public static OverlayShape[] Parse(string overlayFileName, out string sourceOverlay, out string expandedRangeKm)
{
sourceOverlay = null;
expandedRangeKm = null;
var curColor = Colors.Red;
var shapes = new List<OverlayShape>();
var locationMode = OverlayLocationMode.LatLong;
var curState = OverlayParseState.Initialization;
Geo lastPoint = null;
var curStyle = LineStyle.Solid;
var reader = new LineReader();
var tokenizer = new Tokenizer {CommentIndicators = new[] {"#"}};
var commentSplit = new[] { "=" };
reader.FileName = overlayFileName;
tokenizer.LineReader = reader;
Token curToken;
while ((curToken = tokenizer.NextToken()) != null)
{
Geo[] curPoints;
switch (curState)
{
case OverlayParseState.Initialization:
switch (((string) curToken.Value).ToLower())
{
case OverlayKeywords.Comment:
var originalComment = reader.Lines[curToken.LineNumber];
if (originalComment.StartsWith("# "))
{
var step1 = originalComment.Substring(2, originalComment.Length - 2).Trim();
var step2 = step1.Split(commentSplit, StringSplitOptions.RemoveEmptyEntries);
if (step2.Length != 2) break;
switch (step2[0])
{
case "sourceOverlay":
sourceOverlay = step2[1];
break;
case "expandedRangeKm":
expandedRangeKm = step2[1];
break;
}
}
break;
case OverlayKeywords.Move:
curPoints = GetPoints(tokenizer, locationMode, null);
lastPoint = curPoints.Last();
curState = OverlayParseState.ShapeBuild; //Change State to ShapeBuild
break;
case OverlayKeywords.Absolute:
break;
case OverlayKeywords.Relative:
throw new ApplicationException("Unimplemented position mode: Relative");
case OverlayKeywords.DegreesMinutesSeconds:
locationMode = OverlayLocationMode.DegreesMinutesSeconds;
break;
case OverlayKeywords.LatLong:
locationMode = OverlayLocationMode.LatLong;
break;
case OverlayKeywords.XYPair:
locationMode = OverlayLocationMode.XYPair;
break;
case OverlayKeywords.Color:
if (tokenizer.Count < 3) throw new ApplicationException("OverlayParser.Parse: Not all color information are found\n");
var red = tokenizer.NextToken().Value as float?;
var green = tokenizer.NextToken().Value as float?;
var blue = tokenizer.NextToken().Value as float?;
if ((red == null) || (green == null) || (blue == null)) throw new ApplicationException("OverlayParser: Invalid color definition at line " + curToken.LineNumber);
curColor = Color.FromArgb(255, (byte) red, (byte) green, (byte) blue);
break;
#if false
// DA: Removed all support for color because NUWC decided to throw colors in new and interesting places in overlay files
// Color keywords are completely stripped out by the tokenizer
case OverlayKeywords.Red:
curColor = Colors.Red;
break;
case OverlayKeywords.Green:
curColor = Colors.Green;
break;
case OverlayKeywords.Purple:
curColor = Colors.Purple;
break;
case OverlayKeywords.Yellow:
curColor = Colors.Yellow;
break;
case OverlayKeywords.White:
curColor = Colors.White;
break;
case OverlayKeywords.Orange:
curColor = Colors.Orange;
break;
case OverlayKeywords.Blue:
curColor = Colors.Blue;
break;
case OverlayKeywords.Cyan:
curColor = Colors.Cyan;
break;
#endif
case OverlayKeywords.Origin:
tokenizer.DiscardToEndOfLine();
break;
case OverlayKeywords.Solid:
curStyle = LineStyle.Solid;
break;
case OverlayKeywords.Dash:
curStyle = LineStyle.Dash;
break;
case OverlayKeywords.DashDot:
curStyle = LineStyle.DashDot;
break;
case OverlayKeywords.Dot:
curStyle = LineStyle.Dot;
break;
case OverlayKeywords.Point:
tokenizer.DiscardNext();
break;
case OverlayKeywords.Red:
curColor = Colors.Red;
break;
case OverlayKeywords.Green:
curColor = Colors.Green;
break;
case OverlayKeywords.Purple:
curColor = Colors.Purple;
break;
case OverlayKeywords.Yellow:
curColor = Colors.Yellow;
break;
case OverlayKeywords.White:
curColor = Colors.White;
break;
case OverlayKeywords.Orange:
curColor = Colors.Orange;
break;
case OverlayKeywords.Blue:
curColor = Colors.Blue;
break;
case OverlayKeywords.Cyan:
curColor = Colors.Cyan;
break;
default:
throw new FormatException("OverlayParser: Unknown token at line " + curToken.LineNumber + ": " + curToken.Value);
} //Initialization Switch(curToken)
break; //break for the Initialization Case
case OverlayParseState.ShapeBuild:
float curSize;
int curLinenumber;
OverlayShape curShape;
switch (curToken.Value as string)
{
case OverlayKeywords.Move:
//Submit Shape and Points
//continue in ShapeBuild
curPoints = GetPoints(tokenizer, locationMode, null);
lastPoint = curPoints.Last();
break;
case OverlayKeywords.Lines:
