private static void ReadCommand(ICommand command, IRobotAction printCommand)
{
while (true)
{
var commandtxt = Console.ReadLine();
try
{
rover = command.ExecuteCommand(rover, commandtxt);
}
catch (Exception ex)
{
Console.ForegroundColor = ConsoleColor.Yellow;
Console.WriteLine(ex.Message);
Console.ResetColor();
}
Print(printCommand);
}
}
public void Initialise()
{
var mockLogger = new Mock <ILogger>();
robotAction = new RobotAction(mockLogger.Object);
}
public RobotCommander(ILogger logger, IRobotAction iRobotAction)
{
_logger = logger;
_robotAction = iRobotAction;
}
public IRobot ExecuteCommand(IRobot rover, string commandText)
{
ValidateCommand(commandText);
robotAction = robotActionResolver.GetRobotAction(commandText);
return(robotAction.Excecute(rover));
}
private static void Print(IRobotAction printCommand)
{
rover = printCommand.Excecute(rover);
Console.WriteLine(rover.FormattedString);
}
/// <summary>
/// 执行动作
/// </summary>
public void DoAction(ModeEnum mode, ActionEnum action)
{
Reset();
startTicks = DateTime.Now.Ticks;
LumbarRobotController.RobotController.ControlCommand.PauseCmd();
Thread.Sleep(10);
LumbarRobotController.RobotController.ControlCommand.PauseCmd();
Thread.Sleep(10);
if (mode == ModeEnum.Fit)
{
if (action == ActionEnum.Bend || action == ActionEnum.Protrusive || action == ActionEnum.ProtrusiveOrBend)
{
if (bendStretchFitAction == null)
{
bendStretchFitAction = new BendStretchFitAction();
bendStretchFitAction.StartAction += new EventHandler(action_StartAction);
}
bendStretchFitAction.Mode = mode;
bendStretchFitAction.Action = action;
currentControl = bendStretchFitAction;
}
else if(action == ActionEnum.Rotation)
{
if (rotateFitAction == null)
{
rotateFitAction = new RotateFitAction();
rotateFitAction.StartAction += new EventHandler(action_StartAction);
}
rotateFitAction.Mode = mode;
rotateFitAction.Action = action;
currentControl = rotateFitAction;
}
}
else if (mode == ModeEnum.StrengthEvaluation)
{
if (action == ActionEnum.Bend || action == ActionEnum.Protrusive || action == ActionEnum.ProtrusiveOrBend)
{
if (bendStrechStrengthEvaluationAction == null)
{
bendStrechStrengthEvaluationAction = new BendStrechStrengthEvaluationAction();
bendStrechStrengthEvaluationAction.StartAction += new EventHandler(action_StartAction);
bendStrechStrengthEvaluationAction.SetForce += new SetForceHandler(action_SetForce);
}
bendStrechStrengthEvaluationAction.Mode = mode;
bendStrechStrengthEvaluationAction.Action = action;
currentControl = bendStrechStrengthEvaluationAction;
}
else if (action == ActionEnum.Rotation)
{
if (rotateStrengthEvaluationAction == null)
{
rotateStrengthEvaluationAction = new RotateStrengthEvaluationAction();
rotateStrengthEvaluationAction.StartAction += new EventHandler(action_StartAction);
rotateStrengthEvaluationAction.SetForce += new SetForceHandler(action_SetForce);
}
rotateStrengthEvaluationAction.Mode = mode;
rotateStrengthEvaluationAction.Action = action;
currentControl = rotateStrengthEvaluationAction;
}
}
else
{
if (action == ActionEnum.Bend)
{
if (mode == ModeEnum.Sokoban || mode == ModeEnum.Free || mode == ModeEnum.FreeConstantResistance || mode == ModeEnum.FreeCounterWeight || mode == ModeEnum.Dengsu || mode == ModeEnum.Lixin)
{
if (bendStretchFreeAction == null)
{
bendStretchFreeAction = new BendStretchFreeAction();
bendStretchFreeAction.NextTime += new EventHandler(action_NextTime);
bendStretchFreeAction.StopAction += new EventHandler(action_StopAction);
bendStretchFreeAction.StartAction += new EventHandler(action_StartAction);
}
//bendStretchFreeAction.ModeEnum = mode;
//bendStretchFreeAction.ActionEnum = action;
currentControl = bendStretchFreeAction;
}
else if (mode == ModeEnum.Guided)
{
if (bendStretchGuidedAction == null)
{
bendStretchGuidedAction = new BendStretchGuidedAction();
bendStretchGuidedAction.NextTime += new EventHandler(action_NextTime);
bendStretchGuidedAction.StopAction += new EventHandler(action_StopAction);
bendStretchGuidedAction.StartAction += new EventHandler(action_StartAction);
}
currentControl = bendStretchGuidedAction;
}
else if (mode == ModeEnum.Initiated)
{
if (bendStretchAssistedAction == null)
{
bendStretchAssistedAction = new BendStretchAssistedAction();
}
currentControl = bendStretchAssistedAction;
}
