public override void Validate()
{
if (NamedParam.ContainsKey("i") == false)
{
throw new Exception("Не инициализирован обязательный параметр i");
}
if (File.Exists(NamedParam["i"]) == false)
{
throw new FileNotFoundException($"{NamedParam["i"]} not found");
}
if (NamedParam.ContainsKey("gi") == false)
{
throw new Exception("Не инициализирован обязательный параметр gi");
}
if (File.Exists(NamedParam["gi"]) == false)
{
throw new FileNotFoundException($"{NamedParam["gi"]} not found");
}
if (NamedParam.ContainsKey("o") == false)
{
string input = NamedParam["i"];
string fDir = Path.GetDirectoryName(input);
string fName = Path.GetFileNameWithoutExtension(input);
string fExt = Path.GetExtension(input);
NamedParam["o"] = Path.Combine(fDir, String.Concat(fName, "_o", fExt));
}
input = NamedParam["i"];
output = NamedParam["o"];
guidInput = NamedParam["gi"];
}
protected static NamedParam OneOf(params NamedParam[] oneof)
{
NamedParam namedParam = new NamedParam("oneOf", typeof(object), null, oneof);
namedParam.IsOneOf = true;
return(namedParam);
}
public override void MakeInfo()
{
Description = "List or do animation or gesture on Simulator.";
Details = AddUsage("anim", "just lists anims currently running") +
AddUsage("anim stopall +HOVER 5 +23423423423-4234234234-234234234-23423423 10 -CLAP",
"stop all current anims, begin hover, wait 5 seconds, begin clapping (used uuid), wait 10 seconds, stop clapping (used name)");
//// we dont use sequenceOf here... for ideas
NamedParam sequenceOf = SequenceOf("doList",
OneOf(
Required("asset_0-N", typeof(SimAsset), "+/-animuuid"),
Required("stopall", typeof(bool),
"stops all current anims/played items"),
Required("seconds", typeof(int), "how long to pause for")));
Category = CommandCategory.Appearance;
AddVersion(CreateParams("dolist", typeof(string[]), "asset play list"), "run the anim list");
AddVersion(CreateParams(), "just lists anims currently running");
ResultMap = CreateParams(
"assets", typeof(List <SimAnimation>), "list of assets like animations and gestures played",
"message", typeof(string), "if success was false, the reason why",
"success", typeof(bool), "true if command was successful");
}
public override void Validate()
{
if (NamedParam.ContainsKey("if") == false)
{
throw new Exception("Не инициализирован обязательный параметр if");
}
if (Directory.GetFiles(NamedParam["if"], "*.csv").Length == 0)
{
throw new FileNotFoundException($"{NamedParam["if"]} пустая");
}
if (NamedParam.ContainsKey("o") == false)
{
string input = NamedParam["i"];
string fDir = Path.GetDirectoryName(input);
string fName = Path.GetFileNameWithoutExtension(input);
string fExt = Path.GetExtension(input);
NamedParam["o"] = Path.Combine(fDir, String.Concat(fName, "_o", fExt));
}
if (NamedParam.ContainsKey("so") == false)
{
string input = NamedParam["i"];
string fDir = Path.GetDirectoryName(input);
string fName = Path.GetFileNameWithoutExtension(input);
string fExt = Path.GetExtension(input);
NamedParam["so"] = Path.Combine(fDir, String.Concat(fName, "_s", fExt));
}
inputFolder = NamedParam["if"];
output = NamedParam["o"];
statisticOutput = NamedParam["so"];
}
protected static KeyParams CreateParams(params object[] paramz)
{
List <NamedParam> paramsz = new List <NamedParam>();
int argNum = 1;
for (int i = 0; i < paramz.Length;)
{
var o = paramz[i++];