curLinenumber = curToken.LineNumber;
if (curLinenumber == tokenizer.Peek().LineNumber) curSize = (float) ((float?) tokenizer.NextToken().Value);
else curSize = 2f;
curShape = new OverlayLineSegments(GetPoints(tokenizer, locationMode, lastPoint), curColor, curSize, curStyle)
{
LineStyle = curStyle
};
shapes.Add(curShape);
break;
case OverlayKeywords.Point:
curLinenumber = curToken.LineNumber;
if (curLinenumber == tokenizer.Peek().LineNumber) curSize = (float) ((float?) tokenizer.NextToken().Value);
else curSize = 2;
curShape = new OverlayPoint(lastPoint, curColor, curSize);
shapes.Add(curShape);
break;
case OverlayKeywords.Circle:
//get radius
//its the previous point
curSize = (float) ((float?) tokenizer.NextToken().Value);
curShape = new OverlayCircle(lastPoint, curColor, curStyle, curSize * YardsToMeters)
{
LineStyle = curStyle
};
shapes.Add(curShape);
//SubmitShape(PositionMode);
curState = OverlayParseState.Initialization;
break;
case OverlayKeywords.Label:
//shapes.Add(new OverlayLabel(lastPoint, curColor, tokenizer.NextToken().Value as string));
tokenizer.NextToken();
break;
case OverlayKeywords.Red:
curColor = Colors.Red;
break;
case OverlayKeywords.Green:
curColor = Colors.Green;
break;
case OverlayKeywords.Purple:
curColor = Colors.Purple;
break;
case OverlayKeywords.Yellow:
curColor = Colors.Yellow;
break;
case OverlayKeywords.White:
curColor = Colors.White;
break;
case OverlayKeywords.Orange:
curColor = Colors.Orange;
break;
case OverlayKeywords.Blue:
curColor = Colors.Blue;
break;
case OverlayKeywords.Cyan:
curColor = Colors.Cyan;
break;
case OverlayKeywords.Comment:
case OverlayKeywords.Origin:
break;
case OverlayKeywords.Solid:
curStyle = LineStyle.Solid;
break;
case OverlayKeywords.Dash:
curStyle = LineStyle.Dash;
break;
case OverlayKeywords.DashDot:
curStyle = LineStyle.DashDot;
break;
case OverlayKeywords.Dot:
curStyle = LineStyle.Dot;
break;
case OverlayKeywords.Color:
if (tokenizer.Count < 3) throw new ApplicationException("OverlayParser.Parse: Not all color information are found\n");
var red = tokenizer.NextToken().Value as float?;
var green = tokenizer.NextToken().Value as float?;
var blue = tokenizer.NextToken().Value as float?;
if ((red == null) || (green == null) || (blue == null)) throw new ApplicationException("OverlayParser: Invalid color definition at line " + curToken.LineNumber);
curColor = Color.FromArgb(255, (byte)red, (byte)green, (byte)blue);
break;
default:
throw new FormatException("OverlayParser: Unknown token at line " + curToken.LineNumber + ": " + curToken.Value);
} //Switch for shape Build
break;
default:
throw new ApplicationException("OverlayParser.Parse: Unknown state!\n");
} // switch (curState)
} // while (curToken != null)
return shapes.ToArray();
}
void MovementModel()
{
var timestepCount = (int) NemoPlatform.NemoScenario.Duration.DivideBy(NemoBase.SimulationStepTime);
var currentTime = NemoPlatform.NemoScenario.StartTime;
PlatformStates = new PlatformStates();
NemoTrackdef curTrackdef = null;
var curLocation = new Geo();
Course course = null;
//double curCourseDegrees = 0;
double curSpeedMetersPerSecond = 0;
var overlayPoints = new List<Geo>();
OverlayShape curTrackBoundingRegion = null;
CourseChangePoints = new List<CourseChangeDatum>();
overlayPoints.Add(new Geo(NemoPlatform.Trackdefs[0].InitialLocation));
// Put trackdefs in ascending start-time order, if they weren't already
NemoPlatform.Trackdefs.Sort();
for (var i = 0; i < timestepCount; i++, currentTime += NemoBase.SimulationStepTime)
{
// if we have a current trackdef we're processing, AND that current trackdef DOES NOT CONTAIN the current time
// THEN we no longer have a current trackdef
if ((curTrackdef != null) && (!curTrackdef.Contains(currentTime))) curTrackdef = null;
// if we don't have a current trackdef
if (curTrackdef == null)
{
// look through all of our trackdefs
foreach (var trackdef in NemoPlatform.Trackdefs) // If we find one that contains the current time
if (trackdef.Contains(currentTime))
{
// make this trackdef the current one
curTrackdef = trackdef;
curLocation = curTrackdef.InitialLocation;
course = new Course(curTrackdef.InitialCourse);
curSpeedMetersPerSecond = curTrackdef.InitialSpeed * 0.514444444f;
CourseChangePoints.Add(new CourseChangeDatum
{
IsStart = true,
Location = curLocation,
NewCourse = course.Degrees,
});
// Conversion factor for knots to meters per second
if (curTrackdef.OverlayFile != null)
{
