public static HexpodSequence ReadSequence(string fileName)
{
HexpodSequence result = new HexpodSequence();
try
{
using (var reader = XmlReader.Create(fileName))
{
reader.MoveToContent();
while (!reader.EOF)
{
foreach (var field in typeof(HexpodSequence).GetFields(System.Reflection.BindingFlags.Public | System.Reflection.BindingFlags.Instance))
{
if (field.Name == reader.Name)
{
reader.MoveToAttribute("value");
object value = reader.ReadContentAs(field.FieldType, null);
field.SetValue(result, value);
Console.WriteLine("set " + field.Name + " to " + value);
break;
}
}
reader.Read();
}
}
}
catch (Exception e)
{
Log.Error("Error while reading hexapod sequence from " + fileName, e);
}
return(result);
}
public static Command StartSequence(this Command command, HexpodSequence sequence)
{
if (command == null)
{
throw new ArgumentNullException(nameof(command));
}
if (sequence == null)
{
throw new ArgumentNullException(nameof(sequence));
}
if (command.Controller.Model.State == MovementState.InWalkSequence)
{
command.StopHexSequencer().Execute();
}
return(command.SetVerticalServo(ServoSide.Left, LegValue.High, sequence.VerticalServo_Left_HighValue).SetVerticalServo(ServoSide.Left, LegValue.Mid, sequence.VerticalServo_Left_MidValue).SetVerticalServo(ServoSide.Left, LegValue.Low, sequence.VerticalServo_Left_LowValue)
.SetVerticalServo(ServoSide.Right, LegValue.High, sequence.VerticalServo_Right_HighValue).SetVerticalServo(ServoSide.Right, LegValue.Mid, sequence.VerticalServo_Right_MidValue).SetVerticalServo(ServoSide.Right, LegValue.Low, sequence.VerticalServo_Right_LowValue)
.SetVerticalServoMovementSpeed(sequence.VerticalServo_MovementSpeed)
.SetHorizontalServo(ServoSide.Left, FrontRear.Front, sequence.HorizontalServo_Left_FrontValue).SetHorizontalServo(ServoSide.Left, FrontRear.Rear, sequence.HorizontalServo_Left_RearValue)
.SetHorizontalServo(ServoSide.Right, FrontRear.Front, sequence.HorizontalServo_Right_FrontValue).SetHorizontalServo(ServoSide.Right, FrontRear.Rear, sequence.HorizontalServo_Right_RearValue)
.SetHoizontalServoMovementTime(sequence.HorizontalServo_MovementTime)
.SetTravelPercentage(ServoSide.Left, sequence.TravelPercentage_Left).SetTravelPercentage(ServoSide.Right, sequence.TravelPercentage_Right)
.SetHorizontalSpeedPercentage(command.Controller.Model.Speed));
}
public static Command UpdateSequence(this Command command, HexpodSequence oldSequence, int oldSpeed, HexpodSequence sequence)
{
if (command == null)
{
throw new ArgumentNullException(nameof(command));
}
if (oldSequence == null)
{
throw new ArgumentNullException(nameof(oldSequence));
}
if (sequence == null)
{
throw new ArgumentNullException(nameof(sequence));
}
if (oldSequence.VerticalServo_Left_HighValue != sequence.VerticalServo_Left_HighValue)
{
command = command.SetVerticalServo(ServoSide.Left, LegValue.High, sequence.VerticalServo_Left_HighValue);
}
if (oldSequence.VerticalServo_Left_MidValue != sequence.VerticalServo_Left_MidValue)
{
command = command.SetVerticalServo(ServoSide.Left, LegValue.Mid, sequence.VerticalServo_Left_MidValue);
}
if (oldSequence.VerticalServo_Left_LowValue != sequence.VerticalServo_Left_LowValue)
{
command = command.SetVerticalServo(ServoSide.Left, LegValue.Low, sequence.VerticalServo_Left_LowValue);
}
if (oldSequence.VerticalServo_Right_HighValue != sequence.VerticalServo_Right_HighValue)
{
command = command.SetVerticalServo(ServoSide.Right, LegValue.High, sequence.VerticalServo_Right_HighValue);
}
if (oldSequence.VerticalServo_Right_MidValue != sequence.VerticalServo_Right_MidValue)
{
command = command.SetVerticalServo(ServoSide.Right, LegValue.Mid, sequence.VerticalServo_Right_MidValue);
}
if (oldSequence.VerticalServo_Right_LowValue != sequence.VerticalServo_Right_LowValue)
{
command = command.SetVerticalServo(ServoSide.Right, LegValue.Low, sequence.VerticalServo_Right_LowValue);
}
if (oldSequence.VerticalServo_MovementSpeed != sequence.VerticalServo_MovementSpeed)
{
command = command.SetVerticalServoMovementSpeed(sequence.VerticalServo_MovementSpeed);
}
if (oldSequence.HorizontalServo_Left_FrontValue != sequence.HorizontalServo_Left_FrontValue)
{
command = command.SetHorizontalServo(ServoSide.Left, FrontRear.Front, sequence.HorizontalServo_Left_FrontValue);
}
if (oldSequence.HorizontalServo_Left_RearValue != sequence.HorizontalServo_Left_RearValue)
{
command = command.SetHorizontalServo(ServoSide.Left, FrontRear.Rear, sequence.HorizontalServo_Left_RearValue);
}
if (oldSequence.HorizontalServo_Right_FrontValue != sequence.HorizontalServo_Right_FrontValue)
{
command = command.SetHorizontalServo(ServoSide.Right, FrontRear.Front, sequence.HorizontalServo_Right_FrontValue);
}
if (oldSequence.HorizontalServo_Right_RearValue != sequence.HorizontalServo_Right_RearValue)
{
command = command.SetHorizontalServo(ServoSide.Right, FrontRear.Rear, sequence.HorizontalServo_Right_RearValue);
}
if (oldSequence.HorizontalServo_MovementTime != sequence.HorizontalServo_MovementTime)
{
command = command.SetHoizontalServoMovementTime(sequence.HorizontalServo_MovementTime);
}
if (oldSequence.TravelPercentage_Left != sequence.TravelPercentage_Left)
{
command = command.SetTravelPercentage(ServoSide.Left, sequence.TravelPercentage_Left);
}
if (oldSequence.TravelPercentage_Right != sequence.TravelPercentage_Right)
{
command = command.SetTravelPercentage(ServoSide.Right, sequence.TravelPercentage_Right);
}
if (command.Controller.Model.State == MovementState.Stopped || command.Controller.Model.Speed != oldSpeed)
{
command = command.SetHorizontalSpeedPercentage(command.Controller.Model.Speed);
}
return(command);
}
