private void RunTests(AppConfig config)
{
//Tests.Test.TestReadSkeletonFile();
//Tests.Test.MultihumanGestureTest();
//Tests.Test.CheckRelativeAngle();
//Tests.Test.ExecuteParallel();
//Tests.Test.TestVoiceCommandJson();
//Tests.Test.TestSharpDxMatrixRotation();
//Tests.Test.TestReadBehaviorXml(config);
//Tests.Test.TestJson(JsonConvert.SerializeObject(config));
//Tests.Test.TestProgramGeneration(config);
//Tests.Test.TestJsonToProgram(config);
//MainProgramUtil.ReadBehaviorXmlFile("complex_behavior.xml");
//MainProgramUtil.ReadBehaviorXmlFile(@"C:\Work\Develop\sdk_2013\experimot\bin\scriptcs\behavior.xml");
//Tests.Test.GestureConfidenceDataIterate();
}
public ContextServer()
{
_config = TinyIoCContainer.Current.Resolve<AppConfig>();
_interval = ParameterUtil.Get(_config.parameters, "ContextServerInterval", _interval);
}
public IndriyaWeb(AppConfig config)
{
_config = config;
}
public ParameterServer()
{
_worldCtx = TinyIoCContainer.Current.Resolve<Context>();
_config = TinyIoCContainer.Current.Resolve<AppConfig>();
_interval = ParameterUtil.Get(_config.parameters, "ParameterServerInterval", _interval);
}
private void PrepareConfigData(AppConfig config)
{
if (config != null)
{
foreach (var parameter in config.parameters)
{
if (parameter.type == dataType.@string || parameter.type == dataType.file)
{
parameter.value = Environment.ExpandEnvironmentVariables(parameter.value);
}
}
foreach (var node in config.nodes)
{
foreach (var parameter in node.parameters)
{
if (parameter.type == dataType.@string || parameter.type == dataType.file)
{
parameter.value = Environment.ExpandEnvironmentVariables(parameter.value);
}
}
}
}
}
public static void TestReadBehaviorXml(AppConfig config)
{
var outputPath = ParameterUtil.Get(config.parameters, "MainProgramFilePath", "");
if (!string.IsNullOrEmpty(outputPath))
{
var dir = Path.GetDirectoryName(outputPath);
outputPath = Environment.ExpandEnvironmentVariables(dir ?? "");
var behaviors = MainProgramUtil.ReadBehaviorXmlFile(Path.Combine(outputPath, "behavior.xml"));
Console.WriteLine(@"Behaviors : {0}", behaviors.Count);
if (behaviors.Count > 0)
{
var motionBehavior = behaviors[0];
if (motionBehavior.RobotActions.Count > 0)
{
var behavior = motionBehavior.RobotActions[0];
var cloned = (BehaviorInfo)behavior.Clone();
if (cloned.Parameters.Count > 0)
{
string key = cloned.Parameters.Keys.FirstOrDefault();
if (!string.IsNullOrEmpty(key))
{
var param = cloned.Parameters[key] as Dictionary<string, object>;
if (param != null)
{
param["value"] = "New value";
Console.WriteLine(@"Value : {0}", cloned.Parameters[key]);
}
}
}
}
}
}
}
public static void TestJsonToProgram(AppConfig config)
{
var behaviorInfoDict = new Dictionary<string, List<BehaviorInfo>>();
const string behavior =
@"{ name : 'behavior', trigger : 'Greet_Left', priority : 'high', actions : [{ name : 'stand' }, { name : 'greet' }, { name : 'crouch' }] }";
var obj = JObject.Parse(behavior);
if (obj != null)
{
var name = obj.Value<string>("name");
Log.InfoFormat("Behavior Info - Name: {0}, Trigger: {1}, Priority: {2}", name,
obj.Value<string>("trigger"), obj.Value<string>("priority"));
behaviorInfoDict.Add(name, new List<BehaviorInfo>());
var actions = obj.SelectToken("$.actions"); //$.Manufacturers[?(@.Name == 'Acme Co')]
foreach (var action in actions)
{
var actionName = action.Value<string>("name");
behaviorInfoDict[name].Add(new BehaviorInfo()
{
BehaviorName = actionName
});
Log.InfoFormat("Action Info - Name: {0}", actionName);
}
}
Log.InfoFormat("Dictionary constructed: {0}", behaviorInfoDict.Count);
var outputPath = ParameterUtil.Get(config.parameters, "MainProgramFilePath", "");
if (!string.IsNullOrEmpty(outputPath))
{
outputPath = Environment.ExpandEnvironmentVariables(outputPath);
ProgramGenerator.GeneratePrograms(behavior, outputPath);
}
}
public static void TestProgramGeneration(AppConfig config)
{
var outputPath = ParameterUtil.Get(config.parameters, "MainProgramFilePath", "");
if (!string.IsNullOrEmpty(outputPath))
{
outputPath = Environment.ExpandEnvironmentVariables(outputPath);
var dict = new Dictionary<string, string> {{"Greet_Left", "wave"}};
ProgramGenerator.GeneratePrograms(dict, outputPath);
}
}
public static bool LoadFromFile(string fileName, out AppConfig obj)
{
System.Exception exception = null;
return LoadFromFile(fileName, out obj, out exception);
}
/// <summary>
/// Deserializes xml markup from file into an AppConfig object
/// </summary>
/// <param name="fileName">string xml file to load and deserialize</param>
/// <param name="obj">Output AppConfig object</param>
/// <param name="exception">output Exception value if deserialize failed</param>
/// <returns>true if this XmlSerializer can deserialize the object; otherwise, false</returns>
public static bool LoadFromFile(string fileName, out AppConfig obj, out System.Exception exception)
{
exception = null;
obj = default(AppConfig);
try
{
obj = LoadFromFile(fileName);
return true;
}
catch (System.Exception ex)
{
exception = ex;
return false;
}
}
public static bool Deserialize(string xml, out AppConfig obj)
{
System.Exception exception = null;
return Deserialize(xml, out obj, out exception);
}
/// <summary>
/// Deserializes workflow markup into an AppConfig object
/// </summary>
/// <param name="xml">string workflow markup to deserialize</param>
/// <param name="obj">Output AppConfig object</param>
/// <param name="exception">output Exception value if deserialize failed</param>
/// <returns>true if this XmlSerializer can deserialize the object; otherwise, false</returns>
public static bool Deserialize(string xml, out AppConfig obj, out System.Exception exception)
{
exception = null;
obj = default(AppConfig);
try
{
obj = Deserialize(xml);
return true;
}
catch (System.Exception ex)
{
exception = ex;
return false;
}
}