if (curTrackdef.OverlayFile.Shapes.Count() != 1) throw new PlatformMovementException(string.Format("Specified overlay file {0} is unsuitable for use as a bounding region.\nReason(s): Overlay file contains multiple shapes, therefore the bounding shape is undefined", curTrackdef.OverlayFile.FileName));
curTrackBoundingRegion = curTrackdef.OverlayFile.Shapes[0];
#if true
if (!curTrackBoundingRegion.IsUsableAsPerimeter)
{
var reasons = new StringBuilder();
if (!curTrackBoundingRegion.IsClosed) reasons.Append("Bounding region is not closed, ");
if (curTrackBoundingRegion.HasCrossingSegments) reasons.Append("Bounding region is not a simple polygon (segments cross each other), ");
if (reasons.Length != 0) reasons.Remove(reasons.Length - 2, 2); // Remove the trailing ", "
throw new PlatformMovementException(string.Format("Specified overlay file {0} is unsuitable for use as a bounding region.\nReason(s): {1}", curTrackdef.OverlayFile.FileName, reasons));
}
#endif
if (!curTrackBoundingRegion.Contains(curLocation)) throw new PlatformMovementException(string.Format("Specified start location ({0:0.####}, {1:0.####}) is not contained within the trackdef bounding region", curLocation.Latitude, curLocation.Longitude));
}
else
{
// Else, the current trackdef's overlay file IS null, and if the type is perimeter_bounce, that's a no-no
if (curTrackdef.TrackType.ToLower() == "perimeter_bounce") throw new PlatformMovementException("PERIMETER_BOUNCE trackdefs require a bounding region, none was supplied.");
}
break;
}
}
// If we have a current trackdef, use it, otherwise we don't update the location or course
if (curTrackdef != null)
{
switch (curTrackdef.TrackType.ToLower())
{
default:
case "stationary":
curSpeedMetersPerSecond = 0;
break;
case "straight_line":
// straight line navigation code
curLocation = curLocation.Offset(Geo.KilometersToRadians((curSpeedMetersPerSecond * NemoBase.SimulationStepTime.TotalSeconds) / 1000), course.Radians);
break;
case "perimeter_bounce":
// perimeter bounce navigation code here
var proposedLocation = curLocation.Offset(Geo.KilometersToRadians((curSpeedMetersPerSecond * NemoBase.SimulationStepTime.TotalSeconds) / 1000), course.Radians);
//proposedLocation = new EarthCoordinate3D(curLocation);
//proposedLocation.Move(curCourseDegrees, curSpeedMetersPerSecond*NemoBase.SimulationStepTime.TotalSeconds);
if (curTrackBoundingRegion == null) throw new PlatformBehaviorException("Platform behavior is specified as Perimeter Bounce, but no bounding shape was specified");
if (curTrackBoundingRegion.Contains(proposedLocation)) curLocation = proposedLocation;
else
{
//curLocation.Compare(proposedLocation);
Course proposedCourse;
proposedLocation = new Geo(curTrackBoundingRegion.Reflect(curLocation, proposedLocation, out proposedCourse));
if (!curTrackBoundingRegion.Contains(proposedLocation))
{
proposedLocation = new Geo(curTrackBoundingRegion.Reflect(curLocation, proposedLocation, out proposedCourse));
if (!curTrackBoundingRegion.Contains(proposedLocation)) throw new PlatformMovementException("Two reflections failed to keep the platform inside the bounding region. Please check the bounding region closely for small pockets or other irregularities");
}
var newCourse = new Course(curLocation, proposedLocation);
CourseChangePoints.Add(new CourseChangeDatum
{
Location = curLocation,
OldCourse = course.Degrees,
NewCourse = newCourse.Degrees,
});
//curLocation.Compare(proposedLocation);
course = newCourse;
curLocation = new Geo(proposedLocation);
if (!curTrackBoundingRegion.Contains(curLocation)) throw new PlatformMovementException("Reflected position is outside the bounding region");
overlayPoints.Add(curLocation);
}
break;
}
}
else
// If we don't have a current trackdef, that means our speed is zero
curSpeedMetersPerSecond = 0;
// Put the current location, course, speed and time into the PlatformStates list
PlatformStates.Add(new PlatformLocation
{
Location = curLocation,
Course = (float) course.Degrees,
Speed = (float) curSpeedMetersPerSecond,
//SimulationTime = currentTime
});
}
overlayPoints.Add(new Geo(curLocation));
CourseOverlay = new OverlayLineSegments(overlayPoints.ToArray(), Colors.Orange, 1, LineStyle.Dot);
CourseEnd = new OverlayPoint(curLocation, Colors.Red, 2);
CourseChangePoints.Add(new CourseChangeDatum
{
IsEnd = true,
Location = curLocation,
OldCourse = course.Degrees,
});
CourseStart = new OverlayPoint(NemoPlatform.Trackdefs[0].InitialLocation, Colors.Green, 2);
}