private List<SubStrategy> _subStrategies = null; // Toutes les sous stratégies
#endregion Fields
#region Constructors
// Public ---------------------------------------------------------------------------------
public Strategy(String strategyName)
{
// Si le nom est non nul, on ajoute ce nom à la stratégie
if (strategyName != null)
_strategyName = strategyName;
// Creation du premier objet pour la partie décisionnelle
_subStrategies = new List<SubStrategy>();
_subStrategies.Add(new SubStrategy(PrivateConst.mainStrategyName, 0));
// Creation de la position du robot initial
_initialPos = new RobotAction(0);
_initialPos.cmdType = EnumCmdType.CmdType_Blocking; // Blocking Action
_initialPos.cmd = EnumCmd.App_SetNewPos; // Defines the first robot position
_initialPos.param2 = "1500"; // X
_initialPos.param3 = "1000"; // Y
_initialPos.param4 = "0"; // Angle
_initialPos.activeSensors.DesactivateAllSensors(); // Do not use bumpers
// Creation de la vitesse par défaut
_defaultSpeed = 50;
_defaultPivotSpeed = 50;
_debugTool = new DebugTool(DebugTool.EDebugToolType.Console);
}
public DisplayPos(RobotAction robotAction)
{
if (robotAction != null)
{
_robotAction = robotAction;
_initialPos = new List<RobotPos>();
}
}
/// <summary>
/// Permet de mettre à jour les données de l'objet en cours à partir d'un autre objet passé en paramètre
/// </summary>
/// <param name="newValues">Objet contenant les nouvelles valeurs à assigner</param>
public void UpdateValue(RobotAction newValues)
{
if (newValues != null)
{
this.ID = newValues.ID;
this.cmd = newValues.cmd;
this.cmdType = newValues.cmdType;
this.param1 = newValues.param1;
this.param2 = newValues.param2;
this.param3 = newValues.param3;
this.param4 = newValues.param4;
this.nextID = newValues.nextID;
this.timeoutID = newValues.timeoutID;
this.activeSensors.ForceSensors(newValues.activeSensors.Activated);
}
}
public static int ComparisonID(RobotAction firstRobotAction, RobotAction secondRobotAction)
{
if(firstRobotAction != null)
{
if(secondRobotAction != null)
{
return (firstRobotAction.ID - secondRobotAction.ID);
}
else
return 1;
}
else
{
if(secondRobotAction != null)
return -1;
else
return 0;
}
}
/// <summary>
/// Import a new strategy from an external file (given as parameter)
/// </summary>
/// <param name="inputFileName">filename of internal file</param>
/// <param name="patternFileName">pattern file to use for the importation</param>
/// <returns></returns>
public int Import(String inputFileName, String patternFileName)
{
int Ret = -1;
int patternLineIndex = 0;
int importLineIndex = 0;
int minLineIndex = 0;
int nbLineToRemove = 0;
int currentLineIndex = 0;
int counter = 0;
TextFile patternFile = new TextFile(); // Fichier pattern pour l'import des données
TextFile fileToImport = new TextFile(); // Fichier à importer
StructuredFile importFile = new StructuredFile(); // Fichier utiliser pour lire les données
List<String> patternLoop = new List<string>(); // Pour stocker les lignes du pattern à repeter dans la rubrique LOOP
String lineRead = ""; // Variable pour lire les données du fichier
StructuredFileKey currentKey = null;
try
{
// Verification des paramètres
if ((inputFileName != null) && (patternFileName != null))
{
// Lecture du fichier modele
patternFile.Load(patternFileName);
// Lecture du fichier à importer
fileToImport.Load(inputFileName);
// Si les fichiers sont valides, on les prépare pour les importer
if ((patternFile.Count() > 0) && (fileToImport.Count() > 0))
{
#region PreparationDesFichiers
// Suppression des tabulations
patternFile.ReplaceInFile("\t", "");
fileToImport.ReplaceInFile("\t", "");
// Suppression des lignes inutiles
