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;
        }
Example #2
0
        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();
            }
        }
Example #4
0
        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);
                }
            }
        }
Example #6
0
        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;
        }