/// <summary>
/// Add a leg to the hexapod's trunk
/// </summary>
/// <param name="Leg"></param>
public void AddLeg(HexaLeg Leg)
{
legs.Add(Leg);
log.WriteLog(
"[INIT] Added new leg; Endpoint: " + Leg.Point.ToString() + "; " +
"Lambda: " + Leg.Lambda.ToString() + "°; " +
"Support-Criteria: " + Leg.Support.ToString() + "; " +
"Switch-Criteria: " + Leg.SwitchLeg.ToString()
);
}
/// <summary>
/// Read configuration file
/// </summary>
/// <returns>Read configuration in form of a list of finished legs</returns>
public List <HexaLeg> Read()
{
List <HexaLeg> legs = new List <HexaLeg>();
Dictionary <string, configFile> x = new Dictionary <string, configFile>();
configFile cF = new configFile();
string config = File.ReadAllText(this.filePath);
// Try to convert read text to structure
try {
x = JsonConvert.DeserializeObject <Dictionary <string, configFile> >(config);
} catch (Exception ex) {
throw new ConfigError("[Read]" + ex.Message);
}
// Try to break down structure to individually legs
try {
cF = x["Hexapod"];
HexaLeg hl;
foreach (tempLeg tL in cF.Legs)
{
hl = new HexaLeg(
tL.Lambda,
new Vector3D(tL.Offset),
new Vector3D(tL.Hip),
new Vector3D(tL.Thigh),
new Vector3D(tL.Shank),
tL.Support,
tL.Switch
);
legs.Add(hl);
}
} catch (Exception ex) {
throw new ConfigError("[Mapping]" + ex.Message);
}
return(legs);
}
