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CATVehicleContinuousVerifier.js
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CATVehicleContinuousVerifier.js
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/*globals define*/
/**
* Generated by AddOnGenerator 1.7.0 from webgme on Tue Jun 18 2019 14:16:36 GMT-0700 (Mountain Standard Time).
*/
define([
'addon/AddOnBase',
'q'
], function (AddOnBase,Q) {
'use strict';
/**
* Initializes a new instance of CATVehicleContinuousVerifier.
* @class
* @augments {AddOnBase}
* @classdesc This class represents the addOn CATVehicleContinuousVerifier.
* @constructor
*/
var CATVehicleContinuousVerifier = function (mainLogger, gmeConfig) {
// Call base class' constructor.
AddOnBase.call(this, mainLogger, gmeConfig);
};
// Prototypal inheritance from AddOnBase.
CATVehicleContinuousVerifier.prototype = Object.create(AddOnBase.prototype);
CATVehicleContinuousVerifier.prototype.constructor = CATVehicleContinuousVerifier;
/**
* Gets the name of the CATVehicleContinuousVerifier.
* @returns {string} The name of the AddOn.
* @public
*/
CATVehicleContinuousVerifier.prototype.getName = function () {
return 'CATVehicleContinuousVerifier';
};
/**
* Gets the semantic version (semver.org) of the CATVehicleContinuousVerifier.
* @returns {string} The version of the AddOn.
* @public
*/
CATVehicleContinuousVerifier.prototype.getVersion = function () {
return '0.1.0';
};
//Defines control block and builds connection to next node
CATVehicleContinuousVerifier.prototype.getControlData = async function(abstractControlBlock)
{
var self = this,
deferred = new Q.defer(),
controlData = {
id: self.core.getPath(abstractControlBlock),
name: self.core.getAttribute(abstractControlBlock, 'name'),
isStart: false,
//Code within the loop to execute every iteration
CodeToExecute:[],
//distance: self.core.getAttribute(PrimitiveMotionNode, 'Distance')
Connections: [
// event: <string>
// targetId: <nodePathStr>
]
},
error,
counter;
//builds children nodes TODO start with one no connections then work from there
let curr;
let promise1;
let promise2;
//Builds connections for path for codetoexecute awaits and promises to fix asynchonous
await new Promise(done=>{ self.core.loadChildren(abstractControlBlock, async function (err, children)
{
if(children.length>0)
{
if (err) {
// Something went wrong!
// Handle the error and return.
//console.log("Error with children");
}
// We have an array of the children and can get information from them.
//get non-connection nodes better for core functions to get next nodes and starting node
let nonConn = [];
//loops through all blocks in control blocks and adds all blocks that are not connections
children.forEach(async (child)=>
{
if(!(self.core.isConnection(child)))
{
nonConn.push(child);
}
})
//get starting child
nonConn.forEach(async (child)=>
{
//console.log(self.core.getAttribute(child,'name'));
self.core.loadCollection(child, 'dst', function (err, connections) {
if (err)
{
deferred.reject(new Error(err));
return;
}
if(connections.length > 1)
{
self.logger.error('Multiple incoming connections: ' + connections.length);
deferred.reject(new Error('Multiple incoming connections: ' + connections.length));
return;
}
else if(connections.length === 0)
{
//If current child is not the dst of any other child it is the start
curr = child;
//console.log('Found the starting child: ' + self.core.getAttribute(child,'name'));
//TODO change to type not name push->easy read into matlab
var name = self.core.getAttribute(child,'name');
var type;
//Adds type # not name of block so can be read in Matlab
if(name ==='Straight')
type=1;
else if(name==='Left')
type = 2;
else if (name==='Right')
type = 3;
else if(name==='ZigZagLeft')
type = 4;
else if (name==='ZigZagRight')
type = 5;
else if(name==='Horn')
type = 9;
else if (name==='Left_Signal')
type = 10;
else if(name==='Right_Signal')
type = 11;
else if (name==='Hazard')
type = 12;
controlData.CodeToExecute.push(type);
promise1 = new Promise((resolve, reject) => {
setTimeout(() => resolve("Found Start!"), 1000)
});
}
});
})
//Fixes asynch bug where start is not recorded and saved
await promise1;
//console.log("Async worked? "+self.core.getAttribute(curr,'name'));
//Loop through src of curr node to add next nodes there is length of nonconnection blocks-1 to loop through
let k;
for(k=0;k<nonConn.length-1;k++)
{
//console.log("Current node: "+self.core.getAttribute(curr,'name'));
//Fixes asynch bug where every iteration codetoexecute and curr not updated, loops where curr is src of connection
await new Promise(next=>{
self.core.loadCollection(curr, 'src', function (err, connections)
{
if (err)
{
deferred.reject(new Error(err));
return;
}
var i;
counter = connections.length;
if(connections.length > 1)
{
self.logger.error('Multiple outgoing connections: ' + connections.length);
deferred.reject(new Error('Multiple outgoing connections: ' + connections.length));
return;
}
// For each connection load the destination state.
