/// <summary>
/// Create a new FullStrategy object from file
/// Filename : contains path to file to load
/// PatternFilename : contains path to pattern file to load
/// </summary>
public FullStrategy(string Filename, string PatternFilename)
{
if ((Filename == null) || (PatternFilename == null))
{
throw(new Exception("Invalid Filename/PatternFilename"));
}
// Read files
StructuredFile StrategyFile = new StructuredFile(Filename);
StrategyFile.Parse(PatternFilename);
// Store data into private data
// Store PATTERN_STRATEGY_NAME
_StrategyName = StrategyFile.GetValue("PATTERN_STRATEGY_NAME", "Undefined");
_DefaultSpeed = StrategyFile.GetValue("PATTERN_DEFAULT_SPEED", "50");
// Store initial cmd (setpos)
EnumCmd CurrentCmd = Command.GetCmdFromString(StrategyFile.GetValue("PATTERN_INIT_CMD", "App_SetNewPos"));
EnumCmdType CurrentCmdType = Command.GetCmdTypeFromString(StrategyFile.GetValue("PATTERN_INIT_CMD_TYPE", "NonBlocking"));
String ParamX = StrategyFile.GetValue("PATTERN_INIT_POS_X", "0");
String ParamY = StrategyFile.GetValue("PATTERN_INIT_POS_Y", "0");
String ParamAngle = StrategyFile.GetValue("PATTERN_INIT_POS_ANGLE", "0.0");
EnumStrategyFlag ActiveSensors = Command.GetSensorsFlagFromString(StrategyFile.GetValue("PATTERN_INIT_ACTIVE_SENSORS", "APP_PARAM_APPFLAG_NONE"));
_InitialCmd = new Command(CurrentCmd, CurrentCmdType, null, ParamX, ParamY, ParamAngle, ActiveSensors);
// Read other items (Loops)
// Try to read all loops
for (int iLoop = 0; iLoop <= StrategyFile.GetMaxLoopID(); iLoop++)
{
for (int iCount = 0; iCount <= StrategyFile.GetMaxGID(iLoop); iCount++)
{
// Read ActionID and NextActionID
int ActionID = StrategyFile.GetActionID(iLoop, iCount);
int NextActionID = StrategyFile.GetNextActionID(iLoop, iCount);
int TimeoutID = StrategyFile.GetTimeoutID(iLoop, iCount);
// If current action is valid
if (ActionID >= 0)
{
// Read command data from StratgeyFile
Command ReadCommand = StrategyFile.GetCommand(iLoop, iCount);
// If current command is valid, we store it
if (ReadCommand != null)
{
// If current list is empty, we create it
if (_Strategy == null)
_Strategy = new List<StrategyItem>();
// Create new entry
_Strategy.Add(new StrategyItem(ReadCommand, ActionID, NextActionID, TimeoutID));
}
}
}
}
}
private String _StrategyName; // Nom de la strategie pour le #define
#endregion Fields
#region Constructors
// Constructor ----------------------------------------------------------------------------
/// <summary>
/// Default constructor : Create an empty strategy
/// </summary>
public FullStrategy(String StrategyName)
{
if ((StrategyName != null) && (StrategyName != ""))
{
_StrategyName = StrategyName;
_DefaultSpeed = "50";
_InitialCmd = new Command(EnumCmd.App_SetNewPos, EnumCmdType.NonBlocking, null, "1500", "1000", "0");
_Strategy = null;
}
}
private int _TimeoutID; // Contient l'ID pour les actions lors d'un Timeout
#endregion Fields
#region Constructors
public StrategyItem(Command Action, int ActionID, int NextActionID, int TimeoutID)
{
if ((Action == null) || (_ActionID < 0))
{
throw (new Exception("Invalid params"));
}
// Création de l'objet
_Cmd = Action;
_ActionID = ActionID;
_NextActionID = NextActionID;
_TimeoutID = TimeoutID;
}
public RobotPos(int x, int y, int angle, Command CurrentCmd, int Index)
{
_PosX = x;
_PosY = y;
_PosAngle = angle;
_ComputedPosX = _PosX;
_ComputedPosY = _PosY;
_ComputedPosAngle = _PosAngle;
_Index = Index;
UpdateCmd(CurrentCmd);
}
/// <summary>
