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 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);
}
}
}