/// <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));
}
}
}
}
}
/// <summary>
/// Function to export current strategy into extern file
/// </summary>
/// <param name="Filename">File to write</param>
/// <param name="PatternFilename">Pattern to use for writting the file</param>
/// <returns></returns>
public bool WriteFile(string Filename, string PatternFilename)
{
bool Ret = false;
List<StructuredFileKey> ExportFile = new List<StructuredFileKey>();
StructuredFile OutputStructuredFile = null;
// First, we have to create the StrucuredFileKey in order to create a Strucutred File
// Create items that are not included into Loop
ExportFile.Add(new StructuredFileKey(-1, 0, "PATTERN_STRATEGY_NAME", _StrategyName));
ExportFile.Add(new StructuredFileKey(-1, 0, "PATTERN_DEFAULT_SPEED", _DefaultSpeed));
// Store initial cmd (setpos)
ExportFile.Add(new StructuredFileKey(-1, 1, "PATTERN_INIT_CMD", Command.GetCmdToString(_InitialCmd.Cmd)));
ExportFile.Add(new StructuredFileKey(-1, 1, "PATTERN_INIT_CMD_TYPE", Command.GetCmdTypeToString(_InitialCmd.CmdType)));
ExportFile.Add(new StructuredFileKey(-1, 1, "PATTERN_INIT_POS_X", _InitialCmd.Param2));
ExportFile.Add(new StructuredFileKey(-1, 1, "PATTERN_INIT_POS_Y", _InitialCmd.Param3));
ExportFile.Add(new StructuredFileKey(-1, 1, "PATTERN_INIT_POS_ANGLE", _InitialCmd.Param4));
ExportFile.Add(new StructuredFileKey(-1, 1, "PATTERN_INIT_ACTIVE_SENSORS", Command.GetSensorsFlagToString(_InitialCmd.ActiveSensors)));
if (_Strategy != null)
{
// Create Loops
foreach (StrategyItem Item in _Strategy)
{
ExportFile.Add(new StructuredFileKey(Item.LoopID, Item.GID, "PATTERN_CMD", Command.GetCmdToString(Item.Cmd.Cmd)));
ExportFile.Add(new StructuredFileKey(Item.LoopID, Item.GID, "PATTERN_CMD_TYPE", Command.GetCmdTypeToString(Item.Cmd.CmdType)));
ExportFile.Add(new StructuredFileKey(Item.LoopID, Item.GID, "PATTERN_ACTIVE_SENSORS_FLAG", Command.GetSensorsFlagToString(Item.Cmd.ActiveSensors)));
ExportFile.Add(new StructuredFileKey(Item.LoopID, Item.GID, "PATTERN_PARAMS", Item.Cmd.ExportParamsIntoString()));
ExportFile.Add(new StructuredFileKey(Item.LoopID, Item.GID, "PATTERN_NEXT_ACTION_ID", Item.NextActionID.ToString()));
ExportFile.Add(new StructuredFileKey(Item.LoopID, Item.GID, "PATTERN_TIMEOUT_ID", Item.TimeoutID.ToString()));
}
}
OutputStructuredFile = new StructuredFile(ExportFile);
OutputStructuredFile.WriteFile(Filename, PatternFilename);
return Ret;
}