for (i = 0; i < connections.length; i += 1)
{
self.core.loadPointer(connections[i], 'dst', getNextChild(connections[i]));
}
if (connections.length === 0)
{
deferred.resolve(controlData);
}
//Helps iterate through the list
next()
})
})
}
//Debugging statement
//console.log("This is list after: "+controlData.CodeToExecute);
//Fixes asynch bug where list is not updated to template after path is built
done();
}
});
});
//Dummy function to fix asynch bug
function done()
{
console.log("Finished parsing kids hopefully CodeToExecute is updated");
}
//Callled to load next dst and set as current then adds type to list
function getNextChild(connection)
{
return function(err, dstNode) {
if (err) {
// Handle error
//console.log("Error loading dest");
}
// Here we have access to the dstNode.
curr = dstNode;
var name = self.core.getAttribute(curr,'name');
var type;
if(name ==='Straight')
type=1;
else if(name==='Left')
type = 2;
else if (name==='Right')
type = 3;
else if(name==='ZigZagLeft')
type = 4;
else if (name==='ZigZagRight')
type = 5;
else if(name==='Horn')
type = 9;
else if (name==='Left_Signal')
type = 10;
else if(name==='Right_Signal')
type = 11;
else if (name==='Hazard')
type = 12;
controlData.CodeToExecute.push(type);
//console.log(controlData.CodeToExecute);
//console.log("Added to list: "+self.core.getAttribute(dstNode,'name'));
}
}
//Function to load destination in non codetoexecute path
function atDestinationControl(connection) {
return function (err, dstControl) {
//console.log('In atDestinationControl(connection), length = ' + controlData.Connections.length);
if (err) {
error = new Error(err);
} else {
if(controlData.Connections.length >= 1) {
self.logger.error('Multiple Incoming connections: ' + controlData.Connections.length);
deferred.reject(new Error('Multiple Incoming connections: ' + controlData.Connections.length));
return;
}
controlData.Connections.push({
// distance: self.core.getAttribute(connection, 'Distance'),
// velocity: self.core.getAttribute(connection, 'Velocity'),
targetId: self.core.getPath(dstControl),
targetName: self.core.getAttribute(dstControl, 'name'),
});
}
counter -= 1;
if (counter === 0) {
if (error) {
deferred.reject(error);
} else {
deferred.resolve(controlData);
}
}
}
}
//Sets attributes of each control block sets type and times
if (self.core.getAttribute(abstractControlBlock,'name')==='For') {
//console.log('FOR LOOP');
controlData.Type = 6;
controlData.Times = self.core.getAttribute(abstractControlBlock,'times');
}
else if(self.core.getAttribute(abstractControlBlock,'name')==='While')
{
//console.log('While LOOP');
//Sets condition number and type for while
var condition= self.core.getAttribute(abstractControlBlock,'condition');
let condNum=-1;
if(condition==="SafeLeft")
{
condNum = 1;
}
else if(condition==="SafeStraight")
{
condNum = 2;
}
else
{
condNum = 3;
}
controlData.Condition = condNum;
controlData.Type = 7;
}
//Sets type and condition number for If
else if(self.core.getAttribute(abstractControlBlock,'name')==='If')
{
//console.log('If');
var condition= self.core.getAttribute(abstractControlBlock,'condition');
let condNum=-1;
if(condition==="SafeLeft")
{
condNum = 1;
}
else if(condition==="SafeStraight")
{
condNum = 2;
}
else
{
condNum = 3;
}
controlData.Condition = condNum;
controlData.Type = 8;
}
// Load all connections going out from the stateNode, i.e. has the stateNode as 'src'.
self.core.loadCollection(abstractControlBlock, 'src', function (err, connections) {
if (err) {
deferred.reject(new Error(err));
return;
}
var i;
counter = connections.length;
if(connections.length > 1) {
self.logger.error('Multiple outgoing connections: ' + connections.length);
deferred.reject(new Error('Multiple outgoing connections: ' + connections.length));
return;
}
// For each connection load the destination state.