patternFile.RemoveEmptyLine();
fileToImport.RemoveEmptyLine();
// Mise en correspondance des fichiers
// Recherche de l'index du début de boucle
importLineIndex = fileToImport.GetFirstIndexLine(PrivateConst.subStrategyBeginTag, 0);
patternLineIndex = patternFile.GetFirstIndexLine(PrivateConst.subStrategyBeginTag, 0);
// Verification de la presence de la boucle dans les 2 fichiers
if ((importLineIndex >= 0) && (patternLineIndex >= 0))
{
// Lecture du minimum de ligne
minLineIndex = Math.Min(importLineIndex, patternLineIndex);
// Verification si un ecart existe dans le positionnement du tag de debut de boucle
if (importLineIndex != patternLineIndex)
{
// Suppression des lignes en trop dans le fichier d'import
nbLineToRemove = importLineIndex - minLineIndex;
for (int i = 0; i < nbLineToRemove; i++)
fileToImport.RemoveLine(minLineIndex);
// Suppression des lignes en trop dans le fichier de modèle
nbLineToRemove = patternLineIndex - minLineIndex;
for (int i = 0; i < nbLineToRemove; i++)
patternFile.RemoveLine(minLineIndex);
}
// Creation des boucles
// 1 - Lecture des lignes du modèle
do
{
// Lecture de la ligne
lineRead = patternFile.GetLine(minLineIndex + 1);
// Verification du contenu
if ((lineRead != null) && (lineRead.Contains(PrivateConst.subStrategyBeginTag) == false) && (lineRead.Contains(PrivateConst.subStrategyEndTag) == false))
{
patternLoop.Add(lineRead); // Ajout de la ligne courante
patternFile.RemoveLine(minLineIndex + 1);
}
}
while ((lineRead != null) && (lineRead.Contains(PrivateConst.subStrategyEndTag) == false));
if (patternLoop.Count() > 0)
{
// 2 - Duplication des données du modele en fonction des données du fichier à importer
currentLineIndex = minLineIndex + 1; // On se place au début de la boucle
counter = 0; // Initialisation du compteur pour dupliquer le pattern
do
{
// Lecture de la ligne
lineRead = fileToImport.GetLine(currentLineIndex);
if ((lineRead != null) && (lineRead.Contains(PrivateConst.subStrategyBeginTag) == false) && (lineRead.Contains(PrivateConst.subStrategyEndTag) == false))
{
// Verification du compteur
if (counter >= patternLoop.Count())
counter = 0;
// Ajout de la ligne de pattern en conséquence
patternFile.AddLine(patternLoop[counter], currentLineIndex);
counter = counter + 1;
}
currentLineIndex = currentLineIndex + 1;
}
while ((lineRead != null) && (lineRead.Contains(PrivateConst.subStrategyEndTag) == false));
}
}
// Ajout des lignes dans le fichier d'import si les tailles ne correspondent pas
while(patternFile.Count() > fileToImport.Count())
fileToImport.AddLine("EMPTY LINE");
// Ajout des lignes dans le fichier pattern si les tailles ne correspondent pas
while (fileToImport.Count() > patternFile.Count())
patternFile.AddLine("EMPTY LINE");
#endregion
#region LectureDesDonnees
// Ajout du fichier pattern
importFile.SetPatternFile(patternFile);
// Lecture du fichier
importFile.Import(fileToImport);
#endregion
#region TraitementDesDonnees
if (importFile.Count() > 0)
{
// Lecture des groupes un par un
foreach (StructuredFileGroup currentGroup in importFile.GetAllGroup())
{
// Lecture de la clé contenant le nom de la Stategy
currentKey = currentGroup.GetFirstKey(PrivateConst.TAG_SubStrategyName);
// Si la clé courante fait partie d'une stratégie
if(currentKey != null)
{
// Si le group actuel appartient à une stratégie, lecture du nom de la stratégie
String subStrategyName = currentKey.valueString;
RobotAction actionToImport = new RobotAction();
// Si il s'agit d'une action à ajouter à la stratégie
if (actionToImport.Import(currentGroup) == true)
{
bool isAdded = false;
for (int i = 0; i < _subStrategies.Count(); i++)
