//load file
private void actionToolStripMenuItem_Click(object sender, EventArgs e)
{
if (Motion != null)
{
if (!onPC)
RoBoIO.rcservo_Close();
DialogResult dialogResult = MessageBox.Show("Do you want to save?", "", MessageBoxButtons.YesNo);
if (dialogResult == DialogResult.Yes)
{
saveFileToolStripMenuItem_Click(sender,e);
}
}
NewMotion nMotion = new NewMotion();
ME_Triggerlist = new ArrayList();
ME_Motionlist = new ArrayList();
string[] rbver = new string[] { "---unset---",
"RB_100b1",
"RB_100b2",
"RB_100b3",
"RB_100",
"RB_100RD",
"RB_110",
"unknow"};
string[] servo = new string[] { "---noServo---",
"KONDO_KRS786",
"KONDO_KRS788",
"KONDO_KRS78X",
"KONDO_KRS4014",
"KONDO_KRS4024",
"HITEC_HSR8498",
"FUTABA_S3003",
"SHAYYE_SYS214050",
"TOWERPRO_MG995",
"TOWERPRO_MG996",
"DMP_RS0263",
"DMP_RS1270",
"GWS_S777",
"GWS_S03T",
"GWS_MICRO"};
ME_Motion motiontag = null;
OpenFileDialog dialog = new OpenFileDialog();
dialog.Filter = "rbm files (*.rbm)|*.rbm";
dialog.InitialDirectory = Environment.CurrentDirectory + "\\";
dialog.Title = "Open File";
String filename = (dialog.ShowDialog() == DialogResult.OK) ? dialog.FileName : null;
if (filename == null)
{
return;
}
using (StreamReader reader = new StreamReader(filename))
{
nfilename = Path.GetFileName(dialog.FileName);
triggerlist.Items.Clear();
MotionCombo.Items.Clear();
MotionCombo.Text = "";
Motionlist.Items.Clear();
delaytext.Text = "0";
typecombo.Text = "";
string[] datas = reader.ReadToEnd().Split(delimiterChars);
for (int i = 0; i < datas.Length; i++)
{
if (String.Compare(datas[i], "RoBoardVer") == 0)
{
i++;
for (int j = 0; j < rbver.Length; j++)
if (String.Compare(datas[i], rbver[j]) == 0)
{
nMotion.comboBox1.SelectedIndex = j;
}
}
else if (String.Compare(datas[i], "Homeframe") == 0)
{
i++;
if (String.Compare(datas[i], "Yes") == 0)
nMotion.checkBox1.Checked = true;
else
nMotion.checkBox1.Checked = false;
}
else if (String.Compare(datas[i], "Range") == 0)
{
i++;
if (String.Compare(datas[i], "Yes") == 0)
nMotion.checkBox2.Checked = true;
else
nMotion.checkBox2.Checked = false;
}
else if (String.Compare(datas[i], "Servo") == 0)
{
for (int k = 0; k < 32; k++)
{
i++;
for (int j = 0; j < servo.Length; j++)
if (String.Compare(datas[i], servo[j]) == 0)
nMotion.fbox[k].SelectedIndex = j;
}
}
else if (String.Compare(datas[i], "Trigger") == 0)
{
ME_Trigger m = new ME_Trigger();
i++;
m.key = datas[i];
i++;
if (String.Compare(datas[i], "null") != 0)
{
m.motion = new ME_Motion();
m.motion.name = datas[i];
ME_Motionlist.Add(m.motion);
}
else
m.motion = null;
ME_Triggerlist.Add(m);
}
else if (String.Compare(datas[i], "Motion") == 0)
{
i++;
for (int j = 0; j < ME_Motionlist.Count; j++)
{
motiontag = (ME_Motion)ME_Motionlist[j];
if (String.Compare(datas[i], motiontag.name) != 0)
motiontag = null;
else
break;
}
if (motiontag == null)
{
motiontag = new ME_Motion();
motiontag.name = datas[i];
ME_Motionlist.Add(motiontag);
}
}
else if (String.Compare(datas[i], "MotionEnd") == 0)
{
i++;
if (String.Compare(datas[i], motiontag.name) == 0)
motiontag = null;
}
else if (String.Compare(datas[i], "frame") == 0)
{
