private Action_Data_List onActionListRead(string strmissionid)
{
Action_Data_List actiondatalist = new Action_Data_List();
actiondatalist.action_data = new List <Action_Data>();
try
{
string strworkfile = "..\\Ros_info\\" + strmissionid + ".xml";
using (StreamReader sr1 = new System.IO.StreamReader(strworkfile, Encoding.Default))
{
while (sr1.Peek() >= 0)
{
string strTemp = sr1.ReadLine();
if (strTemp.IndexOf('<') < 0 && strTemp != "")
{
Action_Data actiondata = new Action_Data();
string[] straction_sub = strTemp.Split('/');
actiondata.strWorkData = strTemp;
if (straction_sub.Length == 1)
{
actiondata.strActionType = "";
}
else
{
actiondata.strActionType = straction_sub[0].Split(':')[1];
}
actiondatalist.action_data.Add(actiondata);
}
}
sr1.Close();
}
return(actiondatalist);
}
catch (Exception ex)
{
Console.WriteLine("onActionListRead err=" + ex.Message.ToString());
return(actiondatalist);
}
}
//job table 추가함수
private List <Job_MissionInfo> onJobTable_Add(string[] missionbuf)
{
List <Job_MissionInfo> jobmissionlist = new List <Job_MissionInfo>();
try
{
if (missionbuf.Length > 0 && missionbuf[0] != "Not")
{
for (int i = 0; i < missionbuf.Length; i++)
{
string missionid = missionbuf[i];
int idx = missionid.IndexOf("(");
int idx2 = missionid.IndexOf(")");
missionid = missionid.Substring(idx + 1, idx2 - idx - 1);
//해당되는 missionid에 action정보 read
Action_Data_List actiondatalist = onActionListRead(missionid);
if (actiondatalist.action_data.Count > 0)
{
Job_MissionInfo jobmission = new Job_MissionInfo();
jobmission.actinfo = new List <Job_Mission_ActInfo>();
jobmission.missionid = missionid;
Job_Mission_ActInfo jobmission_act = new Job_Mission_ActInfo();
for (int j = 0; j < actiondatalist.action_data.Count; j++)
{
if (j > 0)
{
jobmission_act.actidx = j - 1;
jobmission_act.acttype = actiondatalist.action_data[j].strActionType;
if (jobmission_act.acttype.Equals("Action_wait"))
{
jobmission_act.bXis_use = true;
}
string[] strgoal_sub = actiondatalist.action_data[j].strWorkData.Split('/');
if (jobmission_act.acttype.Equals("Goal-Point"))
{
string[] strgoal_sub_act_param = strgoal_sub[1].Split(':');
string x = strgoal_sub_act_param[1];
jobmission_act.xpos = float.Parse(x);
strgoal_sub_act_param = strgoal_sub[2].Split(':');
string y = strgoal_sub_act_param[1];
jobmission_act.ypos = float.Parse(y);
}
jobmission_act.robot_status = "wait";
jobmission.actinfo.Add(jobmission_act);
}
}
jobmissionlist.Add(jobmission);
}
}
}
}
catch (Exception ex)
{
Console.WriteLine("onJobTable_Add err=" + ex.Message.ToString());
}
return(jobmissionlist);
}