/// <summary>
/// Reads a BXDVector3 with the given XmlReader and returns the reading.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static BXDVector3 ReadBXDVector4_2(XmlReader reader)
{
BXDVector3 vec = new BXDVector3();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "X":
// Assign the x value.
vec.x = float.Parse(reader.ReadElementContentAsString());
break;
case "Y":
// Assign the y value.
vec.y = float.Parse(reader.ReadElementContentAsString());
break;
case "Z":
// Assign the z value.
vec.z = float.Parse(reader.ReadElementContentAsString());
break;
}
}
return(vec);
}
/// <summary>
/// Reads a PlanarJoint_Base from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static PlanarJoint_Base ReadPlanarJoint_4_2(XmlReader reader)
{
// Create a new PlanarJoint_Base.
PlanarJoint_Base planarJoint = (PlanarJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.PLANAR);
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "BXDVector3":
switch (reader["VectorID"])
{
case "Normal":
// Assign the BXDVector3 to the normal.
planarJoint.normal = ReadBXDVector4_2(reader.ReadSubtree());
break;
case "BasePoint":
// Assign the BXDVector3 to the basePoint.s
planarJoint.basePoint = ReadBXDVector4_2(reader.ReadSubtree());
break;
}
break;
}
}
return(planarJoint);
}
/// <summary>
/// Iterates through each child FieldNodeGroup and adds all FieldNodes to the given FieldNodeGroup.
/// </summary>
/// <param name="reader"></param>
/// <param name="fieldNodeGroup"></param>
private static void ReadFieldNodeGroup_2_2(XmlReader reader, FieldNodeGroup fieldNodeGroup)
{
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "Node":
// Add the FieldNode to fieldNodeGroup.
fieldNodeGroup.AddNode(ReadFieldNode_2_2(reader.ReadSubtree()));
break;
case "NodeGroup":
// If an ID has not been assigned to the current FieldNodeGroup.
if (fieldNodeGroup.NodeGroupID.Equals(BXDFProperties.BXDF_DEFAULT_NAME))
{
// Assign the ID attribute value to the NodeGroupID property.
fieldNodeGroup.NodeGroupID = reader["ID"];
}
else
{
// Creates a new FieldNodeGroup.
FieldNodeGroup childNodeGroup = new FieldNodeGroup(BXDFProperties.BXDF_DEFAULT_NAME);
// Re-iterate as the childNodeGroup.
ReadFieldNodeGroup_2_2(reader.ReadSubtree(), childNodeGroup);
// Add the processed FieldNodeGroup to fieldNodeGroup.
fieldNodeGroup.AddNodeGroup(childNodeGroup);
}
break;
}
}
}
/// <summary>
/// Reads a BXDQuaternion with the given XmlReader and returns the reading.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static BXDQuaternion ReadBXDQuaternion_2_2(XmlReader reader)
{
BXDQuaternion quat = new BXDQuaternion();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "X":
// Assign the X value.
quat.X = float.Parse(reader.ReadElementContentAsString());
break;
case "Y":
// Assign the Y value.
quat.Y = float.Parse(reader.ReadElementContentAsString());
break;
case "Z":
// Assign the Z value.
quat.Z = float.Parse(reader.ReadElementContentAsString());
break;
case "W":
// Assign the W value.
quat.W = float.Parse(reader.ReadElementContentAsString());
break;
}
}
return(quat);
}
/// <summary>
/// Reads the properties contained in the XML BXDF file specified and returns
/// the corresponding FieldDefinition.
/// </summary>
/// <param name="path"></param>
/// <param name="useValidation"></param>
/// <returns></returns>
private static FieldDefinition ReadProperties_2_2(string path, out string result, bool useValidation = true)
{
// The FieldDefinition to be returned.
