public RobotAction(int ID)
{
_uID = ID; // Identifiant unique pour l'action
_cmd = EnumCmd.NotSet; // Commande
_cmdType = EnumCmdType.CmdType_NotSet; // Type de l'action à réaliser
_param1 = ""; // Param 1
_param2 = ""; // Param 2
_param3 = ""; // Param 3
_param4 = ""; // Param 4
_activeSensors = new ActiveSensors(); // Sensors actifs durant le mouvement (pas de sensor actif)
_nextID = -1; // Action suivante
_timeoutID = -1; // Action à réaliser en cas de timeout
}
/// <summary>
/// Fonction pour verifier la valeur du type de commande passé en paramètre
/// </summary>
/// <param name="valueToCheck">Valeur à tester</param>
/// <param name="defaultValue">Valeur à utiliser en cas de valeur non valide</param>
/// <returns>Le type de commande verifié</returns>
private EnumCmdType CheckEnumCmdTypeValue(String valueToCheck, EnumCmdType defaultValue)
{
EnumCmdType Ret = defaultValue;
try
{
foreach (EnumCmdType currentValue in Enum.GetValues(typeof(EnumCmdType)))
{
if (currentValue.ToString() == valueToCheck)
Ret = currentValue;
}
}
catch (Exception)
{
Ret = defaultValue;
}
return Ret;
}
/// <summary>
/// Update the current command with the given data
/// </summary>
/// <param name="Cmd">Command</param>
/// <param name="CmdType">Command Type</param>
/// <param name="Param1">Param 1</param>
/// <param name="Param2">Param 2</param>
/// <param name="Param3">Param 3</param>
/// <param name="Param4">Param 4</param>
/// <param name="ActiveSensors"></param>
/// <returns></returns>
public bool Update(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4, EnumStrategyFlag ActiveSensors)
{
bool Ret = false;
// Init Cmd to the default value
_Cmd = EnumCmd.NotSet;
_CmdType = EnumCmdType.NotSet;
_Param1 = null;
_Param2 = null;
_Param3 = null;
_Param4 = null;
if (ActiveSensors != EnumStrategyFlag.STRATEGYFLAG_NONE)
_ActiveSensorsFlag = ActiveSensors;
_Cmd = Cmd;
_CmdType = CmdType;
// Check Params for Cmd
// Cmd Modif : Add new command here
switch (Cmd)
{
// ________________________________________________________ Param1 / Param2
case EnumCmd.MvtSimple_MoveInMM:
case EnumCmd.App_SetStrategyFlags:
if ((Param1 != null) && (Param2 != null))
{
_Param1 = Param1;
_Param2 = Param2;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param4
case EnumCmd.Mvt_UseAngleOnly:
case EnumCmd.MvtSimple_RotateInDeg:
case EnumCmd.MvtSimple_RotateToAngleInDeg:
if ((Param1 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param3
case EnumCmd.Mvt_UseDistOnly:
case EnumCmd.App_IfGoto_System:
case EnumCmd.App_IfGoto_Strategy:
if ((Param1 != null) && (Param2 != null) && (Param3 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param3 = Param3;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param4
case EnumCmd.Mvt_UsePivotMode:
if ((Param1 != null) && (Param2 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param2 / Param3 / Param4
case EnumCmd.App_SetNewPos:
if ((Param2 != null) && (Param3 != null) && (Param4 != null))
{
_Param2 = Param2;
_Param3 = Param3;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ Param1 / Param2 / Param3 / Param4
case EnumCmd.Mvt_UseMixedMode:
case EnumCmd.App_Wait:
case EnumCmd.Mvt_UseSpline:
if ((Param1 != null) && (Param2 != null) && (Param3 != null) && (Param4 != null))
{
_Param1 = Param1;
_Param2 = Param2;
_Param3 = Param3;
_Param4 = Param4;
Ret = true;
}
else
{
LoadDefaultParamsValue();
Ret = true;
}
break;
// ________________________________________________________ None
case EnumCmd.Mvt_Stop:
case EnumCmd.Sensors_ArmsClose:
case EnumCmd.Sensors_ArmsCloseTotem:
case EnumCmd.Sensors_ArmsOpenDown:
case EnumCmd.Sensors_ArmsOpenUp:
case EnumCmd.Sensors_ArmsOpenOneCD:
case EnumCmd.Sensors_ArmsOpenTotem:
case EnumCmd.Sensors_ArmsUngrab:
case EnumCmd.Sensors_ElevatorLow:
Ret = true;
break;
// ________________________________________________________
default:
break;
}
return Ret;
}
/// <summary>
/// Get the Command Type into a string
/// </summary>
/// <param name="CmdTypeString">String that contains the expected command type</param>
/// <returns>An EnumCmdType object</returns>
public static String GetCmdTypeToString(EnumCmdType CmdType)
{
// App
if (EnumCmdType.Blocking == CmdType) { return "CmdType_Blocking"; }
if (EnumCmdType.NonBlocking == CmdType) { return "CmdType_NonBlocking"; }
return "CmdType_NotSet";
}
/// <summary>
/// Create a new 'Cmd' command with the 'CmdType' type, 'Params' parameters and ActiveSensors parameters
/// </summary>
public Command(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4, EnumStrategyFlag ActiveSensors)
{
Update(Cmd, CmdType, Param1, Param2, Param3, Param4, ActiveSensors);
return;
}
/// <summary>
/// Create a new 'Cmd' command with the 'CmdType' type and 'Params' parameters
/// </summary>
public Command(EnumCmd Cmd, EnumCmdType CmdType, String Param1, String Param2, String Param3, String Param4)
{
Update(Cmd, CmdType, Param1, Param2, Param3, Param4, EnumStrategyFlag.STRATEGYFLAG_NONE);
return;
}
/// <summary>
/// Create a new 'Cmd' command with the 'CmdType' type
/// Default value is used Params
/// </summary>
public Command(EnumCmd Cmd, EnumCmdType CmdType)
{
Update(Cmd, CmdType, null, null, null, null, EnumStrategyFlag.STRATEGYFLAG_NONE);
return;
}
