public void saveYaml()
{
if (string.IsNullOrEmpty(Global.projectName))
{
MessageBox.Show("Please check the project", "Project Error", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
//네비 시작점 확인
if (!checkStart())
{
MessageBox.Show("Please check the starting point.", "Start Point Error", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
//종점 확인
if (!checkend())
{
MessageBox.Show("Please check the end point.", "End Point Error", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
saveNaviTemp.Clear();
var startshape = NavinObsDiagram.Instance.Navidiagram.Items.OfType <NaviShape>().Where(x => x.PointType == "0").ToList();
saveNaviTemp.Add(startshape[0]);
SetNaviPoistion(startshape[0]);
//리스트에 시작 끝점이 존재하는지 체크
if (!checkStartEnd(saveNaviTemp))
{
MessageBox.Show("It is not connected from start point to end point.", "End Point Error", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
//저장을 시작한다.
System.Windows.Forms.SaveFileDialog save = new System.Windows.Forms.SaveFileDialog();
save.Title = "";
save.Filter = "Yaml file|*.yaml";
if (save.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
using (new WaitCursor())
{
string filePath = save.FileName;
YamlMapping map = new YamlMapping();
//point 갯수
map.Add("size_points", saveNaviTemp.Count);
//장애물 갯수
List <ObsShape> obsdata = NavinObsDiagram.Instance.Navidiagram.Items.OfType <ObsShape>().ToList();
map.Add("size_objects", obsdata.Count);
//네비포인트 갯수
for (int i = 0; i < saveNaviTemp.Count; i++)
{
//points0_x
string Xkey = "points" + i + "_x";
string Ykey = "points" + i + "_y";
map.Add(Xkey, saveNaviTemp[i].NaviPointX);
map.Add(Ykey, saveNaviTemp[i].NaviPointY);
}
//장애물 갯수
for (int i = 0; i < obsdata.Count; i++)
{
//x y name comment type
//objects0_pos_x
string Xkey = "objects" + obsdata[i].Index.ToString() + "_pos_x";
string Ykey = "objects" + obsdata[i].Index.ToString() + "_pos_y";
string NameKey = "objects" + obsdata[i].Index.ToString() + "_name";
string commKey = "objects" + obsdata[i].Index.ToString() + "_comment";
string typeKey = "objects" + obsdata[i].Index.ToString() + "_type";
map.Add(Xkey, obsdata[i].ObsPointX);
map.Add(Ykey, obsdata[i].ObsPointY);
map.Add(NameKey, Global.getObsCodeName(int.Parse(obsdata[i].PointType)));
map.Add(commKey, obsdata[i].Description);
map.Add(typeKey, int.Parse(obsdata[i].PointType));
}
map.Add("wayWidth", float.Parse("2.5000000000000000e+00"));
map.Add("nextDirDist", float.Parse("10.00000"));
map.Add("nextDirThres", float.Parse("20.00000"));
YamlNode node = map;
node.ToYamlFile(filePath);
MessageBox.Show("yaml file creation is complete.", "Yaml Create.", MessageBoxButton.OK, MessageBoxImage.Information);
}
}
}
