/// <summary>
///
/// </summary>
/// <param name="ddg"></param>
/// <param name="speaker"></param>
/// <param name="trackFileName">can be null, for a saved track</param>
public BehaviorRouteFollowing(IDriveGeometry ddg, ISpeaker speaker, string trackFileName, double powerFactor = 1.0d)
: base(ddg)
{
this.speaker = speaker;
this.powerFactor = powerFactor;
BehaviorActivateCondition = bd =>
{
return(nextWp != null);
};
BehaviorDeactivateCondition = bd =>
{
return(nextWp == null);
};
if (String.IsNullOrWhiteSpace(trackFileName))
{
//speaker.Speak("Loading saved track");
try
{
missionTrack = null;
// Load stored waypoints:
// on the PC, from C:\Users\sergei\AppData\Local\Packages\RobotPluckyPackage_sjh4qacv6p1wm\LocalState\MyTrack.xml
// RPi: \\172.16.1.175\c$\Data\Users\DefaultAccount\AppData\Local\Packages\RobotPluckyPackage_sjh4qacv6p1wm\LocalState
Track track = SerializableStorage <Track> .Load(savedTrackFileName).Result;
if (track != null)
{
missionTrack = track;
//speaker.Speak("Loaded file " + missionTrack.Count + " trackpoints");
}
}
catch (Exception ex)
{
speaker.Speak("could not load saved track file");
}
if (missionTrack == null)
{
speaker.Speak("failed to load saved track file");
missionTrack = new Track();
}
nextWp = missionTrack.nextTargetWp;
stopStartedTime = null;
}
else
{
speaker.Speak("Loading file " + trackFileName);
missionTrack = new Track();
try
{
missionTrack.Init(trackFileName);
speaker.Speak("Loaded file " + missionTrack.Count + " trackpoints");
nextWp = missionTrack.nextTargetWp;
}
catch (Exception ex)
{
speaker.Speak("could not load planned track file");
}
}
}