{
// Si la clé lue appartient à la stratégie courante, on l'ajoute
if (subStrategyName == _subStrategies[i].Name)
{
_subStrategies[i].AddAction(actionToImport);
isAdded = true;
}
}
// Si la clé n'a pas été ajoutée, on l'ajoute
if (isAdded == false)
{
int subStrategyID = Convert.ToInt32(Math.Floor(actionToImport.ID / 100.0));
SubStrategy subStrategyToAdd = new SubStrategy(subStrategyName, subStrategyID);
subStrategyToAdd.AddAction(actionToImport);
_subStrategies.Add(subStrategyToAdd);
}
}
}
else
{
// Sinon la clé est ajoutée aux variables globales de l'appli (si la clé est nécessaire)
// Lecture du nom de la stratégie
currentKey = currentGroup.GetFirstKey(PrivateConst.TAG_StrategyName);
if (currentKey != null)
_strategyName = currentKey.valueString;
// Variables pour la position initiale
currentKey = currentGroup.GetFirstKey(PrivateConst.TAG_InitialPosX);
if (currentKey != null) { _initialPos.param2 = currentKey.valueString; }
currentKey = currentGroup.GetFirstKey(PrivateConst.TAG_InitialPosY);
if (currentKey != null) { _initialPos.param3 = currentKey.valueString; }
currentKey = currentGroup.GetFirstKey(PrivateConst.TAG_InitialPosA);
if (currentKey != null) { _initialPos.param4 = currentKey.valueString; }
// Valeur par défaut
currentKey = currentGroup.GetFirstKey(PrivateConst.TAG_DefaultSpeed);
if (currentKey != null) { _defaultSpeed = currentKey.valueInt; }
// Valeur par défaut
currentKey = currentGroup.GetFirstKey(PrivateConst.TAG_DefaultPivotSpeed);
if (currentKey != null) { _defaultPivotSpeed = currentKey.valueInt; }
}
}
}
#endregion
}
}
}
catch (Exception ex)
{
_debugTool.WriteLine("Strategy Import() : " + ex.Message);
Ret = -1;
}
return Ret;
}
/// <summary>
/// Permet de vider la stratégie actuelle
/// </summary>
public void Clear()
{
_subStrategies = new List<SubStrategy>();
_subStrategies.Add(new SubStrategy(PrivateConst.mainStrategyName, 0));
_initialPos = new RobotAction(0);
_initialPos.cmdType = EnumCmdType.CmdType_Blocking; // Blocking Action
_initialPos.cmd = EnumCmd.App_SetNewPos; // Defines the first robot position
_initialPos.param2 = "0"; // X
_initialPos.param3 = "0"; // Y
_initialPos.param4 = "0"; // Angle
_initialPos.activeSensors.DesactivateAllSensors(); // Do not use bumpers
_defaultSpeed = 50;
}
private void UpdateData(object sender, EventArgs e)
{
_currentRobotAction = _mainModel.selectedRobotAction;
if (_currentRobotAction != null)
{
// Copie de l'objet en local
_modifiedRobotAction.ID = _currentRobotAction.ID;
_modifiedRobotAction.cmd = _currentRobotAction.cmd;
_modifiedRobotAction.cmdType = _currentRobotAction.cmdType;
_modifiedRobotAction.nextID = _currentRobotAction.nextID;
_modifiedRobotAction.param1 = _currentRobotAction.param1;
_modifiedRobotAction.param2 = _currentRobotAction.param2;
_modifiedRobotAction.param3 = _currentRobotAction.param3;
_modifiedRobotAction.param4 = _currentRobotAction.param4;
_modifiedRobotAction.timeoutID = _currentRobotAction.timeoutID;
_modifiedRobotAction.activeSensors.ForceSensors(_currentRobotAction.activeSensors.Activated);
LoadDisplayPos();
if ((listPrevID.Count > 0) && (_currentRobotAction.ID != listPrevID[listPrevID.Count - 1].nextID))
{
listPrevID.Clear();
}
}
RaisePropertyChangedGrouped();
}
private RobotAction _modifiedRobotAction; // Action pour la mise à jour
#endregion Fields
#region Constructors
// Public ---------------------------------------------------------------------------------
public RobotActionVM()
{
_modifiedRobotAction = new RobotAction();
_mainModel = MainModel.GetInstance;
_mainModel.RobotActionChanged += new EventHandler(UpdateData);
}
private void AddNewCmdNotLinked()
{
