/// <summary>
/// 设置参数文件
/// </summary>
public void SetParameterFile()
{
//存储到文件
string sFileDir = AppConfigOperation.GetConfigurationValue("ApplicationFullPath") + @"\PathPlanning\Method\Parameter\" +
((int)EPathPlanningMethod.RRTStar).ToString() + ".ini"; //参数文件地址
IniOperation.WriteProfileString("PlanningStep", "StepType", ((int)(MStepType)).ToString(), sFileDir);
IniOperation.WriteProfileString("PlanningStep", "Step", MStep.ToString(), sFileDir);
IniOperation.WriteProfileString("PlanningStep", "FixedNearDistanceRatio", FixedNearDistanceRatio.ToString(), sFileDir);
IniOperation.WriteProfileString("PlanningStep", "RandomStepMax", MRandomStepMax.ToString(), sFileDir);
IniOperation.WriteProfileString("PlanningStep", "RandomStepMin", MRandomStepMin.ToString(), sFileDir);
IniOperation.WriteProfileString("Extension", "SelectionType", ((int)MSelectionType).ToString(), sFileDir);
IniOperation.WriteProfileString("Extension", "ChooseTargetThreshold", MChooseTargetThreshold.ToString(), sFileDir);
IniOperation.WriteProfileString("Extension", "MaxNodeNumber", MMaxNodeNumber.ToString(), sFileDir);
IniOperation.WriteProfileString("Extension", "ReachMode", ((int)MReachMode).ToString(), sFileDir);
IniOperation.WriteProfileString("Others", "AutoOptimizeParameter", (Convert.ToInt32(MAutoOptimizeParameter)).ToString(), sFileDir);
IniOperation.WriteProfileString("Others", "IsDrawingTree", (Convert.ToInt32(MIsDrawingTree)).ToString(), sFileDir);
IniOperation.WriteProfileString("Others", "IsDubinsMode", (Convert.ToInt32(MIsDubinsMode)).ToString(), sFileDir);
IniOperation.WriteProfileString("Others", "TurningRadius", TurningRadius.ToString(), sFileDir);
#region NearNodesFilter
IniOperation.WriteProfileString("NearNodesFilter", "NearNodesFilter", (Convert.ToInt32(NearNodesFilter)).ToString(), sFileDir);
IniOperation.WriteProfileString("NearNodesFilter", "TriggerNum", TriggerNum.ToString(), sFileDir);
#endregion
}
public void SetTrigger(int outNo, TriggerNum triggerNum)
{
try
{
if (controllerMode == ControllerMode.GenMode)
{
SetCommunicationMode();
}
int tn = (int)triggerNum;
string command = "SW,OE,M," + outNo.ToString() + "," + tn.ToString("d1");
Write(command, 100);
}
catch (Exception)
{
throw;
}
}