for (i = 0; i < connections.length; i += 1) {
self.core.loadPointer(connections[i], 'dst', atDestinationControl(connections[i]));
}
// Make sure to resolve when there are no connections.
if (connections.length === 0) {
deferred.resolve(controlData);
}
});
self.core.loadCollection(abstractControlBlock, 'dst', function (err, connections) {
if (err) {
deferred.reject(new Error(err));
return;
}
if(connections.length > 1) {
self.logger.error('Multiple incoming connections: ' + connections.length);
deferred.reject(new Error('Multiple incoming connections: ' + connections.length));
return;
} else if(connections.length == 0) {
//console.log('Found the starting control: ' + self.core.getPath(abstractControlBlock));
controlData.isStart = true;
}
});
return deferred.promise;
}
//Definition of action block and builds connection to next node
CATVehicleContinuousVerifier.prototype.getActionData= function(abstractActionBlock)
{
var self = this,
deferred = new Q.defer(),
actionData = {
id: self.core.getPath(abstractActionBlock),
name: self.core.getAttribute(abstractActionBlock, 'name'),
isStart: false,
Connections: [
// event: <string>
// targetId: <nodePathStr>
]
},
error,
counter;
function atDestinationAction(connection) {
return function (err, dstAction) {
//console.log('In atDestinationAction(connection), length = ' + actionData.Connections.length);
if (err) {
error = new Error(err);
} else {
if(actionData.Connections.length >= 1) {
self.logger.error('Multiple Incoming connections: ' + actionData.Connections.length);
deferred.reject(new Error('Multiple Incoming connections: ' + actionData.Connections.length));
return;
}
actionData.Connections.push({
// distance: self.core.getAttribute(connection, 'Distance'),
// velocity: self.core.getAttribute(connection, 'Velocity'),
targetId: self.core.getPath(dstAction),
targetName: self.core.getAttribute(dstAction, 'name'),
});
}
counter -= 1;
if (counter === 0) {
if (error) {
deferred.reject(error);
} else {
deferred.resolve(actionData);
}
}
}
}
if (self.core.getAttribute(abstractActionBlock,'name')==='Horn') {
//console.log('Horn');
actionData.Type = 9;
}
else if(self.core.getAttribute(abstractActionBlock,'name')==='Left_Signal')
{
//console.log('Left Signal');
actionData.Type = 10;
}
else if(self.core.getAttribute(abstractActionBlock,'name')==='Right_Signal')
{
// console.log('Right Signal');
actionData.Type = 11;
}
else if(self.core.getAttribute(abstractActionBlock,'name')==='Hazard')
{
//console.log('Hazard');
actionData.Type = 12;
}
self.core.loadCollection(abstractActionBlock, 'src', function (err, connections) {
if (err) {
deferred.reject(new Error(err));
return;
}
var i;
counter = connections.length;
if(connections.length > 1) {
self.logger.error('Multiple outgoing connections: ' + connections.length);
deferred.reject(new Error('Multiple outgoing connections: ' + connections.length));
return;
}
// For each connection load the destination state.
for (i = 0; i < connections.length; i += 1) {
self.core.loadPointer(connections[i], 'dst', atDestinationAction(connections[i]));
}
// Make sure to resolve when there are no connections.