int newID = -1;
RobotAction newRobotAction = null;
if (_mainModel.selectedSubStrategy != null)
{
newID = _mainModel.selectedSubStrategy.GetFreeID();
if (newID > 0)
{
newRobotAction = new RobotAction(newID);
newRobotAction.cmd = EnumCmd.App_Wait;
newRobotAction.nextID = -1;
_mainModel.selectedRobotAction = newRobotAction;
_mainModel.selectedSubStrategy.AddAction(newRobotAction);
_mainModel.UpdateRobotActionList();
}
}
}
// Private functions ----------------------------------------------------------------------
private RobotAction GetFirstRobotAction()
{
RobotAction Ret = null;
if(_subStrategyID == 0)
Ret = new RobotAction(1);
else
Ret = new RobotAction(_subStrategyID * 1000);
Ret.cmd = EnumCmd.App_Wait;
Ret.cmdType = EnumCmdType.CmdType_Blocking;
Ret.param1 = "0";
Ret.param2 = "0";
Ret.param3 = "0";
Ret.param4 = "1";
Ret.nextID = 0;
return Ret;
}
/// <summary>
/// Permet de mettre à jour l'action ayant l'id actionID avec les données en paramètre
/// L'ID n'est pas mis à jour
/// </summary>
/// <param name="actionID">ID de l'action à mettre à jour</param>
/// <param name="newAction">Nouvelles données à mettre à jour</param>
/// <returns>True si l'ajout a été fait correctement, False sinon</returns>
public bool UpdateAction(int actionID, RobotAction newAction)
{
bool Ret = false;
if ((newAction != null) && (_actions != null) && (actionID > 0))
{
// Verification des ID
newAction.ID = CheckID(newAction.ID);
newAction.nextID = CheckLinkID(newAction.nextID);
newAction.timeoutID = CheckLinkID(newAction.timeoutID);
// On met à jour les données que si on modifie l'objet courant ou si le nouvel ID n'est pas utilisé
if ((newAction.ID == actionID) || (GetAction(newAction.ID) == null))
{
// On parcourt tous les objets pour mettre à jour les actions ayant le bon ID
foreach (RobotAction currentRobotAction in _actions)
{
if (currentRobotAction.ID == actionID)
{
currentRobotAction.UpdateValue(newAction);
Ret = true;
}
}
}
}
return Ret;
}
/// <summary>
/// Charge les informations de la substrategy à partir du fichier spécifié en paramètre
/// Le chargement d'un fichier détruit toutes les données précédemment sauvegardée
/// </summary>
/// <param name="filename">Nom du fichier pour charger le fichier</param>
/// <param name="forcedID">ID à utiliser à la place de l'ID du fichier</param>
/// <returns>Retourne le nombre d'action chargée, -1 en cas d'erreur</returns>
public int Load(String filename, int forcedID)
{
int Ret = -1;
StructuredFile inputFile = new StructuredFile();
StructuredFileGroup globalGroup = null;
List<StructuredFileGroup> actionsGroup = null;
StructuredFileKey currentKey = null;
RobotAction currentAction = null;
if (filename != null)
{
// Ouverture du fichier
inputFile.Load(filename);
// Destruction des données actuelles
_subStrategyName = "Not Set";
_actions = null;
// Chargement des données génériques
globalGroup = inputFile.GetGroupByID(0);
if (globalGroup != null)
{
currentKey = globalGroup.GetFirstKey("SubStrategyName");
if (currentKey != null)
_subStrategyName = currentKey.valueString;
if (forcedID > 0)
{
// Un ID a été imposé, nous l'utilisons
_subStrategyID = forcedID;
}
else
{
// Nous utilisons l'ID du fichier
currentKey = globalGroup.GetFirstKey("SubStrategyID");
if (currentKey != null)
_subStrategyID = currentKey.valueInt;
}
}
// Chargement des données liées aux actions
actionsGroup = inputFile.GetAllGroup();
if (actionsGroup != null)
{
Ret = 0;
// Lecture de tous les groupes pour extraire les données liées aux actions
foreach (StructuredFileGroup currentGroup in actionsGroup)
{
// Nous ne devons extraire que les données des groupes > à 0
if (currentGroup.ID > 0)
