Execute(state);
var v2 = mExpression2.Execute(state);
return(new IntegerValue(v1.AsInteger() % v2.AsInteger()));
}
public override IValue Execute(ActuatorBase state)
{
state.FunctionTable[Name] = (IValue[] args) =>
{
var vt = state.VariableTable;
var bp = state.BreakProgram;
var newVT = new Dictionary <string, IValue>();
var i = 0;
foreach (var pn in Parameters)
{
if (i < args.Length)
{
newVT[pn] = args[i++];
}
else
{
newVT[pn] = new IntegerValue(0);
}
}
state.VariableTable = newVT;
try
{
state.BreakProgram = false;
return(mBlockStatement.Execute(state));
}
finally
{
state.VariableTable = vt;
state.BreakProgram = bp;
}
};
return(new BooleanValue(true));
}
public override IValue Execute(ActuatorBase state)
{
var v1 = mExpression1.Execute(state);
var v2 = mExpression2.Execute(state);
return(v1.VNEquals(v2));
}
public override IValue Execute(ActuatorBase state)
{
var v1 = mExpression1.Execute(state);
var v2 = mExpression2.Execute(state);
return(new BooleanValue(v1.AsBoolean() || v2.AsBoolean()));
}
public override IValue Execute(ActuatorBase state)
{
var v = Value.Execute(state);
state.VariableTable[Name] = v;
return(v);
}
public override IValue Execute(ActuatorBase state)
{
var r = (int)(Row.Execute(state).AsReal());
var c = (int)(Col.Execute(state).AsReal());
return(new ArrayValue(r, c, Value));
}
public override IValue Execute(ActuatorBase state)
{
IValue value = mCount.Execute(state);
long c = (long)value.AsReal();
long i = 0;
var indexName = string.IsNullOrEmpty(IndexName) ? $"<index>" : IndexName;
state.VariableTable[indexName] = new IntegerValue(i);
while (i < c)
{
value = mLoopBlock.Execute(state);
++i;
c = (long)(mCount.Execute(state).AsReal());
if (state.BreakLoop)
{
state.BreakLoop = false;
break;
}
if (state.BreakProgram)
{
break;
}
state.VariableTable[indexName] = new IntegerValue(i);
value = mCount.Execute(state);
c = (long)value.AsReal();
}
return(value);
}
public override IValue Execute(ActuatorBase state)
{
IValue value;
if (state.VariableTable.TryGetValue(Name, out value))
{
return(value);
}
return(new IntegerValue(0));
}
public override IValue Execute(ActuatorBase state)
{
var a = mExpression1.Execute(state);
var b = mExpression2.Execute(state);
if (a.Is(ValueType.Integer) && b.Is(ValueType.Integer))
{
return(new IntegerValue(a.AsInteger() / b.AsInteger()));
}
return(new RealValue(a.AsReal() / b.AsReal()));
}
public override IValue Execute(ActuatorBase state)
{
if (!state.VariableTable.ContainsKey(Name))
{
return(new IntegerValue(0));
}
var value = Value.Execute(state);
state.VariableTable[Name] = value;
return(value);
}
public override IValue Execute(ActuatorBase state)
{
IValue value = null;
if (mExpression != null)
{
value = mExpression.Execute(state);
}
else
{
value = new BooleanValue(false);
}
state.BreakProgram = true;
return(value);
}
public IValue Execute(ActuatorBase state)
{
IValue value = new IntegerValue(0);
foreach (var s in mStatements)
{
value = s.Execute(state);
if (state.BreakProgram)
{
state.BreakProgram = false;
break;
}
}
return(value);
}
public override IValue Execute(ActuatorBase state)
{
IValue value;
if (state.VariableTable.TryGetValue(Name, out value) && value is ArrayValue)
{
var row = (int)mRow.Execute(state).AsReal();
var col = (int)mCol.Execute(state).AsReal();