if (connections.length === 0) {
deferred.resolve(actionData);
}
});
self.core.loadCollection(abstractActionBlock, 'dst', function (err, connections) {
if (err) {
deferred.reject(new Error(err));
return;
}
if(connections.length > 1) {
self.logger.error('Multiple incoming connections: ' + connections.length);
deferred.reject(new Error('Multiple incoming connections: ' + connections.length));
return;
} else if(connections.length == 0) {
// console.log('Found the starting motion: ' + self.core.getPath(abstractActionBlock));
actionData.isStart = true;
}
});
return deferred.promise;
}
//Definition of a motion node and builds connection to next node
CATVehicleContinuousVerifier.prototype.getMotionData = function(PrimitiveMotionNode) {
var self = this,
deferred = new Q.defer(),
motionData = {
id: self.core.getPath(PrimitiveMotionNode),
name: self.core.getAttribute(PrimitiveMotionNode, 'name'),
isStart: false,
//distance: self.core.getAttribute(PrimitiveMotionNode, 'Distance'),
velocity: self.core.getAttribute(PrimitiveMotionNode, 'Velocity'),
Connections: [
// event: <string>
// targetId: <nodePathStr>
]
},
error,
counter;
function atDestinationMotion(connection) {
return function (err, dstMotion) {
//console.log('In atDestinationMotion(connection), length = ' + motionData.Connections.length);
if (err) {
error = new Error(err);
} else {
if(motionData.Connections.length >= 1) {
self.logger.error('Multiple Incoming connections: ' + motionData.Connections.length);
deferred.reject(new Error('Multiple Incoming connections: ' + motionData.Connections.length));
return;
}
motionData.Connections.push({
// distance: self.core.getAttribute(connection, 'Distance'),
// velocity: self.core.getAttribute(connection, 'Velocity'),
targetId: self.core.getPath(dstMotion),
targetName: self.core.getAttribute(dstMotion, 'name'),
});
}
counter -= 1;
if (counter === 0) {
if (error) {
deferred.reject(error);
} else {
deferred.resolve(motionData);
}
}
}
}
if (self.core.getAttribute(PrimitiveMotionNode,'name')==='Straight') {
//console.log('STRAIGHT!!!!');
motionData.Type = 1;
motionData.RadOfCurvature = 0;
motionData.Distance = self.core.getAttribute(PrimitiveMotionNode, 'Distance');
motionData.FinalTurnAngle = 0;
} else if (self.core.getAttribute(PrimitiveMotionNode,'name')==='Left') {
//console.log("Left");
motionData.Type = 2;
motionData.RadOfCurvature = self.core.getAttribute(PrimitiveMotionNode, 'RadOfCurvature');
motionData.Distance = 0;
motionData.FinalTurnAngle = self.core.getAttribute(PrimitiveMotionNode, 'FinalTurnAngle');
} else if (self.core.getAttribute(PrimitiveMotionNode,'name')==='Right') {
//console.log("Right");
motionData.Type = 3;
motionData.RadOfCurvature = self.core.getAttribute(PrimitiveMotionNode, 'RadOfCurvature');
motionData.Distance = 0;
motionData.FinalTurnAngle = self.core.getAttribute(PrimitiveMotionNode, 'FinalTurnAngle');
} else if (self.core.getAttribute(PrimitiveMotionNode,'name')==='ZigZagLeft') {
// console.log("ZigZagLeft");
motionData.Type = 4;
motionData.RadOfCurvature = 0;
motionData.Distance = 0;
motionData.FinalTurnAngle = 0;
} else if (self.core.getAttribute(PrimitiveMotionNode,'name')==='ZigZagRight') {
// console.log("ZigZagRight");
motionData.Type = 5;
motionData.RadOfCurvature = 0;
motionData.Distance = 0;
motionData.FinalTurnAngle = 0;
}
// Load all connections going out from the stateNode, i.e. has the stateNode as 'src'.
self.core.loadCollection(PrimitiveMotionNode, 'src', function (err, connections) {
if (err) {
deferred.reject(new Error(err));
return;
}
var i;
counter = connections.length;
if(connections.length > 1) {
self.logger.error('Multiple outgoing connections: ' + connections.length);
deferred.reject(new Error('Multiple outgoing connections: ' + connections.length));
return;
}
// For each connection load the destination state.
for (i = 0; i < connections.length; i += 1) {
self.core.loadPointer(connections[i], 'dst', atDestinationMotion(connections[i]));
}
// Make sure to resolve when there are no connections.
if (connections.length === 0) {
deferred.resolve(motionData);
}
});
// Load all connections going out from the stateNode, i.e. has the stateNode as 'src'.