{
currentAction = new RobotAction();
currentAction.Import(currentGroup);
// On ajoute l'objet que l'on vient d'importer s'il est valide
if (currentAction.cmd != EnumCmd.NotSet)
{
if (_actions == null)
{
_actions = new List<RobotAction>();
}
// Verification des ID
currentAction.ID = CheckID(currentAction.ID);
currentAction.nextID = CheckLinkID(currentAction.nextID);
currentAction.timeoutID = CheckLinkID(currentAction.timeoutID);
_actions.Add(currentAction);
Ret = Ret + 1;
}
}
}
}
}
SortRobotActions();
return Ret;
}
/// <summary>
/// Ajoute un nouvel objet RobotAction dans la sub-stratégie
/// Si l'ID est déjà utilisé, on met à jour les données avec l'objet en paramètre
/// </summary>
/// <param name="newAction">Nouvel objet à ajouter</param>
/// <returns>True si l'ajout s'effectue correctement, False sinon</returns>
public bool AddAction(RobotAction newAction)
{
bool Ret = false;
if (newAction != null)
{
// Verification des ID
newAction.ID = CheckID(newAction.ID);
newAction.nextID = CheckLinkID(newAction.nextID);
newAction.timeoutID = CheckLinkID(newAction.timeoutID);
// On ajoute l'objet dans la liste
if (_actions == null)
{
_actions = new List<RobotAction>();
_actions.Add(GetFirstRobotAction());
_actions.Add(newAction);
}
else
{
// On verifie si l'ID n'est pas déjà utilisé
RobotAction isPresent = GetAction(newAction.ID);
if (isPresent != null)
{
// L'ID existe déjà, on le met à jour
isPresent.UpdateValue(newAction);
}
else
{
// L'objet n'existe pas, on peut l'ajouter
_actions.Add(newAction);
}
}
Ret = true;
}
SortRobotActions();
return Ret;
}
static void Main(string[] args)
{
bool Validated = true;
// ############################################################################################################################
// ##### ActiveSensors
// ############################################################################################################################
#region ActiveSensors
ActiveSensors testActiveSensors = new ActiveSensors();
// Test 0200 : ActiveSensors __________________________________________________________________________________________________
try
{
DisplaySeparator();
Console.WriteLine("Test 0200 - Verification des objets ActiveSensors : \n");
if (testActiveSensors.Activated == "(APP_PARAM_STRATEGYFLAG_NONE)")
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
testActiveSensors.ActivateSensors("APP_PARAM_STRATEGYFLAG_COLLISION_FRONT");
testActiveSensors.ActivateSensors("APP_PARAM_STRATEGYFLAG_COLLISION_FRONT");
testActiveSensors.ActivateSensors("APP_PARAM_STRATEGYFLAG_COLLISION_REAR");
if (testActiveSensors.Activated == "(APP_PARAM_STRATEGYFLAG_COLLISION_FRONT + APP_PARAM_STRATEGYFLAG_COLLISION_REAR)")
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
testActiveSensors.DesactivateSensors("APP_PARAM_STRATEGYFLAG_COLLISION_FRONT");
if (testActiveSensors.Activated == "(APP_PARAM_STRATEGYFLAG_COLLISION_REAR)")
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
testActiveSensors.DesactivateAllSensors();
if (testActiveSensors.Activated == "(APP_PARAM_STRATEGYFLAG_NONE)")
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
testActiveSensors.ActivateSensors("APP_PARAM_STRATEGYFLAG_COLLISION_FRONT");
testActiveSensors.ForceSensors("APP_PARAM_STRATEGYFLAG_COLLISION_REAR");
if (testActiveSensors.Activated == "(APP_PARAM_STRATEGYFLAG_COLLISION_REAR)")
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
}
catch (Exception ex)
{
Console.WriteLine("Test 0200 Failed !!");
Console.WriteLine(ex.Message);
Validated = false;
}
#endregion
// ############################################################################################################################
