Merge remote-tracking branch 'origin/release-alpha-0.0.1'

HighLevelProgram/HLProgram.cs

@@ -25,14 +25,16 @@ public HLProgram(String programString)
 		{
 			program = new List<Instruction>();
 
+			// Split the string by CR or LF
 			string[] insStrArray = programString.Split(new char[] { '\n', '\r' }, StringSplitOptions.RemoveEmptyEntries);
 			for (int i = 0; i < insStrArray.Length; i++)
 			{
 				CurrentLine = i;
 
-				// Ignore comment line
-				if (Instruction.IsValidInstructionLine(insStrArray[i]))
-					program.Add(new Instruction(insStrArray[i]));
+				// Remove comment and trim 
+				string unifiedStr = Instruction.UnifyInstructionString(insStrArray[i]);
+				if (unifiedStr.Length > 0)
+					program.Add(new Instruction(unifiedStr));
 			}
 		}
 
@@ -70,7 +72,7 @@ public Instruction this[int index]
 		/// </summary>
 		/// <param name="ifLoopIns">The starting IF or LOOP instruction.</param>
 		/// <returns>The completed IF or LOOP block.</returns>
-		public static HLProgram GetIfLoopBlock(Instruction ifLoopIns)
+		public static HLProgram GetDefaultIfLoopBlock(Instruction ifLoopIns)
 		{
 			HLProgram result = new HLProgram();
 			result.Add(ifLoopIns);
@@ -254,11 +256,30 @@ public HLProgram SubProgram(int startIndex, int endIndex)
 			return hlp;
 		}
 
+		/// <summary>
+		/// Get the HLProgram string.
+		/// </summary>
+		/// <returns></returns>
 		public override string ToString()
 		{
 			// Use Windows style CRLF
 			// http://stackoverflow.com/questions/15433188/r-n-r-n-what-is-the-difference-between-them
 			return string.Join("\r\n", program);
 		}
+
+		/// <summary>
+		/// Get the HLProgram string, specifying if to attach the description comment. 
+		/// </summary>
+		/// <param name="withDescription">If each instruction is trailed by description comment. </param>
+		/// <returns></returns>
+		public string ToString(bool withDescription)
+		{
+			StringBuilder sb = new StringBuilder();
+			foreach(Instruction ins in program)
+			{
+				sb.AppendLine(ins.ToString(withDescription));
+			}			
+			return sb.ToString();
+		}
 	}
 }

HighLevelProgram/HighLevelProgram.csproj

@@ -24,7 +24,7 @@
     </DocumentationFile>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
-    <DebugType>pdbonly</DebugType>
+    <DebugType>none</DebugType>
     <Optimize>true</Optimize>
     <OutputPath>bin\Release\</OutputPath>
     <DefineConstants>TRACE</DefineConstants>
@@ -48,6 +48,7 @@
     <Compile Include="Operator.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="Sensor.cs" />
+    <Compile Include="TextDescription.cs" />
     <Compile Include="Validator.cs" />
   </ItemGroup>
   <ItemGroup>

HighLevelProgram/Instruction.cs

@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Text.RegularExpressions;
 using System.Threading.Tasks;
 
 namespace iRobotGUI
@@ -82,19 +83,21 @@ public class Instruction
 
 		#region Constants
 
-		public const int STRAIGHT1 = 0x8000;	// -32768
-		public const int STRAIGHT2 = 0x7FFF;	// 32767
+		public const int STRAIGHT1 = 0x7FFF;	// 32767
+		public const int STRAIGHT2 = 0x8000;	// 32768
 		public const int TURN_IN_PLACE_CLOCKWISE = 0xFFFF;
 		public const int TURN_IN_PLACE_COUNTER_CLOCKWISE = 0x0001;
 
 		#endregion
 
 
-
+		/// <summary>
+		/// To construct the Instruction. The instruction string must be unified using UnifyInstructionString first.
+		/// </summary>
+		/// <param name="insStr"></param>
 		public Instruction(string insStr)
 		{
-			// Remove leading indent.
-			insStr = insStr.Trim(new char[] { ' ', '\t' });
+			// The string is already unified.
 