self.core.loadCollection(PrimitiveMotionNode, 'dst', function (err, connections) {
if (err) {
deferred.reject(new Error(err));
return;
}
if(connections.length > 1) {
self.logger.error('Multiple incoming connections: ' + connections.length);
deferred.reject(new Error('Multiple incoming connections: ' + connections.length));
return;
} else if(connections.length == 0) {
//console.log('Found the starting motion: ' + self.core.getPath(PrimitiveMotionNode));
motionData.isStart = true;
}
});
return deferred.promise;
}
//Builds the path model to be used with all the blocks loaded in as children of the path
CATVehicleContinuousVerifier.prototype.extractDataModel = function (path,callback) {
var self = this,
deferred = new Q.defer(),
//definition of data and path models
dataModel = {
pathModel: {
name: '',
//initialState: null,
//finalStates: [],
startX: self.core.getAttribute(path, 'startX'),
startY: self.core.getAttribute(path, 'startY'),
startDirection: self.core.getAttribute(path, 'startDirection'),
endX: self.core.getAttribute(path, 'endX'),
endY: self.core.getAttribute(path, 'endY'),
endDirection: self.core.getAttribute(path, 'endDirection'),
obstacleY: self.core.getAttribute(path, 'obstacleY'),
obstacleX: self.core.getAttribute(path, 'obstacleX'),
motion: [
//id: <nodePathStr>
//name: <string>
//events: []
]
}
};
//Debugging statements
//self.logger.info('In extractDataModel()');
dataModel.pathModel.name = self.core.getAttribute(path, 'name');
//self.logger.info('- extractDataModel() : Path name = ' + dataModel.pathModel.name);
//Load all blocks of the path
self.core.loadChildren(path, function (err, children) {
//console.log('self.core.loadChildren(pathNode, function (err, children) {}');
if (err) {
deferred.reject(new Error(err));
return;
}
var primitivePromises = [],
i,
metaType;
//Loops through all of the blocks who are children of the path and calls method to build path
//self.logger.info("Length of children of path: "+children.length);
for (i = 0; i < children.length; i += 1) {
//metaType = self.core.getAttribute(self.getMetaType(children[i]), 'name');
//self.logger.info(' - metaType = ' + metaType);
//self.logger.info("Block is "+self.core.getAttribute(children[i],'name'));
//Metatype is not working idk y
//self.logger.info("Metatype of block is "+self.getMetaType(children[i],'name'));
var name = self.core.getAttribute(children[i],'name');
if (name ==='Straight'||name ==='Left'||name ==='Right'||name ==='ZigZagLeft'||name ==='ZigZagRight') {
//self.logger.info(' - Found primitive motion!');
primitivePromises.push(self.getMotionData(children[i]));
//metaType = self.core.getAttribute(self.getMetaType(children[i]), 'name');
//self.logger.info(' - metaType = ' + metaType);
}
else if(name ==='If'||name==='While'||name==='For')
{
//self.logger.info(' - Found primitive control!');
primitivePromises.push(self.getControlData(children[i]));
//metaType = self.core.getAttribute(self.getMetaType(children[i]), 'name');
//self.logger.info(' - metaType = ' + metaType);
}
else if(name==='Horn'||name==='Right_Signal'||name==='Left_Signal'||name==='Hazard')
{
//self.logger.info(' - Found primitive action!');
primitivePromises.push(self.getActionData(children[i]));
//metaType = self.core.getAttribute(self.getMetaType(children[i]), 'name');
//self.logger.info(' - metaType = ' + metaType);
}
}
//Asynch fixing waiting for all blocks to execute in proper order
Q.all(primitivePromises)
.then(function (primitiveData) {
//self.logger.info('Q.all(primitivePromises).then(function (primitiveData){}');
dataModel.pathModel.motion = primitiveData;
deferred.resolve(dataModel);
})
.catch(deferred.reject);
//console.log('generateDataModel :dataModel: ' + JSON.stringify(dataModel, null, 4));
return deferred.promise;
});''
return deferred.promise;
// return this.core.loadSubTree(self.activeNode)
// .then(function (nodes) {
// self.logger.info('In loadSubTree().then()');
// return dataModel;
// })
// .nodeify(callback);
}
//Changes grid system so can compare in modelCheck
CATVehicleContinuousVerifier.prototype.letterToNumber = function (theLetter) {
switch(theLetter) {
case "A":
return 0;
case "B":
return 1;
case "C":
return 2;
case "D":
return 3;
case "E":
return 4;
}
return -999;
};
//Constraint based verification of the path built checks boundaries and a singular obstacle
CATVehicleContinuousVerifier.prototype.modelCheck = function (dModel) {
var self = this,
motion = {},
dataModel = dModel,
pathModel = dModel.pathModel,
haveMotion = false,
deferred = new Q.defer(),
i,
