/// <summary>
/// Generates mission
/// </summary>
/// <param name="mdf"></param>
/// <returns></returns>
public ArbiterMissionDescription GenerateMission(IMdf mdf, ArbiterRoadNetwork arn)
{
Queue<ArbiterCheckpoint> checks = new Queue<ArbiterCheckpoint>();
List<ArbiterSpeedLimit> speeds = new List<ArbiterSpeedLimit>();
// checkpoints
foreach (string s in mdf.CheckpointOrder)
{
int num = int.Parse(s);
checks.Enqueue(new ArbiterCheckpoint(num, arn.Checkpoints[num].AreaSubtypeWaypointId));
}
// speeds
foreach (SpeedLimit sl in mdf.SpeedLimits)
{
ArbiterSpeedLimit asl = new ArbiterSpeedLimit();
asl.MaximumSpeed = sl.MaximumVelocity * 0.44704;
asl.MinimumSpeed = sl.MinimumVelocity * 0.44704;
asl.Traveled = false;
ArbiterSegmentId asi = new ArbiterSegmentId(int.Parse(sl.SegmentID));
ArbiterZoneId azi = new ArbiterZoneId(int.Parse(sl.SegmentID));
if (arn.ArbiterZones.ContainsKey(azi))
asl.Area = azi;
else if (arn.ArbiterSegments.ContainsKey(asi))
asl.Area = asi;
else
throw new Exception("Unknown area id: " + sl.SegmentID);
speeds.Add(asl);
}
// return
return new ArbiterMissionDescription(checks, speeds);
}
// Creates Mdf from an input FileStream
public IMdf createMdf(FileStream fileStream)
{
// File in Read Only mode, convert to stream
StreamReader r = new StreamReader(fileStream, Encoding.UTF8);
// Create new queue for input buffer
Queue q = new Queue();
string word = "";
// Create the Mdf
IMdf mdf = new IMdf();
mdf.SpeedLimits = new List<SpeedLimit>();
mdf.CheckpointOrder = new List<string>();
// Loop until reach end of file marker
while ((word.Length < 8) || (word.Substring(0, 8) != "end_file"))
{
// get next word
word = parseWord(r, q);
if (word == "MDF_name")
{
word = parseWord(r, q);
mdf.Name = word;
}
else if (word == "RNDF")
{
word = parseWord(r, q);
mdf.RndfName = word;
}
else if (word == "format_version")
{
word = parseWord(r, q);
mdf.Version = word;
}
else if (word == "creation_date")
{
word = parseWord(r, q);
mdf.CreationDate = word;
}
else if (word == "checkpoints")
{
// get number of checkpoints
word = parseWord(r, q);
word = parseWord(r, q);
mdf.NumberCheckpoints = word;
// create checkpoint list
word = parseWord(r, q);
// loop until end of checkpoints
while (word != "end_checkpoints")
{
// add checkpoint
mdf.CheckpointOrder.Add(word);
// get next word
word = parseWord(r, q);
}
}
else if (word == "speed_limits")
{
// set number of speed limits
word = parseWord(r, q);
word = parseWord(r, q);
mdf.NumberSpeedLimits = word;
// get next word
word = parseWord(r, q);
// loop until end of speedlimits
while (word != "end_speed_limits")
{
// create new speed limit
SpeedLimit sl = new SpeedLimit();
// id
sl.SegmentID = word;
// min speed
word = parseWord(r, q);
sl.MinimumVelocity = Double.Parse(word);
// max speed
word = parseWord(r, q);
sl.MaximumVelocity = Double.Parse(word);
// add speed limit to list of speed limits
mdf.SpeedLimits.Add(sl);
// get next word
word = parseWord(r, q);
}
}
else if (word == "end_file")
{
Console.WriteLine("Mdf Parse :: Successful");
}
else
{
Console.WriteLine("Unknown identifier: " + word);
}
}
return mdf;
}