/// Récupère la commande complète d'après la Loop et le GID
/// </summary>
/// <param name="LoopID">Identifiant de la boucle</param>
/// <param name="GID">Identifiant du GID</param>
/// <returns>La commande complétée de toutes les infos de la LoopID + GID</returns>
public Command GetCommand(int LoopID, int GID)
{
Command ReadCommand = null;
EnumCmd CmdFromFile = EnumCmd.NotSet;
EnumCmdType CmdTypeFromFile = EnumCmdType.NotSet;
string [] ParamsFromFile = null;
EnumStrategyFlag ActiveSensorsFromFile = EnumStrategyFlag.STRATEGYFLAG_NONE;
// Lecture de toute la liste pour trouver la bonne LoopID et GID
for (int i = 0; i < _Items.Count(); i++)
{
// Si nous sommes dans la bonne LoopID et GID
if ((_Items[i].GetLoopID() == LoopID) && (_Items[i].GetGID() == GID))
{
// Lecture des informations
// Lecture de la commande
if (_Items[i].GetName() == "PATTERN_CMD")
CmdFromFile = Command.GetCmdFromString(_Items[i].GetValue());
// Lecture du type de la commande
if (_Items[i].GetName() == "PATTERN_CMD_TYPE")
CmdTypeFromFile = Command.GetCmdTypeFromString(_Items[i].GetValue());
// Lecture des flags des sensors
if (_Items[i].GetName() == "PATTERN_ACTIVE_SENSORS_FLAG")
ActiveSensorsFromFile = Command.GetSensorsFlagFromString(_Items[i].GetValue());
// Lecture des paramètres
if (_Items[i].GetName() == "PATTERN_PARAMS")
{
ParamsFromFile = Command.GetParamsListFromString(_Items[i].GetValue());
}
}
}
// Creation de l'objet de retour
if (CmdFromFile != EnumCmd.NotSet)
{
ReadCommand = new Command(CmdFromFile, CmdTypeFromFile, ParamsFromFile[0], ParamsFromFile[1], ParamsFromFile[2], ParamsFromFile[3], ActiveSensorsFromFile);
}
return ReadCommand;
}
public void UpdateCmd(Command CurrentCmd)
{
_CurrentCommand = CurrentCmd;
ComputeNewPos();
}
public void InsertNewCmd_Before(int Index, EnumCmd CmdToAdd, int NewCmdID)
{
int FreeActionID = -1;
if (Index <= 0)
throw (new Exception("Invalid Param"));
if (_Strategy == null)
throw (new Exception("Invalid Param"));
if (Index > _Strategy.Count)
throw (new Exception("Invalid Param"));
Command NewCommand = new Command(CmdToAdd);
if (NewCmdID > 1)
FreeActionID = GetPrevFreeActionID(NewCmdID + 1);
else
FreeActionID = GetPrevFreeActionID(_Strategy[Index - 1].ActionID);
StrategyItem NewStrategyItem = new StrategyItem(NewCommand, FreeActionID, -1, -1);
_Strategy.Insert(Index - 1, NewStrategyItem);
}
public void InsertNewCmd_After(int Index, EnumCmd CmdToAdd, int NewCmdID)
{
int FreeActionID = -1;
if (Index < 0)
throw (new Exception("Invalid Param"));
if (_Strategy == null)
{
_Strategy = new List<StrategyItem>();
}
if (Index > _Strategy.Count)
throw (new Exception("Invalid Param"));
Command NewCommand = new Command(CmdToAdd);
if (_Strategy.Count == 0)
FreeActionID = 1;
else
{
if (NewCmdID > 1)
FreeActionID = GetNextFreeActionID(NewCmdID - 1);
else
FreeActionID = GetNextFreeActionID(_Strategy[Index - 1].ActionID);
}
StrategyItem NewStrategyItem = new StrategyItem(NewCommand, FreeActionID, -1, -1);
_Strategy.Insert(Index, NewStrategyItem);
}
public Boolean InsertCmd(Command CommandToAdd, int CmdIDToAdd, int NextCmdIDToAdd, int TimeoutID)
{
int CheckID = 0;
int i = 0;
if((CommandToAdd == null) || (CmdIDToAdd <= 0))
return false;
while(i < _Strategy.Count && CheckID < CmdIDToAdd)
{
CheckID = _Strategy[i].ActionID;
i++;
}
if(CheckID == CmdIDToAdd)
return false;
// We can add the new command to the current ID
_Strategy.Insert(i, new StrategyItem(CommandToAdd, CmdIDToAdd, NextCmdIDToAdd, TimeoutID));
return true;
}