/// <summary>
/// Manage all move to logic here.
/// </summary>
private void MoveTo()
{
if (useNaviationMarker.Value)
{
if (!markerCached)
{
_marker = targetMoveTo.Value.GetComponent <NavigationMarker>();
}
if (_marker != null)
{
markerCached = true;
GetMarkerInformation();
}
else
{
Debug.LogError("No destination marker component found for 'Game Creator Move To' in playmaker");
Fsm.Event(errorEvent);
}
}
else
{
GetDesinationInformation();
}
SetDesitination();
}
private void DisplayOnForm(NavigationMarker marker)
{
cmbMessage.SelectedIndex = -1; // Allow custom message.
cmbMessage.Text = marker.Message;
txtSoundFile.Text = marker.SoundFile;
numRoundAboutIndex.Value = marker.RoundAboutIndex;
}
private void MoveTo()
{
if (useNaviationMarker.Value)
{
_marker = targetMoveTo.Value.GetComponent <NavigationMarker>();
if (_marker != null)
{
GetMarkerInformation();
}
else
{
Debug.LogError("No destination marker component found for 'Game Creator Move To' in BD");
}
}
else
{
GetDesinationInformation();
}
SetDesitination();
}
/// <summary>
/// Read AR3 file. See http://confluence.ash.ads.org/display/EHP/Autologic+ar3+route+file+format.+V2
/// </summary>
/// <param name="filename">ar3 filename</param>
/// <returns>ar3 route</returns>
public static Route ReadAr3(string filename)
{
#region FIELDS
//
// The distance table contains the relation between LatLng and distance.
// Filled during Read Gps markers. Filled with unique latlng and sorted distance.
//
var distanceTable = new Dictionary <PointLatLng, int>();
var line = string.Empty;
var version = string.Empty;
var startPoint = new PointLatLng();
var lastDistance = -1;
var route = new Route()
{
FileName = filename
};
var random = new Random();
var previousChangeMarker = new ChangeMarker();
errors = new int[5]; // used in unittesting.
#endregion
using (TextReader reader = new StreamReader(filename))
{
while ((line = reader.ReadLine()) != null)
{
try
{
var s = line.Split(':', ',');
//
#region READ HEADER
//
if (line.StartsWith("Ar3"))
{
version = s[1];
}
else if (line.StartsWith("MachineType"))
{
route.MachineType = My.GetEnum <MachineTypes>(s[1]);
}
#endregion
//
#region READ GPS MARKERS
//
else if (line.StartsWith("WayPoint["))
{
var distance = (int)My.Val(s[3]);
if (distance < lastDistance)
{
My.Log($"{++errors[0]} {line} has descending distance and will be ignored.");
}
else if (distance == lastDistance)
{
My.Log($"{++errors[1]} Duplicated line {line}");
}
else
{
var point = Unique(new PointLatLng(My.Val(s[2]), My.Val(s[1])), distance);
route.GpsMarkers.Add(new GpsMarker(point));
if (startPoint.IsEmpty)
{
startPoint = point;
latLngFirstNav = Unique(startPoint, 20); // Sort dictionary 4 holten_cityjet.ar3
}
}
lastDistance = distance;
}
#endregion
//
#region READ NAVIGATION MARKERS
//
else if (line.StartsWith("Instruction["))
{
PointLatLng latlng;
if (s[1] == "0") // Set first Navigation marker not at distance zero. This is reserved for Change marker.
{
latlng = latLngFirstNav;
route.GpsMarkers.Insert(1, new GpsMarker(latlng));
}
else
{
latlng = FindLatLng(s[1]);
}
var marker = new NavigationMarker(latlng);
if (s[2] == "1007") // Get custom message.
{
marker.Message = (s[6] != "") ? s[6] : Path.GetFileNameWithoutExtension(s[5]);
}
else
{
marker.Message = NavigationMessage(s[2]);
}
//
// Get roundabout index.
//
marker.RoundAboutIndex = Math.Max((int)My.Val(s[3]), 0);
if (marker.Message == "-")
{
My.Log($"{++errors[2]} {line} Unkown navigation type {s[2]}");
}
marker.SoundFile = My.ValidateFilename((s[5] != "") ? s[5] : (marker.Message + ".wav")); // Todo create soundfile.
route.NavigationMarkers.Add(marker);
}
#endregion
//
#region READ CHANGE MARKERS
//
else if (line.StartsWith("ChangePoint["))
{
var marker = new ChangeMarker(FindLatLng(s[1]));
if (route.MachineType == MachineTypes.StreetWasher)
{
// 1=DistanceFromStart, ActivityState, LeftNozzleIsActive, LeftNozzlePosition, RightNozzleIsActive, RightNozzlePosition, waterpressure,Marked, Message
// If this code is changed then modify also methode DisplayOnForm.