// ##### RobotAction
// ############################################################################################################################
#region RobotAction
RobotAction testAction = new RobotAction();
// Test 0201 : RobotAction ____________________________________________________________________________________________________
try
{
DisplaySeparator();
Console.WriteLine("Test 0201 - Verification des objets Action : \n");
Console.WriteLine(" -> Verification des private");
// ------------------------------------------------------------------------------------------
if (testAction.CheckPrivateFunction())
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
// ------------------------------------------------------------------------------------------
Console.WriteLine(" -> Test de la fonction d'export() : ");
testAction.ID = 1;
testAction.cmd = EnumCmd.Mvt_UseMixedMode;
testAction.cmdType = EnumCmdType.CmdType_Blocking;
testAction.param1 = "11";
testAction.param2 = "12";
testAction.param3 = "13";
testAction.param4 = "14";
testAction.nextID = 100;
testAction.timeoutID = 200;
StructuredFileGroup output = testAction.Export();
if (output != null)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
// ------------------------------------------------------------------------------------------
Console.WriteLine(" -> Test de la fonction d'import() : ");
testAction = new RobotAction();
StructuredFileGroup inputData = new StructuredFileGroup(10);
inputData.AddKey(new StructuredFileKey("Cmd", "Mvt_UseMixedMode"));
inputData.AddKey(new StructuredFileKey("CmdType", "Blocking"));
inputData.AddKey(new StructuredFileKey("Param1", 50));
inputData.AddKey(new StructuredFileKey("Param2", 100));
inputData.AddKey(new StructuredFileKey("Param3", 200));
inputData.AddKey(new StructuredFileKey("Param4", 90.0));
inputData.AddKey(new StructuredFileKey("ActiveSensors", "COLLISION_FRONT"));
inputData.AddKey(new StructuredFileKey("nextID", 10));
inputData.AddKey(new StructuredFileKey("timeoutID", 30));
if (testAction.Import(inputData) == true)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
}
catch (Exception ex)
{
Console.WriteLine("Test 0201 Failed !!");
Console.WriteLine(ex.Message);
Validated = false;
}
#endregion
// ############################################################################################################################
// ##### SubStrategy
// ############################################################################################################################
#region SubStrategy
// Test 0202 : SubStrategy ____________________________________________________________________________________________________
try
{
DisplaySeparator();
// ------------------------------------------------------------------------------------------
SubStrategy strategy1 = new SubStrategy("Strategy 1", 1);
SubStrategy strategy2 = new SubStrategy("Strategy 2", 1);
// Creation de l'action 1
RobotAction Action1 = new RobotAction(1);
Action1.cmd = EnumCmd.Mvt_UseMixedMode;
Action1.cmdType = EnumCmdType.CmdType_Blocking;
Action1.param1 = "1";
Action1.param2 = "2";
Action1.param3 = "3";
Action1.param4 = "4";
Action1.nextID = -1;
Action1.timeoutID = -1;
RobotAction Action10 = new RobotAction(10);
Action1.cmd = EnumCmd.Mvt_UseMixedMode;
Action1.cmdType = EnumCmdType.CmdType_Blocking;
Action1.param1 = "10";
Action1.param2 = "20";
Action1.param3 = "30";
Action1.param4 = "40";
Action1.nextID = -1;
Action1.timeoutID = -1;
RobotAction Action2 = new RobotAction(2);
Action2.cmd = EnumCmd.App_Wait;
Action2.cmdType = EnumCmdType.CmdType_Blocking;
Action2.param1 = "4";
