override public void writeToFile(StreamWriter fp)
{
if (fp == null)
{
return;
}
fp.WriteLine("\t\t\t" + ConUtils.getConLineString(ConUtils.CON_FEEDBACK_START) + " linear");
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_FEEDBACK_PROJECTION_AXIS) + " " + feedbackProjectionAxis.x + " " + feedbackProjectionAxis.y + " " + feedbackProjectionAxis.z);
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_CD) + " " + cd);
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_CV) + " " + cv);
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_REVERSEDCD) + " " + ((reversedCD)?"true":"false"));
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_REVERSEDCV) + " " + ((reversedCV)?"true":"false"));
if (dMin > -100)
{
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_D_MIN) + " " + dMin);
}
if (dMax < 100)
{
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_D_MAX) + " " + dMax);
}
if (vMin > -100)
{
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_V_MIN) + " " + vMin);
}
if (vMax < 100)
{
fp.WriteLine("\t\t\t\t" + ConUtils.getConLineString(ConUtils.CON_V_MAX) + " " + vMax);
}
fp.WriteLine("\t\t\t" + ConUtils.getConLineString(ConUtils.CON_FEEDBACK_END));
}
override public void writeToFile(StreamWriter fp)
{
if (fp == null)
{
return;
}
fp.WriteLine("\t\t\t" + ConUtils.getConLineString(ConUtils.CON_FEEDBACK_START) + " COM_SupportCenterFeedback");
fp.WriteLine("Not yet implemented...");
fp.WriteLine("\t\t\t" + ConUtils.getConLineString(ConUtils.CON_FEEDBACK_END));
}
/**
* This method loads all the pertinent information regarding the simbicon controller from a file.
*/
public void loadFromFile(string data)
{
if (data == null)
{
return;
}
//throwError("NULL file name provided.");
StringReader f = new StringReader(data);
if (f == null)
{
return;
}
//throwError("Could not open file: %s", data);
//UnityThreadHelper.CreateThread(()=>
//{
//to be able to load multiple controllers from multiple files,
//we will use this offset to make sure that the state numbers
//mentioned in each input file are updated correctly
int stateOffset = this.states.Count;
SimBiConState tempState;
int tempStateNr = -1;
//have a temporary buffer used to read the file line by line...
string buffer = f.ReadLine();
while (buffer != null)
{
if (buffer.Length > 195)
{
break;
}
string line = buffer.Trim();
int lineType = ConUtils.getConLineType(line);
string[] nrParams = line.Split(new char[] { ' ' }, System.StringSplitOptions.RemoveEmptyEntries);
switch (lineType)
{
case ConUtils.CON_STATE_START:
tempState = new SimBiConState();
tempStateNr = int.Parse(nrParams[1]);
states.Add(tempState);
tempState.readState(f, stateOffset);
//now we have to resolve all the joint names (i.e. figure out which joints they apply to).
resolveJoints(tempState);
//UnityThreadHelper.Dispatcher.Dispatch(() => onDataLoadProcess(tempStateNr + 1));
break;
case ConUtils.CON_NOT_IMPORTANT:
break;
default:
break;
}
buffer = f.ReadLine();
}
f.Close();
onDataLoadFinished(states.Count);
//UnityThreadHelper.Dispatcher.Dispatch(() => onDataLoadFinished(states.Count));
//});
}
override public void loadFromFile(StringReader fp)
{
if (fp == null)
{
return;
}
//throwError("File pointer is NULL - cannot read gain coefficients!!");
//have a temporary buffer used to read the file line by line...
string buffer = fp.ReadLine();
//this is where it happens.
while (buffer != null)
{
//get a line from the file...
if (buffer.Length > 195)
{
break;
}
//throwError("The input file contains a line that is longer than ~200 characters - not allowed");
string line = buffer.Trim();
int lineType = ConUtils.getConLineType(line);
string[] nrParams = line.Split(new char[] { ' ' }, System.StringSplitOptions.RemoveEmptyEntries);
switch (lineType)
{
case ConUtils.CON_FEEDBACK_END:
//we're done...
return;
case ConUtils.CON_COMMENT:
break;
case ConUtils.CON_D_MIN:
this.dMin = float.Parse(nrParams[1]);
break;
case ConUtils.CON_D_MAX:
this.dMax = float.Parse(nrParams[1]);
break;
case ConUtils.CON_V_MIN:
this.vMin = float.Parse(nrParams[1]);
break;
case ConUtils.CON_V_MAX:
this.vMax = float.Parse(nrParams[1]);
break;
case ConUtils.CON_CV:
this.cv = float.Parse(nrParams[1]);
break;
case ConUtils.CON_CD:
this.cd = float.Parse(nrParams[1]);
break;
case ConUtils.CON_MIN_FEEDBACK:
this.minFeedbackValue = float.Parse(nrParams[1]);
break;
case ConUtils.CON_MAX_FEEDBACK:
this.maxFeedbackValue = float.Parse(nrParams[1]);
break;
case ConUtils.CON_FEEDBACK_PROJECTION_AXIS:
feedbackProjectionAxis = new Vector3(float.Parse(nrParams[1]), float.Parse(nrParams[2]), float.Parse(nrParams[3]));
feedbackProjectionAxis.Normalize();
break;
case ConUtils.CON_NOT_IMPORTANT:
break;
default:
break;
//throwError("Incorrect SIMBICON input file: \'%s\' - unexpected line.", buffer);
}
buffer = fp.ReadLine();
}
//throwError("Incorrect SIMBICON input file: No \'/jointTrajectory\' found ", buffer);
}