ME_Frame nframe = new ME_Frame();
i++;
nframe.delay = int.Parse(datas[i]);
int j = 0;
while (j < 32)
{
if (String.Compare(nMotion.fbox[j].SelectedItem.ToString(), "---noServo---") != 0)
{
i++;
nframe.frame[j] = int.Parse(datas[i]);
}
else
{
nframe.frame[j] = 0;
}
j++;
}
motiontag.Events.Add(nframe);
}
else if (String.Compare(datas[i], "delay") == 0)
{
ME_Delay ndelay = new ME_Delay();
i++;
ndelay.delay = int.Parse(datas[i]);
motiontag.Events.Add(ndelay);
}
else if (String.Compare(datas[i], "sound") == 0)
{
ME_Sound nsound = new ME_Sound();
i++;
nsound.filename = datas[i];
i++;
nsound.delay = int.Parse(datas[i]);
motiontag.Events.Add(nsound);
}
else if (String.Compare(datas[i], "flag") == 0)
{
ME_Flag nflag = new ME_Flag();
i++;
nflag.name = datas[i];
motiontag.Events.Add(nflag);
}
else if (String.Compare(datas[i], "goto") == 0)
{
ME_Goto ngoto = new ME_Goto();
i++;
ngoto.name = datas[i];
i++;
ngoto.key = datas[i];
motiontag.Events.Add(ngoto);
}
}
}
if (File.Exists("offset.txt"))
using (StreamReader reader = new StreamReader(Environment.CurrentDirectory + "\\offset.txt"))
{
string[] datas = reader.ReadToEnd().Split(delimiterChars);
for (int i = 0; i < 32; i++)
{
offset[i] = uint.Parse(datas[i]);
}
}
else
for (int i = 0; i < 32; i++)
{
offset[i] = 0;
}
if (File.Exists("homeframe.txt"))
using (StreamReader reader = new StreamReader(Environment.CurrentDirectory + "\\homeframe.txt"))
{
string[] datas = reader.ReadToEnd().Split(delimiterChars);
for (int i = 0; i < 32; i++)
{
homeframe[i] = uint.Parse(datas[i]);
}
}
else
for (int i = 0; i < 32; i++)
{
homeframe[i] = 0;
}
if (File.Exists("Range.txt"))
using (StreamReader reader = new StreamReader(Environment.CurrentDirectory + "\\Range.txt"))
{
string[] datas = reader.ReadToEnd().Split(delimiterChars);
for (int i = 0; i < 32; i++)
{
min[i] = uint.Parse(datas[i]);
Max[i] = uint.Parse(datas[i + 32]);
}
}
else
for (int i = 0; i < 32; i++)
{
min[i] = 600;
Max[i] = 2300;
}
if (nMotion.picfilename != null)
Framelist.BackgroundImage = Image.FromFile(Environment.CurrentDirectory + "\\" + nMotion.picfilename);
groupBox2.Enabled = true;
groupBox3.Enabled = true;
optionToolStripMenuItem.Enabled = true;
saveFileToolStripMenuItem.Enabled = true;
NewMotion.Enabled = false;
Motion = nMotion;
for (int i = 0; i < ME_Motionlist.Count; i++)
{
ME_Motion m = (ME_Motion)ME_Motionlist[i];
MotionCombo.Items.Add(m.name);
}
for (int i = 0; i < ME_Triggerlist.Count; i++)
{
ME_Trigger t = (ME_Trigger)ME_Triggerlist[i];
if(t.motion != null)
triggerlist.Items.Add("Trigger: " + t.key + "\tMotion: " + t.motion.name);
else
triggerlist.Items.Add("Trigger: " + t.key + "\tMotion: ");
}
if (!onPC)
{
set_RBver();
set_RCservo();
}
}
private void NewMotion_Click(object sender, EventArgs e)
{
if (MotionCombo.Text.IndexOf(" ") == -1)
{
MotionCombo.Items.Add(MotionCombo.Text);
ME_Motion m = new ME_Motion();
m.name = MotionCombo.Text;
ME_Motionlist.Add(m);
MotionCombo.SelectedIndex = MotionCombo.Items.Count - 1;
Motionlist.Controls.Clear();
}
else
MessageBox.Show("Motion name should without space.");
}
public ME_Trigger()
{
this.key = null;
this.motion = null;
}