// Constructeur privé (dû au singleton)
private MainModel()
{
// Creation des objets pour la conception
strategyRobot1 = new Strategy("UnamedStrategy1");
strategyRobot2 = new Strategy("UnamedStrategy2");
strategy1Display.ComputeRobotPos(strategyRobot1);
strategy2Display.ComputeRobotPos(strategyRobot2);
return;
}
protected SubStrategy _selectedSubStrategy = null; // Sous-strategie selectionnée
#endregion Fields
#region Constructors
// Public ---------------------------------------------------------------------------------
public SubStrategiesVM()
{
_mainModel = MainModel.GetInstance;
_currentStrategy = null;
_mainModel.RobotActionListChanged += new EventHandler(UpdateData);
}
public void ComputeRobotPos(Strategy currentStrategy)
{
DisplayPos currentDisplayPos = null;
List<DisplayPos> nextList = new List<DisplayPos>();
RobotPos currentRobotPos = new RobotPos();
List<RobotAction> allRobotActions = null;
if (currentStrategy != null)
{
// On commence par détruire les anciens éléments
_displayPos = null;
_displayPos = new List<DisplayPos>();
// Creation de la liste
allRobotActions = currentStrategy.GetAllRobotAction();
foreach (RobotAction currentRobotAction in allRobotActions)
{
currentDisplayPos = new DisplayPos(currentRobotAction);
_displayPos.Add(currentDisplayPos);
}
// Creation de l'objet initial
currentRobotPos.x = currentStrategy.DefaultPosX;
currentRobotPos.y = currentStrategy.DefaultPosY;
currentRobotPos.angle = currentStrategy.DefaultPosA;
currentRobotPos.statusFlag = new RobotStatusFlag();
// Creation du premier élément
nextList.Clear();
currentDisplayPos = GetDisplayPosByID(1);
if (currentDisplayPos != null)
{
currentDisplayPos.AddInitialPos(currentRobotPos);
nextList.Add(currentDisplayPos);
}
// On ajoute tous les élements de la stratégie principale
foreach (DisplayPos current in _displayPos)
{
if ((current.actionID >= 1) && (current.actionID < 1000))
nextList.Add(current);
}
int loopDetection = 0;
while ((nextList.Count() > 0) && (loopDetection < loopDetectionMaxValue))
{
loopDetection = loopDetection + 1;
// Etape 1 : On transfert les données de la liste nextIDs vers currentIDs
List<DisplayPos> currentList = new List<DisplayPos>(nextList);
DisplayPos currentItem = null;
nextList.Clear();
// Etape 2 : Pour chaque élément de la liste
while (currentList.Count() > 0)
{
// On récupère le premier élément de la liste et on le supprimer de la liste courante
currentItem = currentList[0];
currentList.RemoveAt(0);
// Etape 2.1 : On calcule la position de sortie
List<RobotPos> outputPos = currentItem.GetOutputPos();
if ((outputPos != null) && (outputPos.Count() > 0))
{
// On ajoute les données que si on ne boucle pas sur nous même et qu'on a un ID valide
if((currentItem.nextID != currentItem.actionID) && (currentItem.nextID > 0))
{
// On ajoute que si on est dans la stratégie principale
if (((currentItem.actionID > 0) && (currentItem.actionID <100)) || ((currentItem.actionID >=100) && (currentItem.nextID > 100)))
{
currentDisplayPos = GetDisplayPosByID(currentItem.nextID);
if (currentDisplayPos != null)
{
Boolean addNewItemToList = true;
currentDisplayPos.AddInitialPos(outputPos);
foreach(DisplayPos current in nextList)
{
if (current.actionID == currentDisplayPos.actionID)
addNewItemToList = false;
}
foreach (DisplayPos current in currentList)
{
if (current.actionID == currentDisplayPos.actionID)
addNewItemToList = false;
}
if(addNewItemToList == true)
nextList.Add(currentDisplayPos);
}
}
}
}
}
currentList.Clear();
currentList = null;
}
if (loopDetection >= loopDetectionMaxValue)
MessageBox.Show("Une Loop a été détectée dans la stratégie!\nLa génération de la trajectoire est stoppée.", "Strategy Générator", MessageBoxButton.OK, MessageBoxImage.Warning);
}
}
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();
}