gridSize = 4,
minNumberOfMoves = 6,
maxNumberOfMoves = 100,
count = 1,
currentX,
currentY,
expectedX,
expectedY,
currentDirection = pathModel.startDirection;
//self.logger.info('In modelCheck()');
// Convert the calues to what the class expects:
currentX = self.letterToNumber(pathModel.startX);
if(currentX < 0) {
deferred.reject(new Error('Unknown startX = ' + pathModel.startX));
return deferred.promise;
}
currentY = gridSize - pathModel.startY;
expectedX = self.letterToNumber(pathModel.endX);
if(currentX < 0) {
deferred.reject(new Error('Unknown endX = ' + pathModel.endX));
return deferred.promise;
}
expectedY = gridSize - pathModel.endY;
for (i = 0; i < pathModel.motion.length; i += 1) {
if(pathModel.motion[i].isStart) {
motion = pathModel.motion[i];
haveMotion = true;
break;
}
}
while(haveMotion) {
//console.log('Have a motion: ' + JSON.stringify(motion, null, 4));
//console.log(' - PrimitiveMotionConnections: ' + JSON.stringify(motion.PrimitiveMotionConnections, null, 4));
var priorPosition = '(' + currentX + ',' + currentY + ') : ' + currentDirection
switch(motion.Type) {
case 1: // Straight
//currentDirection = currentDirection; // won't change
switch(currentDirection) {
case "E":
currentX += 1;
break;
case "W":
currentX -= 1;
break;
case "N":
currentY += 1;
break;
case "S":
currentY -= 1;
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
break;
case 2: // Left
switch(currentDirection) {
case "E":
currentX += 1;
currentY += 1;
currentDirection = "N";
break;
case "W":
currentX -= 1;
currentY -= 1;
currentDirection = "S";
break;
case "N":
currentX -= 1;
currentY += 1;
currentDirection = "W";
break;
case "S":
currentX += 1;
currentY -= 1;
currentDirection = "E";
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
break;
case 3: // Right
switch(currentDirection) {
case "E":
currentX += 1;
currentY -= 1;
currentDirection = "S";
break;
case "W":
currentX -= 1;
currentY += 1;
currentDirection = "N";
break;
case "N":
currentX += 1;
currentY += 1;
currentDirection = "E";
break;
case "S":
currentX -= 1;
currentY -= 1;
currentDirection = "W";
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
break;
case 4: // ZigZagLeft
switch(currentDirection) {
case "E":
currentX += 1;
currentY += 1;
break;
case "W":
currentX -= 1;
currentY -= 1;
break;
case "N":
currentX -= 1;
currentY += 1;
break;
case "S":
currentX += 1;
currentY -= 1;
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
break;
case 5: // ZigZagRight
switch(currentDirection) {
case "E":
currentX += 1;
currentY -= 1;
break;
case "W":
currentX -= 1;
currentY += 1;
break;
case "N":
currentX += 1;
currentY += 1;
break;
case "S":
currentX -= 1;
currentY -= 1;
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
break;
case 6://For loop
{
var iter = motion.Times;
var i;
for(i=0;i<iter;i+=1)
{
var j;
for(j = 0; j<motion.CodeToExecute.length;j+=1)
{
if(motion.CodeToExecute[j]===1)
{
switch(currentDirection) {
case "E":
currentX += 1;
break;
case "W":
currentX -= 1;
break;
case "N":
currentY += 1;
break;
case "S":
currentY -= 1;
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
}
else if(motion.CodeToExecute[j]===2)
{
switch(currentDirection) {
case "E":
currentX += 1;
currentY += 1;
currentDirection = "N";
break;
case "W":
currentX -= 1;
currentY -= 1;
currentDirection = "S";
break;
case "N":
currentX -= 1;
currentY += 1;
currentDirection = "W";
break;
case "S":
currentX += 1;
currentY -= 1;
currentDirection = "E";
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
}
else if(motion.CodeToExecute[j]===3)
{
switch(currentDirection) {
case "E":
currentX += 1;
currentY -= 1;
currentDirection = "S";
break;
case "W":
currentX -= 1;
currentY += 1;
currentDirection = "N";
break;
case "N":
currentX += 1;
currentY += 1;
currentDirection = "E";
break;
case "S":
currentX -= 1;
currentY -= 1;
currentDirection = "W";
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
}
else if(motion.CodeToExecute[j]===4)
{
switch(currentDirection) {
case "E":
currentX += 1;
currentY += 1;
break;
case "W":
currentX -= 1;
currentY -= 1;
break;
case "N":
currentX -= 1;
currentY += 1;
break;
case "S":
currentX += 1;
currentY -= 1;
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}
}
else if(motion.CodeToExecute[j]===5)
{
switch(currentDirection) {
case "E":
currentX += 1;
currentY -= 1;
break;
case "W":
currentX -= 1;
currentY += 1;
break;
case "N":
currentX += 1;
currentY += 1;
break;
case "S":
currentX -= 1;
currentY -= 1;
break;
default:
deferred.reject(new Error('Unknown direction!'));
return deferred.promise;
}