FieldDefinition fieldDefinition = null;
XmlReaderSettings settings = new XmlReaderSettings();
if (useValidation)
{
settings.Schemas.Add(XmlSchema.Read(new StringReader(BXDF_XSD_2_2), null));
settings.ValidationType = ValidationType.Schema;
}
else
{
settings.ValidationType = ValidationType.None;
}
XmlReader reader = XmlReader.Create(path, settings);
try
{
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "BXDF":
// Assign a value to fieldDefinition with the given GUID attribute.
fieldDefinition = FieldDefinition.Factory(new Guid(reader["GUID"]));
break;
case "PropertySet":
// Reads the current element as a PropertySet.
ReadPropertySet_2_2(reader.ReadSubtree(), fieldDefinition);
break;
case "NodeGroup":
// Reads the root FieldNodeGroup.
ReadFieldNodeGroup_2_2(reader.ReadSubtree(), fieldDefinition.NodeGroup);
break;
}
}
result = "Success.";
return(fieldDefinition);
}
catch (Exception e)// A variety of exceptions can take place if the file is invalid, but we will always want to return null.
{
result = e.Message;
// If the file is invalid, return null.
return(null);
}
finally
{
// Closes the reader.
reader.Close();
}
}
/// <summary>
/// Reads a JointDriver from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static JointDriver ReadJointDriver_2_0(XmlReader reader)
{
JointDriver driver = null;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "DriveType":
// Initialize the driver.
driver = new JointDriver((JointDriverType)Enum.Parse(typeof(JointDriverType), reader.ReadElementContentAsString()));
break;
case "PortA":
// Assign a value to portA.
driver.portA = reader.ReadElementContentAsInt();
break;
case "PortB":
// Assign a value to portB.
driver.portB = reader.ReadElementContentAsInt();
break;
case "LowerLimit":
// Assign a value to the lowerLimit.
driver.lowerLimit = float.Parse(reader.ReadElementContentAsString());
break;
case "UpperLimit":
// Assign a value to the upperLimit.
driver.upperLimit = float.Parse(reader.ReadElementContentAsString());
break;
case "SignalType":
// Assign a value to isCan.
driver.isCan = reader.ReadElementContentAsString().Equals("CAN") ? true : false;
break;
case "ElevatorDriverMeta":
// Add an ElevatorDriverMeta.
driver.AddInfo(ReadElevatorDriverMeta_2_0(reader.ReadSubtree()));
break;
case "PneumaticDriverMeta":
// Add a PneumaticsDriverMeta.
driver.AddInfo(ReadPneumaticDriverMeta_2_0(reader.ReadSubtree()));
break;
case "WheelDriverMeta":
// Add a WheelDriverMeta.
driver.AddInfo(ReadWheelDriverMeta_2_0(reader.ReadSubtree()));
break;
}
}
return(driver);
}
/// <summary>
/// Reads the skeleton contained in the XML BXDJ file specified and
/// returns the corresponding RigidNode_Base.
/// </summary>
/// <param name="path"></param>
/// <param name="useValidation"></param>
private static RigidNode_Base ReadSkeleton_4_2(string path, bool useValidation = true)
{
RigidNode_Base root = null;
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
XmlReaderSettings settings = new XmlReaderSettings();
if (useValidation)// if the schema should be validated, then run the BXDJ against the schema to make sure all the value are there, oftentimes robot instace invalid issues are found here
{
settings.Schemas.Add(XmlSchema.Read(new StringReader(BXDJ_XSD_4_2), null));
settings.ValidationType = ValidationType.Schema;
}
else
{
settings.ValidationType = ValidationType.None;
}
XmlReader reader = XmlReader.Create(path, settings);
try
{
foreach (string name in IOUtilities.AllElements(reader)) // iterates over all the top level data
{
switch (name) // handles reading the different XML tags
{
case "DriveTrainType":
// Reads the current element as a drive train type.
root.driveTrainType = (RigidNode_Base.DriveTrainType)Enum.Parse(typeof(RigidNode_Base.DriveTrainType), reader.ReadElementContentAsString());
break;
case "SoftwareExportedWith":
// Reads the current element as a drive train type.
root.exportedWith = (RigidNode_Base.SoftwareExportedWith)Enum.Parse(typeof(RigidNode_Base.SoftwareExportedWith), reader.ReadElementContentAsString());
break;
case "Node":
// Reads the current element as a node.
