public Thinker(ComPort port)
{
_port = port;
_port.ReceivedResponce += PortOnReceivedResponce;
//_currentMetaCommand = new ScanMetaCommand();
//_currentMetaCommand = new SimpleMovementMetaCommand();
_currentMetaCommand = new ExplorerMetaCommand();
}
public void MainLoop()
{
while (true)
{
BasicResponce responce = null;
if (_responces.Count > 0)
{
responce = _responces.Dequeue();
}
if (_currentMetaCommand != null)
{
var result = _currentMetaCommand.ProcessResponce(responce);
switch (result.Action)
{
case MetaCommandAction.Command:
result.Command.Execute(_port);
break;
case MetaCommandAction.NewMetaCommand:
_currentMetaCommand = result.MetaCommand;
break;
case MetaCommandAction.Done:
_currentMetaCommand = null;
break;
default:
break;
}
}
Thread.Sleep(1);
}
/*var cmd = new TurnCommand(TurnDirection.Left, 180, 255, true, 500);
* cmd.Execute(_port);*/
/*while (true)
* {
* //var cmd = new RangeScanCommand(11, 11, 3500);
* var cmd = new StatusCommand(11, 500);
* cmd.Execute(_port);
* }*/
}
public BasicMetaCommandResult(MetaCommandAction action, BaseCommand command = null, IMetaCommand metaCommand = null)
{
Action = action;
Command = command;
MetaCommand = metaCommand;
}