else if (mode == ModeEnum.IsotonicA)
{
if (isotonicAAction == null)
{
isotonicAAction = new IsotonicAAction();
isotonicAAction.SetForce += new SetForceHandler(action_SetForce);
isotonicAAction.NextTime += new EventHandler(action_NextTime);
isotonicAAction.StartAction += new EventHandler(action_StartAction);
isotonicAAction.StopAction += new EventHandler(action_StopAction);
}
isotonicAAction.Type = 0;
currentControl = isotonicAAction;
}
else if (mode == ModeEnum.IsotonicB)
{
if (isotonicBAction == null)
{
isotonicBAction = new IsotonicBAction();
isotonicBAction.NextTime += new EventHandler(action_NextTime);
isotonicBAction.SetForce += new SetForceHandler(action_SetForce);
isotonicBAction.StartAction += new EventHandler(action_StartAction);
isotonicBAction.StopAction += new EventHandler(action_StopAction);
}
isotonicBAction.Type = 0;
currentControl = isotonicBAction;
}
}
else if (action == ActionEnum.Protrusive)
{
if (mode == ModeEnum.Sokoban || mode == ModeEnum.Free || mode == ModeEnum.FreeConstantResistance || mode == ModeEnum.FreeCounterWeight || mode == ModeEnum.Dengsu || mode == ModeEnum.Lixin)
{
if (bendStretchFreeAction == null)
{
bendStretchFreeAction = new BendStretchFreeAction();
bendStretchFreeAction.NextTime += new EventHandler(action_NextTime);
bendStretchFreeAction.StopAction += new EventHandler(action_StopAction);
bendStretchFreeAction.StartAction += new EventHandler(action_StartAction);
}
//bendStretchFreeAction.ModeEnum = mode;
//bendStretchFreeAction.ActionEnum = action;
currentControl = bendStretchFreeAction;
}
else if (mode == ModeEnum.Guided)
{
if (bendStretchGuidedAction == null)
{
bendStretchGuidedAction = new BendStretchGuidedAction();
bendStretchGuidedAction.NextTime += new EventHandler(action_NextTime);
bendStretchGuidedAction.StopAction += new EventHandler(action_StopAction);
bendStretchGuidedAction.StartAction += new EventHandler(action_StartAction);
}
currentControl = bendStretchGuidedAction;
}
else if (mode == ModeEnum.Initiated)
{
if (bendStretchAssistedAction == null)
{
bendStretchAssistedAction = new BendStretchAssistedAction();
}
currentControl = bendStretchAssistedAction;
}
else if (mode == ModeEnum.IsotonicA)
{
if (isotonicAAction == null)
{
isotonicAAction = new IsotonicAAction();
isotonicAAction.SetForce += new SetForceHandler(action_SetForce);
isotonicAAction.NextTime += new EventHandler(action_NextTime);
isotonicAAction.StartAction += new EventHandler(action_StartAction);
isotonicAAction.StopAction += new EventHandler(action_StopAction);
}
isotonicAAction.Type = 0;
currentControl = isotonicAAction;
}
else if (mode == ModeEnum.IsotonicB)
{
if (isotonicBAction == null)
{
isotonicBAction = new IsotonicBAction();
isotonicBAction.NextTime += new EventHandler(action_NextTime);
isotonicBAction.SetForce += new SetForceHandler(action_SetForce);
isotonicBAction.StartAction += new EventHandler(action_StartAction);
isotonicBAction.StopAction += new EventHandler(action_StopAction);
}
isotonicBAction.Type = 0;
currentControl = isotonicBAction;
}
}
else if (action == ActionEnum.ProtrusiveOrBend)
{
if (mode == ModeEnum.Sokoban || mode == ModeEnum.Free || mode == ModeEnum.FreeConstantResistance || mode == ModeEnum.FreeCounterWeight || mode == ModeEnum.Dengsu || mode == ModeEnum.Lixin)
{
if (bendStretchFreeAction == null)
{
bendStretchFreeAction = new BendStretchFreeAction();
bendStretchFreeAction.NextTime += new EventHandler(action_NextTime);
bendStretchFreeAction.StopAction += new EventHandler(action_StopAction);
bendStretchFreeAction.StartAction += new EventHandler(action_StartAction);
}
//bendStretchFreeAction.ModeEnum = mode;
//bendStretchFreeAction.ActionEnum = action;
currentControl = bendStretchFreeAction;
}
else if (mode == ModeEnum.Guided)
{
if (bendStretchGuidedAction == null)
{
bendStretchGuidedAction = new BendStretchGuidedAction();
bendStretchGuidedAction.NextTime += new EventHandler(action_NextTime);
bendStretchGuidedAction.StopAction += new EventHandler(action_StopAction);
bendStretchGuidedAction.StartAction += new EventHandler(action_StartAction);
}
currentControl = bendStretchGuidedAction;
}
else if (mode == ModeEnum.Initiated)
{
if (bendStretchAssistedAction == null)
{
bendStretchAssistedAction = new BendStretchAssistedAction();
}
currentControl = bendStretchAssistedAction;