 			string opcode;
 			string[] paramArray;
@@ -201,23 +204,28 @@ public static Instruction CreatFromOpcode(string opcode)
 
 
 		/// <summary>
-		/// Decide if an instruction string is a valid instruction.
-		/// Comment line is prefixed by "//" like C.
+		/// Unify the string. Remove the comment and trim the leading and trailing empty characters.
+		/// 
+		/// Comment is prefixed by "//" like C, which can be put in a single line or at the end of
+		/// the line.
+		/// 
 		/// Empty line contains only '\t' and ' '.
 		/// </summary>
-		/// <param name="insStr"></param>
-		/// <returns>True if it is.</returns>
-		public static bool IsValidInstructionLine(string insStr)
+		/// <param name="insStr">The string to unify.</param>
+		/// <returns>Unified instruction string.</returns>
+		public static string UnifyInstructionString(string insStr)
 		{
-			// Trim the \t and space
-			insStr = insStr.Trim(new char[] { '\t', ' ' });
+			// Remove comment
+			// https://msdn.microsoft.com/en-us/library/az24scfc(v=vs.110).aspx
+			// This pattern matches all substrings starting with // and all following chars.
+			string commentPattern = "//.*";
+			Regex rgx = new Regex(commentPattern);
+			insStr = rgx.Replace(insStr, string.Empty);
 
-			// Empty line
-			if (insStr.Length == 0) return false;
+			// Trim the '\t' and ' '
+			insStr = insStr.Trim(new char[] { '\t', ' ' });
 
-			// Command line
-			if (insStr[0] == '/') return false;
-			else return true;
+			return insStr;
 		}
 
 		/// <summary>
@@ -231,5 +239,26 @@ public override string ToString()
 				sb.Append(" ").Append(string.Join(",", paramList));
 			return sb.ToString();
 		}
+
+		/// <summary>
+		/// Get the instruction string with the description.
+		/// </summary>
+		/// <param name="withDescription">If to have the description attached as comment.</param>
+		/// <returns></returns>
+		public string ToString(bool withDescription)
+		{
+			if (withDescription)
+				return this.ToString() + "  // " + this.GetTextDescription();
+			else return this.ToString();
+		}
+
+		/// <summary>
+		/// Get the human-readable text description of the Instruction.
+		/// </summary>
+		/// <returns></returns>
+		public string GetTextDescription()
+		{
+			return TextDescription.GetTextDescription(this);
+		}
 	}
 }

