public virtual INode GetNextNode(
INode node,
MultirotorClient client,
IModel graph,
Action<string> writeToMessageBox)
{
var outEdges = graph.Edges.Where(x => x.From == node).ToList();
if (outEdges.Count > 1)
{
writeToMessageBox("Error: Node " + node.Name + " has more than the 1 out edge ");
client.Dispose();
return null;
}
if (outEdges.Count == 0)
{
if (recursionNodes.Count > 0)
{
return recursionNodes.Pop();
}
writeToMessageBox("Error: Node " + node.Name +
" has no out edges and it is not the final node ");
client.Dispose();
return null;
}
return (INode)outEdges[0].To;
}
/// <summary>
/// Main execution method
/// </summary>
/// <param name="programGraph"> Visual program to execute </param>
/// <param name="writeToConsole"> Method to writing to console </param>
public void Execute(IModel programGraph, Action<string> writeToConsole)
{
var curNode = this.GetInitNode(programGraph, writeToConsole);
if (curNode == null)
{
return;
}
writeToConsole("Running your code");
var client = new MultirotorClient();
while (recursionLevel >= 0)
{
Execution.Exec.ExecuteNode(ref curNode, client, programGraph, writeToConsole);
curNode = Execution.Exec.GetNextNode(curNode, client, programGraph, writeToConsole);
if (curNode == null)
{
return;
}
writeToConsole($"Node {curNode.Name} done");
}
client.Land();
client.Dispose();
writeToConsole("Program done");
}
public override INode GetNextNode(INode node, MultirotorClient client, IModel graph, Action <string> writeToMessageBox)
{
var outEdges = graph.Edges.Where(x => x.From == node).ToList();
if (outEdges.Count != 2)
{
writeToMessageBox("Error: ifNode out edges count is not equal 2 ");
client.Dispose();
return(null);
}
IEdge edge = outEdges[0];
if (this.condition)
{
return((INode)(edge.Attributes.ToList()[0].StringValue == "true"
? edge.To
: outEdges[1].To));
}
else
{
return((INode)(edge.Attributes.ToList()[0].StringValue == "false"
? edge.To
: outEdges[1].To));
}
}
