public static PatrolElement[] Read(string filename)
{
try
{
var fstream = File.Open(filename, FileMode.Open);
var list = null as PatrolElement[];
using (var reader = new BinaryReader(fstream))
{
var count = reader.ReadInt32();
list = new PatrolElement[count];
for (var i = 0; i < count; i++)
{
var elapsed_time = reader.ReadInt32();
var Pcmd = new Pcmd(reader.ReadInt32(), reader.ReadInt32(), reader.ReadInt32(), reader.ReadInt32(), reader.ReadInt32());
list[i] = new PatrolElement(elapsed_time, Pcmd);
}
}
fstream.Close();
return(list);
}
catch (Exception e)
{
return(null);
}
}
public bool Write(Pcmd Pcmd)
{
if (this.IsEnabled() == false)
{
return(false);
}
if (this._last_Pcmd != null && this._last_Pcmd.Equals(Pcmd))
{
return(false);
}
if (this._last_Pcmd != null)
{
this._stopwatch.Stop();
var element = new PatrolElement((int)this._stopwatch.ElapsedMilliseconds, this._last_Pcmd);
this.PatrolElementQueue.Enqueue(element);
}
this._last_Pcmd = new Pcmd(Pcmd);
this._stopwatch.Reset();
this._stopwatch.Start();
return(true);
}