Action2.param2 = "3";
Action2.param3 = "2";
Action2.param4 = "1";
Action2.nextID = -1;
Action2.timeoutID = -1;
strategy1.AddAction(Action1); strategy1.AddAction(Action2); strategy1.AddAction(Action10);
strategy2.AddAction(Action1); strategy2.AddAction(Action2); strategy2.AddAction(Action10);
Console.WriteLine("Test 0202 - SubStrategy : ");
if (strategy1.Count() == 3)
{
Console.Write(" Ok\n");
} else {
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Suppression d'une action : ");
strategy1.RemoveAction(10);
strategy2.RemoveAction(20);
if ((strategy1.Count() == 2) && (strategy2.Count() == 3))
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Recherche d'une action : ");
if ((strategy1.GetAction(1) != null) && (strategy1.GetAction(20) == null))
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Ajout d'une action existante : ");
strategy2.AddAction(Action1);
if (strategy2.Count() == 3)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Update d'une action existante : ");
if ((strategy1.UpdateAction(1, Action1) == true) && (strategy1.UpdateAction(1, Action2) == false) && (strategy1.UpdateAction(50, new RobotAction(40)) == false))
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
}
catch (Exception ex)
{
Console.WriteLine("Test 0202 Failed !!");
Console.WriteLine(ex.Message);
Validated = false;
}
#endregion
// ############################################################################################################################
// ##### Strategy
// ############################################################################################################################
#region Strategy
// Test 0203 : Strategy _______________________________________________________________________________________________________
try
{
DisplaySeparator();
// ------------------------------------------------------------------------------------------
SubStrategy subStrategy1 = new SubStrategy("Strategy 1", 1);
SubStrategy subStrategy2 = new SubStrategy("Strategy 2", 1);
Strategy testStrategy = new Strategy("Strategy");
Strategy testLoadStrategy = new Strategy("LoadStrategy");
// Creation de l'action 1
RobotAction Action1 = new RobotAction(1); Action1.cmd = EnumCmd.Mvt_UseMixedMode; Action1.cmdType = EnumCmdType.CmdType_Blocking; Action1.param1 = "1"; Action1.param2 = "2"; Action1.param3 = "3"; Action1.param4 = "4"; Action1.nextID = -1; Action1.timeoutID = -1;
RobotAction Action10 = new RobotAction(10); Action1.cmd = EnumCmd.Mvt_UseMixedMode; Action1.cmdType = EnumCmdType.CmdType_Blocking; Action1.param1 = "10"; Action1.param2 = "20"; Action1.param3 = "30"; Action1.param4 = "40"; Action1.nextID = -1; Action1.timeoutID = -1;
RobotAction Action2 = new RobotAction(2); Action2.cmd = EnumCmd.App_Wait; Action2.cmdType = EnumCmdType.CmdType_Blocking; Action2.param1 = "4"; Action2.param2 = "3"; Action2.param3 = "2"; Action2.param4 = "1"; Action2.nextID = -1; Action2.timeoutID = -1;
subStrategy1.AddAction(Action1); subStrategy1.AddAction(Action2); subStrategy1.AddAction(Action10);
subStrategy2.AddAction(Action1); subStrategy2.AddAction(Action2); subStrategy2.AddAction(Action10);
Console.WriteLine("Test 0203 - Strategy : ");
Console.WriteLine(" -> Add + Update : ");
testStrategy.UpdateMainStrategy(subStrategy1);
testStrategy.UpdateSubStrategy(subStrategy1);
Action1.cmd = EnumCmd.Mvt_Stop;
subStrategy1.UpdateAction(Action1.ID, Action1);
testStrategy.UpdateSubStrategy(subStrategy1);
testStrategy.AddSubStrategy(subStrategy2);
if (testStrategy.GetAllSubStrategy().Count == 2)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Remove : ");
testStrategy.RemoveSubStrategy("Strategy 2");