}
else if (mode == ModeEnum.IsotonicA)
{
if (isotonicAAction == null)
{
isotonicAAction = new IsotonicAAction();
isotonicAAction.SetForce += new SetForceHandler(action_SetForce);
isotonicAAction.NextTime += new EventHandler(action_NextTime);
isotonicAAction.StartAction += new EventHandler(action_StartAction);
isotonicAAction.StopAction += new EventHandler(action_StopAction);
}
isotonicAAction.Type = 0;
currentControl = isotonicAAction;
}
else if (mode == ModeEnum.IsotonicB)
{
if (isotonicBAction == null)
{
isotonicBAction = new IsotonicBAction();
isotonicBAction.SetForce += new SetForceHandler(action_SetForce);
isotonicBAction.NextTime += new EventHandler(action_NextTime);
isotonicBAction.StartAction += new EventHandler(action_StartAction);
isotonicBAction.StopAction += new EventHandler(action_StopAction);
}
isotonicBAction.Type = 0;
currentControl = isotonicBAction;
}
}
else if (action == ActionEnum.Rotation)
{
if (mode == ModeEnum.Sokoban || mode == ModeEnum.Free || mode == ModeEnum.FreeConstantResistance || mode == ModeEnum.FreeCounterWeight || mode == ModeEnum.Dengsu || mode == ModeEnum.Lixin)
{
if (rotateFreeAction == null)
{
rotateFreeAction = new RotateFreeAction();
rotateFreeAction.NextTime += new EventHandler(action_NextTime);
rotateFreeAction.StopAction += new EventHandler(action_StopAction);
rotateFreeAction.StartAction += new EventHandler(action_StartAction);
}
//rotateFreeAction.ModeEnum = mode;
currentControl = rotateFreeAction;
}
else if (mode == ModeEnum.Guided)
{
if (rotateGuidedAction == null)
{
rotateGuidedAction = new RotateGuidedAction();
rotateGuidedAction.NextTime += new EventHandler(action_NextTime);
rotateGuidedAction.StopAction += new EventHandler(action_StopAction);
rotateGuidedAction.StartAction += new EventHandler(action_StartAction);
}
currentControl = rotateGuidedAction;
}
else if (mode == ModeEnum.Initiated)
{
if (rotateAssistedAction == null)
{
rotateAssistedAction = new RotateAssistedAction();
}
currentControl = rotateAssistedAction;
}
else if (mode == ModeEnum.IsotonicA)
{
if (isotonicAAction == null)
{
isotonicAAction = new IsotonicAAction();
isotonicAAction.SetForce += new SetForceHandler(action_SetForce);
isotonicAAction.NextTime += new EventHandler(action_NextTime);
isotonicAAction.StartAction += new EventHandler(action_StartAction);
isotonicAAction.StopAction += new EventHandler(action_StopAction);
}
isotonicAAction.Type = 1;
currentControl = isotonicAAction;
}
else if (mode == ModeEnum.IsotonicB)
{
if (isotonicBAction == null)
{
isotonicBAction = new IsotonicBAction();
isotonicBAction.SetForce += new SetForceHandler(action_SetForce);
isotonicBAction.NextTime += new EventHandler(action_NextTime);
isotonicBAction.StartAction += new EventHandler(action_StartAction);
isotonicBAction.StopAction += new EventHandler(action_StopAction);
}
isotonicBAction.Type = 1;
currentControl = isotonicBAction;
}
}
}
if (currentControl != null)
{
currentControl.Mode = mode;
currentControl.Action = action;
currentControl.Controller = this;
currentControl.Start();
}
}
public void DoEvaluateAction(EvaluateActionEnum evaluateActionEnum, EvaluateModeEnum evaluateMode)
{
Reset();
startTicks = DateTime.Now.Ticks;
LumbarRobotController.RobotController.ControlCommand.PauseCmd();
Thread.Sleep(10);
LumbarRobotController.RobotController.ControlCommand.PauseCmd();
Thread.Sleep(10);
if (evaluateAction == null)
{
evaluateAction = new EvaluateAction();
evaluateAction.SetForce += new SetForceHandler(action_SetForce);
evaluateAction.StartAction += new EventHandler(action_StartAction);
evaluateAction.StopAction += new EventHandler(action_StopAction);
}
evaluateAction.Mode = ModeEnum.Evaluation;
if (evaluateActionEnum == EvaluateActionEnum.RotationRangeLeft || evaluateActionEnum == EvaluateActionEnum.RotationRangeRight
|| evaluateActionEnum == EvaluateActionEnum.RotationStrengthLeft || evaluateActionEnum == EvaluateActionEnum.RotationStrengthRigth)
{
evaluateAction.Action = ActionEnum.Rotation;
}
else
{
evaluateAction.Action = ActionEnum.ProtrusiveOrBend;
}
currentControl = evaluateAction;
if (currentControl != null)
{
evaluateAction.EvaluateActionValue = evaluateActionEnum;
evaluateAction.EvaluateMode = evaluateMode;
evaluateAction.Controller = this;
evaluateAction.Start();
}
}