HighLevelProgram/TextDescription.cs

@@ -0,0 +1,166 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace iRobotGUI
+{
+	/// <summary>
+	/// This class generates the text description for an <see cref="Instruction"/>.
+	/// </summary>
+	/// <remarks>
+	/// The implementation of this class is similar to that of the Translator in TranslatorLib,
+	/// since it translates the instruction to human-readable format instead of C code.
+	/// </remarks>
+	public static class TextDescription
+	{
+
+		private static string GetMoveDescription(Instruction ins)
+		{
+			if (ins.paramList[0] < 0)
+				return string.Format("Move backward {0}cm in {1}s.", -ins.paramList[0], ins.paramList[1]);
+			else if (ins.paramList[0] > 0)
+				return string.Format("Move forward {0}cm in {1}s.", ins.paramList[0], ins.paramList[1]);
+			else if (ins.paramList[0] == 0)
+				return "Stop moving.";
+
+			// For return check.
+			return "";
+		}
+
+		private static string GetRotateDescription(Instruction ins)
+		{
+			if (ins.paramList[0] < 0)
+				return string.Format("Turn right by {0} degree(s).", -ins.paramList[0]);
+			else if (ins.paramList[0] > 0)
+				return string.Format("Turn left by {0} degree(s).", ins.paramList[0]);
+			else if (ins.paramList[0] == 0)
+				return "Stop rotating.";
+
+			// For return check.
+			return "";
+		}
+
+		private static string GetDriveDescription(Instruction ins)
+		{
+			if (ins.paramList[0] < 0 && ins.paramList[1] == 32767)
+				return string.Format("Drive forward straightly at {0}mm/s.", -ins.paramList[0]);
+			else if (ins.paramList[0] > 0 && ins.paramList[1] == 32767)
+				return string.Format("Drive backward straightly at {0}mm/s.", ins.paramList[0]);
+			else if (ins.paramList[0] < 0 && ins.paramList[1] < 0)
+				return string.Format("Drive backward while turning right at {0}mm/s with radius {1}mm.", -ins.paramList[0], -ins.paramList[1]);
+			else if (ins.paramList[0] < 0 && ins.paramList[1] > 0)
+				return string.Format("Drive backward while turning left at {0}mm/s with radius {1}mm.", ins.paramList[0], ins.paramList[1]);
+			else if (ins.paramList[0] > 0 && ins.paramList[1] < 0)
+				return string.Format("Drive forward while turning right at {0}mm/s with radius {1}mm.", -ins.paramList[0], -ins.paramList[1]);
+			else if (ins.paramList[0] > 0 && ins.paramList[1] > 0)
+				return string.Format("Drive forward while turning left at {0}mm/s with radius {1}mm.", ins.paramList[0], ins.paramList[1]);
+			else if (ins.paramList[0] == 0)
+				return "Stop driving.";
+
+			// For return check.
+			return "";
+		}
+
+		private static string GetLedDescription(Instruction ins)
+		{
+			if (ins.paramList[0] == 0)
+				return string.Format("Turn off both Play LED and Advance LED.");
+			else if (ins.paramList[0] == 2)
+				return string.Format("Turn on Play LED.");
+			else if (ins.paramList[0] == 8)
+				return "Turn on Advance LED.";
+			else if (ins.paramList[0] == 10)
+				return "Turn on both Play LED and Advance LED.";
+
+			// For return check.
+			return "";
+		}
+
+		private static string GetSongDescription(Instruction ins)
+		{
+			return string.Format("Song");
+		}
+
+		private static string GetIfDescription(Instruction ins)
+		{
+			return string.Format("If");
+		}
+
+		private static string GetLoopDescription(Instruction ins)
+		{
+			return string.Format("Loop");
+		}
+
+		private static string GetDemoDescription(Instruction ins)
+		{
+			switch (ins.paramList[0])
+			{
+				case 0:
+					return string.Format("Play demo Cover");
+				case 1:
+					return string.Format("Play demo Cover and Dock");
+				case 2:
+					return string.Format("Play demo Spot Cover");
+				case 3:
+					return string.Format("Play demo Mouse");
+				case 4:
+					return string.Format("Play demo Drive Figure Eight");
+				case 5:
+					return string.Format("Play demo Wimp");
+				case 6:
+					return string.Format("Play demo Home");
+				case 7:
+					return string.Format("Play demo Tag");
+				case 8:
+					return string.Format("Play demo Pachelbel");
+				case 9:
+					return string.Format("Play demo Banjo");
+				case -1:
+					return string.Format("Stop the demo");
+			}
+
+			// For return check.
+			return "";
+		}
+
+		private static string GetDelayDescription(Instruction ins)
+		{
+			return string.Format("Delay for {0}ms.", ins.paramList[0]);
+		}
+
+		/// <summary>
+		/// Get the text description for the spefified Instruction.
+		/// </summary>
+		/// <param name="ins"></param>
+		/// <returns></returns>
+		public static string GetTextDescription(Instruction ins)
+		{
+			switch (ins.opcode)
+			{
+				case Instruction.MOVE:
+					return GetMoveDescription(ins);
+				case Instruction.ROTATE:
+					return GetRotateDescription(ins);
+				case Instruction.DRIVE:
+					return GetDriveDescription(ins);
+				case Instruction.LED:
+					return GetLedDescription(ins);
+				case Instruction.SONG:
+					return GetSongDescription(ins);
+				case Instruction.IF:
+					return GetIfDescription(ins);
+				case Instruction.LOOP:
+					return GetLoopDescription(ins);
+				case Instruction.DEMO:
+					return GetDemoDescription(ins);
+				case Instruction.DELAY:
+					return GetDelayDescription(ins);
+				default:
+					return "Description not implemented.";
+			}
+
+		}
+	}
+}