if (o is NamedParam)
{
paramsz.Add((NamedParam)o);
continue;
}
if (o is string)
{
string k = (string)o;
Type t = paramz[i++] as Type;
string comment = "" + paramz[i++];
NamedParam namedParam = new NamedParam(k, t);
namedParam.Comment = comment;
paramsz.Add(namedParam);
}
else
{
throw new FormatException("CreateParams: " + o);
}
}
return(new KeyParams(paramsz.ToArray()));
}
protected static NamedParam SequenceOf(string key, NamedParam param)
{
NamedParam namedParam = new NamedParam(key, param.Type.MakeArrayType(), param);
namedParam.Comment = "list of " + param.Key;
namedParam.IsSequence = true;
return(namedParam);
}
protected static NamedParam Rest(string key, Type type, string description)
{
NamedParam namedParam = new NamedParam(key, type);
namedParam.Comment = description;
namedParam.IsRest = true;
return(namedParam);
}
static public NamedParam ToParameter(string p, object s)
{
while (s is NamedParam)
{
NamedParam nv = (NamedParam)s;
s = nv.Value;
}
return(new NamedParam(p, s));
}
private string ToPLAtomStr(NamedParam nvc)
{
if (nvc == null)
{
return("_");
}
return((nvc.IsOptional ? "o" : "p") + "(" + ToPLAtomStr(nvc.Key) + "," + ToPLAtomStr(nvc.Type) + "," +
ToPLAtomStr(nvc.Comment) + ")");
}
protected static NamedParam OptionalFlag(string key, string description)
{
NamedParam namedParam = new NamedParam(key, typeof(bool));
namedParam.Comment = description;
namedParam.IsOptional = true;
namedParam.IsFlag = true;
return(namedParam);
}
public override void Validate()
{
if (NamedParam.ContainsKey("ai") == false)
{
throw new Exception("Не инициализирован обязательный параметр ai");
}
if (File.Exists(NamedParam["ai"]) == false)
{
throw new FileNotFoundException($"{NamedParam["ai"]} not found");
}
if (NamedParam.ContainsKey("ao") == false)
{
string input = NamedParam["ai"];
string fDir = Path.GetDirectoryName(input);
string fName = Path.GetFileNameWithoutExtension(input);
string fExt = Path.GetExtension(input);
NamedParam["ao"] = Path.Combine(fDir, String.Concat(fName, "_o", fExt));
}
if (Keys.IndexOf("merge") == -1)
{
merge = false;
}
else
{
if (File.Exists(NamedParam["ao"]) == true)
{
merge = true;
}
else
{
merge = false;
}
}
aInput = NamedParam["ai"];
aOutput = NamedParam["ao"];
}
static public object GetScriptableObject(object id)
{
if (id is NamedParam)
{
NamedParam kv = (NamedParam)id;
id = new NamedParam(kv.Key, GetScriptableObject(kv.Value));
}
if (id is UUID)
{
UUID uid = (UUID)id;
if (uid == UUID.Zero) return id;
id = GridMaster.GetObject(uid);
}
if (id is Primitive) return GridMaster.GetSimObject((Primitive)id);
// if (id is String) return Master.GetObject((string) id);
return id;
}
public override bool BooleanOnEvent(string eventName, string[] paramNames, Type[] paramTypes, params object[] parameters)
{
if (eventName.EndsWith("On-Image-Receive-Progress")) return true;
if (eventName.EndsWith("On-Log-Message")) return true;
if (eventName.EndsWith("Look-At")) return true;
var parms = new NamedParam[paramNames.Length];
for (int i = 0; i < paramNames.Length; i++)
{
parms[i] = new NamedParam(paramNames[i], paramTypes[i],parameters[i]);
}
CogbotEvent evt = ACogbotEvent.CreateEvent(client, eventName, SimEventType.Once | SimEventType.UNKNOWN | SimEventType.REGIONAL, parms);
client.SendPipelineEvent(evt);
return true;
}
public double GetNamedParameter(NamedParam param)
