public bool UploadAction(int actionId)
{
if ((actionId < 0) || (actionId >= CONST.AI.MAX_ACTION))
{
UpdateInfo(String.Format("Invalid action ID: {0}", actionId), UTIL.InfoType.error);
return false;
}
data.ActionInfo ai = actionTable.action[actionId];
byte[] header = ai.GetData();
// TODO: Error handling
// For safety, wait 1s for writing header
if (!V2_TryCommand(header, 1000))
{
UpdateInfo(String.Format("上传动作档 {0} 的头文件 出错, 动作可能已损坏, 请再次上传.", ai.actionCode), UTIL.InfoType.error);
return false;
}
UInt16 poseCnt = ai.poseCnt;
for (UInt16 pId = 0; pId < poseCnt; pId++)
{
byte[] poseData = ai.GetPoseData(pId);
// For safety, wait 1s for writing data
if (!V2_TryCommand(poseData, 1000))
{
UpdateInfo(String.Format("上传动作档 {0} 出错, 动作可能已损坏, 请再次上传.", ai.actionCode), UTIL.InfoType.error);
return false;
}
}
UpdateInfo(String.Format("Action {0} has been uploaded", ai.actionCode));
return true;
}
private void ActoinList_InsertPose(InsertMode mode)
{
int actionId;
if ((actionId = GetSelectedActionId()) < 0)
{
return;
}
;
data.ActionInfo ai = UBT.actionTable.action[actionId];
if (ai.actionFileExists && !ai.poseLoaded)
{
MessageBoxResult mbr = MessageBox.Show("现在编辑会以新动作为基础, 先下载原来的动作吗? ", "档案尚未下载", MessageBoxButton.YesNoCancel, MessageBoxImage.Question);
if (mbr == MessageBoxResult.Cancel)
{
return;
}
if (mbr == MessageBoxResult.Yes)
{
DownloadAction();
if (!ai.poseLoaded)
{
return;
}
}
}
int poseId;
if (mode == InsertMode.END)
{
poseId = ai.pose.Length;
}
else
{
if ((poseId = IsPoseSelected()) < 0)
{
return;
}
if (mode == InsertMode.AFTER)
{
poseId++;
}
}
int newPose = ai.InsertPose((UInt16)poseId);
if (newPose < 0)
{
return;
}
RefreshAction(actionId);
ucActionDetail.SetSelectedIndex(newPose);
}
private void LoadActionFile()
{
int actionId = GetSelectedActionId();
if (actionId < 0)
{
return;
}
OpenFileDialog openFileDialog = new OpenFileDialog();
openFileDialog.Filter = CONST.ROBOT_ACTION_FILTER;
if (openFileDialog.ShowDialog() == true)
{
String fileName = openFileDialog.FileName;
try
{
long size = new FileInfo(fileName).Length;
bool validFileSize = false;
if (size >= CONST.AI.HEADER.SIZE)
{
validFileSize = (((size - CONST.AI.HEADER.SIZE) % CONST.AI.POSE.SIZE) == 0);
}
if (!validFileSize)
{
UpdateInfo(String.Format("Invalid file size: {0} has {1} bytes.", fileName, size), UTIL.InfoType.error);
return;
}
FileStream fs = new FileStream(fileName, FileMode.Open, FileAccess.Read);
BinaryReader br = new BinaryReader(fs);
byte[] actionData = null;
// int can already have 2,147,483,647 , no need to split
actionData = br.ReadBytes((int)size);
br.Close();
fs.Close();
data.ActionInfo ai = UBT.actionTable.action[actionId];
if (ai.ReadFromArray(actionData))
{
UpdateInfo(String.Format("Rebuild action table from {0}", fileName));
}
else
{
UpdateInfo(String.Format("Error building table from {0}", fileName), UTIL.InfoType.error);
}
}
catch (Exception ex)
{
UpdateInfo(String.Format("Error reading data from {0}: {1}", fileName, ex.Message), UTIL.InfoType.error);
}
RefreshActionInfo();
}
}
private void G2Conv()
{
int actionId = GetSelectedActionId();
if (actionId < 0)
{
return;
}
OpenFileDialog openFileDialog = new OpenFileDialog();
openFileDialog.Filter = CONST.ROBOT_CSV_FILTER;
if (openFileDialog.ShowDialog() == true)
{
String fileName = openFileDialog.FileName;
char actionCode = UBT.actionTable.action[actionId].actionCode;