//
// Handle empty strings; use previous marker value.
marker.SpreadingOnOff = My.Bool(s[2], previousChangeMarker.SpreadingOnOff);
marker.Hopper1OnOff = My.Bool(s[3], previousChangeMarker.Hopper1OnOff);
marker.SpreadingWidthLeft = My.Val(s[4], previousChangeMarker.SpreadingWidthLeft);
marker.Hopper2OnOff = My.Bool(s[5], previousChangeMarker.Hopper2OnOff);
marker.SpreadingWidthRight = My.Val(s[6], previousChangeMarker.SpreadingWidthRight);
marker.Dosage = My.Val(s[7], previousChangeMarker.Dosage);
//
// Set default pressure according spec.
//
if (marker.Dosage < 5)
{
marker.Dosage = 5;
}
}
else
{
// 1=DistanceFromStartInCm, SpreadSprayOnOff, SprayModeOnOff, Max, SecMat,Dosage, WidthLeft, WidthRight, SecDos, WidthLeftSpraying, WidthRightSpraying, CombiPercentage, HopperSelection, Marked, Message
marker.SpreadingOnOff = My.Bool(s[2], previousChangeMarker.SpreadingOnOff);
marker.SprayingOnOff = My.Bool(s[3], previousChangeMarker.SprayingOnOff);
marker.MaxOnOff = My.Bool(s[4], previousChangeMarker.MaxOnOff);
marker.SecMatOnOff = My.Bool(s[5], previousChangeMarker.SecMatOnOff);
marker.Dosage = My.Val(s[6], previousChangeMarker.Dosage * 100) / 100;
marker.SpreadingWidthLeft = My.Val(s[7], previousChangeMarker.SpreadingWidthLeft * 100) / 100;
marker.SpreadingWidthRight = My.Val(s[8], previousChangeMarker.SpreadingWidthRight * 100) / 100;
marker.DosageLiquid = My.Val(s[9], previousChangeMarker.DosageLiquid * 100) / 100;
marker.SprayingWidthLeft = My.Val(s[10], previousChangeMarker.SprayingWidthLeft * 100) / 100;
marker.SprayingWidthRight = My.Val(s[11], previousChangeMarker.SprayingWidthRight * 100) / 100;
marker.PersentageLiquid = My.Val(s[12], previousChangeMarker.PersentageLiquid);
}
//
// First change marker should have distance 0.
//
if (route.ChangeMarkers.Count == 0 && s[1] != "0")
{
route.ChangeMarkers.Add(new ChangeMarker(startPoint));
}
route.ChangeMarkers.Add(marker);
previousChangeMarker = marker;
}
#endregion
}
catch (Exception ee) { Log($"{++errors[3]} Error in {line} {ee.Message} {ee.StackTrace}"); }
}
//
// First change marker should have distance 0.
//
if (route.ChangeMarkers.Count == 0)
{
route.ChangeMarkers.Add(new ChangeMarker(startPoint));
}
}
My.Log("End of requirement analyze.");
return(route);
//
// Make unique LatLng point. See Software Design Document.
//
PointLatLng Unique(PointLatLng point, int distance)
{
while (distanceTable.ContainsKey(point))
{
var r = random.NextDouble() / 100000;
point = new PointLatLng(point.Lat + r, point.Lng + r);
}
distanceTable.Add(point, distance);
return(point);
}
PointLatLng FindLatLng(string sdistance)
{
var distance = (int)My.Val(sdistance);
var last = default(KeyValuePair <PointLatLng, int>);
var idx = 0;
foreach (var item in distanceTable)
{
++idx;
if (item.Value < distance)
{
last = item;
}
else if (item.Value == distance)
{
last = item;
break;
}
else if (item.Value > distance) // No corresponding Gps marker (orphan).
{
if (last.Key.IsEmpty)
{
last = item;
}
if (item.Value - distance < distance - last.Value)
{
last = item;
}
if (distance - last.Value < 200)
{
break; // Don't mark as orphan when marker is within 200 cm of current or previous marker.
}
if (item.Value - distance < 200)
{
break;
}
++errors[4];
break;
}
}
distanceTable.Remove(last.Key); // Use distance only one's so that both Navigation- and Change marker can't be added to one gps marker.
return(last.Key);
}
}