if (testStrategy.GetAllSubStrategy().Count == 1)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Remove : ");
testStrategy.Clear();
if (testStrategy.GetAllSubStrategy() == null)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Save : ");
testStrategy.UpdateMainStrategy(subStrategy1);
testStrategy.AddSubStrategy(subStrategy1);
testStrategy.AddSubStrategy(subStrategy2);
testStrategy.Save();
if (true)
{
Console.Write(" Ok (Verification manuelle du dossier de sortie)\n");
}
Console.WriteLine(" -> Load : ");
testLoadStrategy.Load("Strategy");
if (testLoadStrategy.GetAllSubStrategy().Count == 2)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Export : ");
RobotAction Action100 = new RobotAction(100); Action100.cmd = EnumCmd.App_Wait; Action100.cmdType = EnumCmdType.CmdType_Blocking; Action100.param1 = "40"; Action100.param2 = "30"; Action100.param3 = "20"; Action100.param4 = "10"; Action100.nextID = 101; Action100.timeoutID = 901;
RobotAction Action101 = new RobotAction(101); Action101.cmd = EnumCmd.Mvt_UseMixedMode; Action101.cmdType = EnumCmdType.CmdType_NonBlocking; Action101.param1 = "41"; Action101.param2 = "31"; Action101.param3 = "21"; Action101.param4 = "11.5"; Action101.nextID = 102; Action101.timeoutID = 902;
RobotAction Action102 = new RobotAction(102); Action102.cmd = EnumCmd.MvtSimple_MoveInMM; Action102.cmdType = EnumCmdType.CmdType_Blocking; Action102.param1 = "42"; Action102.param2 = "32"; Action102.param3 = "22"; Action102.param4 = "12"; Action102.nextID = 103; Action102.timeoutID = 903;
RobotAction Action103 = new RobotAction(103); Action103.cmd = EnumCmd.Mvt_UsePivotMode; Action103.cmdType = EnumCmdType.CmdType_NonBlocking; Action103.param1 = "43"; Action103.param2 = "33"; Action103.param3 = "23"; Action103.param4 = "13"; Action103.nextID = 104; Action103.timeoutID = 904;
RobotAction Action200 = new RobotAction(200); Action200.cmd = EnumCmd.Mvt_UseSpline; Action200.cmdType = EnumCmdType.CmdType_NonBlocking; Action200.param1 = "44"; Action200.param2 = "34"; Action200.param3 = "24"; Action200.param4 = "14"; Action103.nextID = -1; Action200.timeoutID = 905;
SubStrategy subStrategyExport1 = new SubStrategy("Export Strategy 1", 1);
SubStrategy subStrategyExport2 = new SubStrategy("Export Strategy 2", 1);
subStrategyExport1.AddAction(Action100); subStrategyExport1.AddAction(Action101);
subStrategyExport2.AddAction(Action102); subStrategyExport2.AddAction(Action103); subStrategyExport2.AddAction(Action200);
Strategy testExportStrategy = new Strategy("EXPORT_STRATEGY");
testExportStrategy.AddSubStrategy(subStrategyExport1); testExportStrategy.AddSubStrategy(subStrategyExport2);
testExportStrategy.Export("./Data/TestOutputStrategy.c", "./patternFiles/ImportPatternFile.spattern");
if (true)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
Console.WriteLine(" -> Import : ");
Strategy testImportStrategy = new Strategy("ImportStrategy");
testImportStrategy.Import("./Data/TestOutputStrategy.c", "./patternFiles/ImportPatternFile.spattern");
testExportStrategy.Export("./Data/TestOutputStrategy_2.c", "./patternFiles/ImportPatternFile.spattern");
if (true)
{
Console.Write(" Ok\n");
}
else
{
Console.Write(" Error !\n"); Validated = false;
}
}
catch (Exception ex)
{
Console.WriteLine("Test 0203 Failed !!");
Console.WriteLine(ex.Message);
Validated = false;
}
#endregion
// Fin du programme -----------------------------------------------------------------------------
DisplaySeparator();
Console.Write("\nTest terminé. Etat du module : ");
if(Validated == true)
{
Console.Write("Validé ! \n");
}else
{
Console.Write("Invalide !\n");
}
Console.Read();
}