if (MessageConfirm(String.Format("把動作 {0} 根據 {1} 的設定, 由 Alpha 1 轉成 Alpha 2 的角度, 當前資料將會被覆蓋", actionCode, fileName)))
{
try
{
string[] csv = System.IO.File.ReadAllLines(fileName);
if (csv.Length < 6)
{
UpdateInfo(String.Format("Invalid file size: {0} has {1} lines.", fileName, csv.Length), MyUtil.UTIL.InfoType.error);
return;
}
data.ActionInfo ai = UBT.actionTable.action[actionId];
if (ai.G2Conv(csv))
{
UpdateInfo(String.Format("Rebuild action table from {0}", fileName));
}
else
{
UpdateInfo(String.Format("Error building table from {0}", fileName), MyUtil.UTIL.InfoType.error);
}
}
catch (Exception ex)
{
UpdateInfo(String.Format("Error reading data from {0}: {1}", fileName, ex.Message), MyUtil.UTIL.InfoType.error);
}
RefreshActionInfo();
}
}
}
private void SaveActionFile()
{
int actionId = GetSelectedActionId();
if (actionId < 0)
{
return;
}
UpdateInfo();
data.ActionInfo ai = UBT.actionTable.action[actionId];
if (ai.actionFileExists && (!ai.poseLoaded))
{
MessageBox.Show("动作资料尚未下载到电脑, 请先 [下载动作]", "无法储存", MessageBoxButton.OK, MessageBoxImage.Asterisk);
return;
}
SaveFileDialog saveFileDialog = new SaveFileDialog();
saveFileDialog.Filter = CONST.ROBOT_ACTION_FILTER;
if (saveFileDialog.ShowDialog() == true)
{
String fileName = saveFileDialog.FileName;
try
{
FileStream fs = File.Create(fileName, 2048, FileOptions.None);
BinaryWriter bw = new BinaryWriter(fs);
bw.Write(ai.GetData());
for (UInt16 poseId = 0; poseId < ai.poseCnt; poseId++)
{
bw.Write(ai.GetPoseData(poseId));
}
bw.Close();
fs.Close();
UpdateInfo(String.Format("Action table saved to {0}", fileName));
}
catch (Exception ex)
{
UpdateInfo(String.Format("Error saving to {0}: {1}", fileName, ex.Message), UTIL.InfoType.error);
}
}
}
private void SaveActionCsvFile()
{
int actionId = GetSelectedActionId();
if (actionId < 0)
{
return;
}
UpdateInfo();
data.ActionInfo ai = UBT.actionTable.action[actionId];
if (ai.actionFileExists && (!ai.poseLoaded))
{
MessageBox.Show("动作资料尚未下载到电脑, 请先 [下载动作]", "无法储存", MessageBoxButton.OK, MessageBoxImage.Asterisk);
return;
}
SaveFileDialog saveFileDialog = new SaveFileDialog();
saveFileDialog.Filter = CONST.ROBOT_CSV_FILTER;
if (saveFileDialog.ShowDialog() == true)
{
String fileName = saveFileDialog.FileName;
try
{
TextWriter tw = new StreamWriter(fileName, false);
tw.Write(ai.GetCsv());
tw.Write(data.PoseInfo.GetCsvHeader());
for (UInt16 poseId = 0; poseId < ai.poseCnt; poseId++)
{
tw.Write(ai.GetPoseCsv(poseId));
}
tw.Close();
UpdateInfo(String.Format("Action CSV file saved to {0}", fileName));
}
catch (Exception ex)
{
UpdateInfo(String.Format("Error saving to {0}: {1}", fileName, ex.Message), MyUtil.UTIL.InfoType.error);
}
}
}
public bool DownloadAction(byte actionId, bool fullDownload)
{
data.ActionInfo ai = actionTable.action[actionId];
// A9 9A 03 61 00 66 ED
byte[] command = { 0xA9, 0x9A, 0x03, CONST.CMD.GET_ADHEADER, actionId, 0, 0xED };
if (V2_SendCommand(command, true, 1000))
{
if (receiveBuffer.Count != CONST.AI.HEADER.SIZE)
{
return false;
}
if (ai.ReadHeaderFromArray(receiveBuffer.ToArray()))
{
if (fullDownload)
{
if (ai.poseCnt > 0)
{
ai.SetPoseSize(ai.poseCnt);
for (UInt16 pId = 0; pId < ai.poseCnt; pId++)
{
DownloadActionPose(actionId, pId);
}
}
ai.poseLoaded = true;
ai.CheckPoses();
}
else
{
ai.poseLoaded = false;
}
}
}
return true;
}
