/// <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));
}
}
}
}
}