private List <DriveCommand> encodeDriveCommand()
{
var listDriveCommand = new List <DriveCommand>();
using (var streamReader = new StreamReader(this.PathDriveRouteFile))
{
while (!streamReader.EndOfStream)
{
var line = streamReader.ReadLine();
listDriveCommand.Add(DriveCommand.CreateDriveCommand(line, this.Robot, this.DriveLog, this.Acceleration, this.Speed));
}
}
return(listDriveCommand);
}
public static DriveCommand CreateDriveCommand(string commandCSV, Robot robot, DriveLog driveLog, float accleration, float speed)
{
var driveCommand = new DriveCommand();
driveCommand.Robot = robot;
driveCommand.DriveLog = driveLog;
driveCommand.Acceleration = accleration;
driveCommand.Speed = speed;
var values = commandCSV.Split(';');
var commandName = values[0];
switch (commandName)
{
case "TrackLine":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackLine;
driveCommand.ValueL = float.Parse(values[1]);
break;
case "TrackTurnLeft":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackTurnLeft;
driveCommand.ValueA = Convert.ToInt32(values[1]);
break;
case "TrackTurnRight":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackTurnRight;
driveCommand.ValueA = Convert.ToInt32(values[1]) * -1;
break;
case "TrackArcLeft":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackArcLeft;
driveCommand.ValueA = Convert.ToInt32(values[2]);
driveCommand.ValueL = float.Parse(values[1]);
break;
case "TrackArcRight":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackArcRight;
driveCommand.ValueA = Convert.ToInt32(values[2]);
driveCommand.ValueL = float.Parse(values[1]);
break;
}
return(driveCommand);
}
