/// <summary>
/// This function is called at the end of IterativeSearch after exploring all the executions.
/// </summary>
public static void RunMotionPlanner(ZingDronacharya zDrona)
{
List<MotionPlan> allMotionPlans = new List<MotionPlan>();
foreach(var motionPlan in zDrona.GenerateMotionPlans)
{
int[] outputPath = new int[100];
int outputSize = 0;
Console.WriteLine("Invoking Complan for : {0} {1}", motionPlan.startPosition, motionPlan.endPosition);
bool result = GenerateMotionPlanFor(motionPlan.startPosition, motionPlan.endPosition, motionPlan.obstacles.ToArray(), motionPlan.obstacles.Count(), outputPath, ref outputSize);
if (!result)
{
outputPath = new int[1] { -1 };
outputSize = 1;
}
allMotionPlans.Add(new MotionPlan(motionPlan.startPosition, motionPlan.endPosition, outputPath.Take(outputSize).ToList()));
}
//generate the new function
GenerateMotionPlanningModelFunction(zDrona, allMotionPlans);
}
public static ZingerResult LaunchNewZingerInstance(ZingDronacharya zDrona, string[] commandLineArgs)
{
//generate zing commandline
string commandline = "";
foreach(var s in ZingerCommandline)
{
commandline += " " + s;
}
ZingerResult returnValue = ZingerResult.ProgramRuntimeError;
System.Diagnostics.Process process = new System.Diagnostics.Process();
process.StartInfo.CreateNoWindow = false;
process.StartInfo.UseShellExecute = false;
process.StartInfo.FileName = zDrona.DronaConfiguration.ZingerPath;
process.StartInfo.WindowStyle = ProcessWindowStyle.Hidden;
process.StartInfo.Arguments = (commandline + " -dronaworker ");
ZingerUtilities.PrintMessage(process.StartInfo.FileName + " " + process.StartInfo.Arguments);
try
{
// Start the process with the info we specified.
// Call WaitForExit and then the using statement will close.
process.Start();
process.WaitForExit();
returnValue = (ZingerResult) process.ExitCode;
}
catch (Exception ex)
{
ZingerUtilities.PrintErrorMessage("Failed to run zinger");
ZingerUtilities.PrintErrorMessage(ex.ToString());
Environment.Exit((int)ZingerResult.ProgramRuntimeError);
}
return returnValue;
}
public static void RecompileProgram(ZingDronacharya zDrona)
{
System.Diagnostics.Process process = new System.Diagnostics.Process();
process.StartInfo.CreateNoWindow = false;
process.StartInfo.UseShellExecute = false;
process.StartInfo.FileName = zDrona.DronaConfiguration.PcompilerPath;
process.StartInfo.WindowStyle = ProcessWindowStyle.Hidden;
process.StartInfo.Arguments = (zDrona.DronaConfiguration.P_ProgramDriverPath);
try
{
// Start the process with the info we specified.
// Call WaitForExit and then the using statement will close.
process.Start();
process.WaitForExit();
}
catch(Exception ex)
{
ZingerUtilities.PrintErrorMessage("Failed to compile P program");
ZingerUtilities.PrintErrorMessage(ex.ToString());
Environment.Exit((int)ZingerResult.ProgramRuntimeError);
}
}
public static void GenerateMotionPlanningModelFunction(ZingDronacharya zDrona, List<MotionPlan> allMotionPlans)
{
string motionPlanningFile = zDrona.DronaConfiguration.P_ProgramPath + "\\ModelOfMotionPlanning.p";
if(!File.Exists(motionPlanningFile))
{
ZingerUtilities.PrintErrorMessage("Failed to find file: " + motionPlanningFile);
}
var motionPlanningFunction = File.ReadAllLines(motionPlanningFile);
//concatenate the strings
string newFunction = "";
foreach(var lines in motionPlanningFunction)
{
newFunction += (lines + "\n");
}
string genSeq = "\n tempSeq = default(seq[int]);\n";
foreach(var MP in allMotionPlans)
{
foreach(var point in MP.Plan)
{
string temp1 = String.Format("tempSeq += (sizeof(tempSeq), {0});\n", point);
genSeq = genSeq + temp1;
}
genSeq = genSeq + String.Format("AllMotionPlans[({0}, {1})] = tempSeq;\n\n", MP.start, MP.end);
}
genSeq += "return AllMotionPlans;\n";
newFunction = newFunction.Replace("return AllMotionPlans;", genSeq);
//update the motion planning file.
File.Delete(motionPlanningFile);
StreamWriter sw = new StreamWriter(File.Create(motionPlanningFile));
sw.WriteLine(newFunction);
sw.Close();
}
