public void btnWrite()
{
XMLRead bxXMLRead = new XMLRead("Boxian.xml");
bxXMLRead.Read();
XmlDocument doc = bxXMLRead.XMLdoc;
XmlNode root = doc.SelectSingleNode("Missions");
XmlElement Mission = doc.CreateElement("Mission_" + bxIndex.ToString());
XmlElement Log = doc.CreateElement("Log");
Log.InnerText = "第" + (bxIndex + 1).ToString() + "步";
XmlElement AxisAngles = doc.CreateElement("AxisAngles");
for (int i = 0; i < 6; i++)
{
XmlElement Axisangle = doc.CreateElement("Axis_" + i.ToString() + "_angle");
Axisangle.InnerText = temp_Pos[i].ToString();
AxisAngles.AppendChild(Axisangle);
}
XmlElement IO = doc.CreateElement("IO");
IO.InnerText = "-1";
Mission.AppendChild(Log);
Mission.AppendChild(AxisAngles);
Mission.AppendChild(IO);
root.AppendChild(Mission);
doc.Save(bxXMLRead.path);
bxIndex++;
}
// Start is called before the first frame update
void Start()
{
positionRead = new XMLRead("URPositions.xml");
if (positionRead.Read())
{
root = positionRead.XMLdoc.SelectSingleNode("Positions");
PositionSet(ItemName.LeftUR);
PositionSet(ItemName.RightUR);
PositionSet(ItemName.Zhijia);
print("文件读取正确");
}
else
{
print("文件路径不对");
}
}
// Start is called before the first frame update
void Start()
{
xmlRead = new XMLRead("Missions.xml");
print(xmlRead.CreatePath());
if (xmlRead.Read())
{
print("文件读取正确");
foreach (XmlElement xmlEle in xmlRead.XMLdoc.SelectSingleNode("Missions").ChildNodes)
{
Mission mission = new Mission(xmlEle);
mission_List.Add(mission);
}
}
else
{
print("文件路径不对");
}
}
// Start is called before the first frame update
void Start()
{
//Do_Initilize();
leftIO = new IOManager(Toggles.Length);
leftIO.ToggleSet = Toggles;
leftIO.Init();
leftIO.sleepTimeSet = sleepTime;
for (int i = 0; i < 6; i++)
{
axises[i] = new AxisManager(URStore.transform.Find("Axis" + i.ToString()).gameObject);
}
URDateCollector.OnGetPositionSuccess += new URDateHandle.GetPositionSuccess(UpdatePositionsValue);
URDateCollector.OnGetAngleSuccess += new URDateHandle.GetAngleSuccess(UpdateAnglesValue);
for (int i = 0; i < 6; i++)
{
temp_Pos[i] = "0.0";
}
//任务队列测试
if (inTest)
{
txIndex = URMissionList.transform.Find("Texts").transform.Find("Index").gameObject.GetComponent <Text>();
txLog = URMissionList.transform.Find("Texts").transform.Find("Log").gameObject.GetComponent <Text>();
xmlRead = new XMLRead("fangxianjia.xml");
if (xmlRead.Read())
{
print("文件读取正确");
foreach (XmlElement xmlEle in xmlRead.XMLdoc.SelectSingleNode("Missions").ChildNodes)
{
Mission mission = new Mission(xmlEle);
mission_List.Add(mission);
}
}
else
{
print(xmlRead.path);
print("文件路径不对");
}
}
}