var v = Value.Execute(state);
var arr = value as ArrayValue;
arr.SetValue(row, col, v);
return(v);
}
return(new IntegerValue(0));
}
public override IValue Execute(ActuatorBase state)
{
var a = mExpression1.Execute(state);
var b = mExpression2.Execute(state);
if (a.Is(ValueType.String) || b.Is(ValueType.String))
{
return(new BooleanValue(a.AsString().Length > b.AsString().Length));
}
else if (a.Is(ValueType.Real) || b.Is(ValueType.Real))
{
return(new BooleanValue(a.AsReal() > b.AsReal()));
}
return(new BooleanValue(a.AsInteger() < b.AsInteger()));
}
public override IValue Execute(ActuatorBase state)
{
var a = mExpression1.Execute(state);
var b = mExpression2.Execute(state);
if (a.Is(ValueType.String) || b.Is(ValueType.String))
{
return(new StringValue(a.AsString().TrimEnd() + b.AsString().TrimStart()));
}
else if (a.Is(ValueType.Real) || b.Is(ValueType.Real))
{
return(new RealValue(a.AsReal() - b.AsReal()));
}
return(new IntegerValue(a.AsInteger() - b.AsInteger()));
}
protected StepTaskEntityBase(ISequenceStep step, SlaveContext context, int sequenceIndex)
{
this.Context = context;
this.StepData = step;
this.Result = StepResult.NotAvailable;
this.SequenceIndex = sequenceIndex;
this.Actuator = ActuatorBase.GetActuator(step, context, sequenceIndex);
this.Coroutine = null;
// 只有在断言失败和调用异常都配置为终止执行时，该步骤才会被判断为失败后终止
if (null != StepData && StepData.HasSubSteps)
{
this.SubStepRoot = ModuleUtils.CreateSubStepModelChain(StepData.SubSteps, Context, sequenceIndex);
}
BreakIfFailed = (null == StepData) || (StepData.AssertFailedAction == FailedAction.Terminate &&
StepData.InvokeErrorAction == FailedAction.Terminate);
}
public override IValue Execute(ActuatorBase state)
{
IValue value;
if (state.VariableTable.TryGetValue(Name, out value))
{
if (value.GetType() == typeof(ArrayValue))
{
var row = (int)mRow.Execute(state).AsReal();
var col = (int)mCol.Execute(state).AsReal();
return((value as ArrayValue).GetValue(row, col));
}
return(value);
}
return(new IntegerValue(0));
}
public override IValue Execute(ActuatorBase state)
{
IValue value = new IntegerValue(0);
foreach (var s in mStatements)
{
value = s.Execute(state);
if (state.BreakProgram)
{
break;
}
if (state.BreakLoop)
{
break;
}
}
return(value);
}
public override IValue Execute(ActuatorBase state)
{
Func <IValue[], IValue> func;
var parameters = new IValue[mParameters.Length];
int idx = 0;
foreach (var p in mParameters)
{
parameters[idx++] = p.Execute(state);
}
if (state.FunctionTable.TryGetValue(Name, out func))
{
return(func.Invoke(parameters));
}
else
{
throw new Exception($"函数未找到:{Name}");
}
}
public override IValue Execute(ActuatorBase state)
{
IValue value;
if (mConditional.Execute(state).AsBoolean())
{
value = mTrueBlock.Execute(state);
}
else
{
if (mFalseBlock != null)
{
value = mFalseBlock.Execute(state);
}
else
{
value = new BooleanValue(false);
}
}
return(value);
}
public override IValue Execute(ActuatorBase state)
{
IValue value = mConditional.Execute(state);
while (value.AsBoolean())
{
value = mLoopBlock.Execute(state);
if (state.BreakLoop)
{
state.BreakLoop = false;
break;
}
if (state.BreakProgram)
{
break;
}
value = mConditional.Execute(state);
}
return(value);
}
public override IValue Execute(ActuatorBase state)
{
return(Value);
}
public abstract IValue Execute(ActuatorBase state);