{
double value = 0d;
switch (param)
{
case NamedParam.vmajor:
value = 1d;
break;
case NamedParam.vminor:
value = 1d;
break;
case NamedParam.line:
value = machine.Line;
break;
case NamedParam.motion_mode:
value = (double)machine.MotionMode;
break;
case NamedParam.plane:
value = 170d + (double)machine.Plane.Plane * 10d;
break;
case NamedParam.ccomp:
value = 400d;
break;
case NamedParam.metric:
value = machine.IsImperial ? 0d : 1d;
break;
case NamedParam.imperial:
value = machine.IsImperial ? 1d : 0d;
break;
case NamedParam.absolute:
value = machine.DistanceMode == GCode.DistanceMode.Absolute ? 1d : 0d;
break;
case NamedParam.incremental:
value = machine.DistanceMode == GCode.DistanceMode.Incremental ? 1d : 0d;
break;
case NamedParam.inverse_time:
value = machine.FeedRateMode == GCode.FeedRateMode.InverseTime ? 1d : 0d;
break;
case NamedParam.units_per_minute:
value = machine.FeedRateMode == GCode.FeedRateMode.UnitsPerMin ? 1d : 0d;
break;
case NamedParam.units_per_rev:
value = machine.FeedRateMode == GCode.FeedRateMode.UnitsPerRev ? 1d : 0d;
break;
case NamedParam.coord_system:
value = 540d + (machine.CoordSystem == 0 ? 0 : (machine.CoordSystem <= 6 ? (machine.CoordSystem - 1) * 10 : 44 + machine.CoordSystem));
break;
case NamedParam.tool_offset:
value = machine.ToolLengthOffset == GCode.ToolLengthOffset.Cancel ? 0d : 1d;
break;
case NamedParam.retract_r_plane:
value = machine.RetractOldZ ? 0d : 1d;
break;
case NamedParam.retract_old_z:
value = machine.RetractOldZ ? 1d : 0d;
break;
case NamedParam.spindle_rpm_mode:
value = machine.SpindleRpmMode ? 1d : 0d;
break;
case NamedParam.spindle_css_mode:
value = machine.SpindleRpmMode ? 0d : 1d;
break;
case NamedParam.ijk_absolute_mode:
value = machine.IJKMode == GCode.IJKMode.Absolute ? 1d : 0d;
break;
case NamedParam.lathe_diameter_mode:
value = machine.LatheMode != GCode.LatheMode.Radius ? 1d : 0d;
break;
case NamedParam.lathe_radius_mode:
value = machine.LatheMode == GCode.LatheMode.Radius ? 1d : 0d;
break;
case NamedParam.spindle_on:
value = machine.SpindleState != GCode.SpindleState.Off ? 1d : 0d;
break;
case NamedParam.spindle_cw:
value = machine.SpindleState == GCode.SpindleState.CW ? 1d : 0d;
break;
case NamedParam.mist:
value = machine.CoolantState.HasFlag(GCode.CoolantState.Mist) ? 1d : 0d;
break;
case NamedParam.flood:
value = machine.CoolantState.HasFlag(GCode.CoolantState.Flood) ? 1d : 0d;
break;
case NamedParam.speed_override:
value = 0d; // TODO
break;
case NamedParam.feed_override:
value = 0d; // TODO
break;
case NamedParam.adaptive_feed:
value = 0d;
break;
case NamedParam.feed_hold:
value = 0d; // TODO
break;
case NamedParam.feed:
value = machine.Feedrate;
break;
case NamedParam.rpm:
value = machine.SpindleRPM;
break;
case NamedParam.x:
case NamedParam.y:
case NamedParam.z:
case NamedParam.a:
case NamedParam.b:
case NamedParam.c:
value = machine.GetPosition(param - NamedParam.x);
break;
case NamedParam.u:
case NamedParam.v:
case NamedParam.w:
value = 0d;
break;
case NamedParam.current_tool:
value = machine.Tool;
break;
case NamedParam.selected_tool:
value = machine.SelectedTool == null ? -1d : double.Parse(machine.SelectedTool.Code);
break;
case NamedParam.current_pocket:
value = 0d;
break;
case NamedParam.selected_pocket:
value = -1d;
break;
default:
value = double.NaN;
break;
}
return(value);
}