ReadNode_4_2(reader.ReadSubtree(), nodes, ref root);
break;
}
}
}
catch (Exception)// A variety of exceptions can take place if the file is invalid, but we will always want to return null.
{
// If the file is invalid, return null.
return(null);
}
finally
{
// Closes the reader.
reader.Close();
}
return(nodes[0]);// returns the base node of the skeleton
}
/// <summary>
/// Reads the skeleton contained in the XML BXDJ file specified and
/// returns the corresponding RigidNode_Base.
/// </summary>
/// <param name="path"></param>
/// <param name="useValidation"></param>
private static RigidNode_Base ReadSkeleton_5_0(string path, bool useValidation = true)
{
RigidNode_Base root = null;
List <RigidNode_Base> nodes = new List <RigidNode_Base>();
XmlReaderSettings settings = new XmlReaderSettings();
if (useValidation)
{
settings.Schemas.Add(XmlSchema.Read(new StringReader(BXDJ_XSD_5_0), null));
settings.ValidationType = ValidationType.Schema;
}
else
{
settings.ValidationType = ValidationType.None;
}
XmlReader reader = XmlReader.Create(path, settings);
try
{
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "DriveTrainType":
ReadNode_5_0(reader.ReadSubtree(), nodes, ref root);
break;
case "Node":
// Reads the current element as a node.
ReadNode_5_0(reader.ReadSubtree(), nodes, ref root);
break;
}
}
}
catch (Exception)// A variety of exceptions can take place if the file is invalid, but we will always want to return null.
{
// If the file is invalid, return null.
return(null);
}
finally
{
// Closes the reader.
reader.Close();
}
return(nodes[0]);
}
/// <summary>
/// Read a RobotSensor from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static RobotSensor ReadRobotSensor_4_2(XmlReader reader)
{
RobotSensor robotSensor = null;
//throw (new Exception("Reading thing"));
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "SensorType":
// Initialize the RobotSensor.
robotSensor = new RobotSensor((RobotSensorType)Enum.Parse(typeof(RobotSensorType), reader.ReadElementContentAsString()));
break;
case "SensorPortNumberA":
// Assign a value to the 1st port.
robotSensor.portA = float.Parse(reader.ReadElementContentAsString());
break;
case "SensorSignalTypeA":
// Assign a value to the 2nd port.
robotSensor.conTypePortA = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());
break;
case "SensorPortNumberB":
// Assign a port type to the 1st port
robotSensor.portB = float.Parse(reader.ReadElementContentAsString());
break;
case "SensorSignalTypeB":
// Assign a port type to the 1st port
robotSensor.conTypePortB = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());
break;
case "SensorConversionFactor":
// assings the generic conversion facter, this is a different type/ unit for every robot (CPR in encoders)
robotSensor.conversionFactor = double.Parse(reader.ReadElementContentAsString());
if (robotSensor.conversionFactor == 0)
{
robotSensor.conversionFactor = 1;
}
break;
}
}
return(robotSensor);
}
/// <summary>
/// Read a RobotSensor from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static RobotSensor ReadRobotSensor_5_0(XmlReader reader)
{
RobotSensor robotSensor = null;
//throw (new Exception("Reading thing"));
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "SensorType":
// Initialize the RobotSensor.
robotSensor = new RobotSensor((RobotSensorType)Enum.Parse(typeof(RobotSensorType), reader.ReadElementContentAsString()));
break;
case "SensorPortNumberA":
// Assign a value to the port.
robotSensor.portA = float.Parse(reader.ReadElementContentAsString());
break;
case "SensorSignalTypeA":
// Assign a value to the port.
robotSensor.conTypePortA = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());
break;
case "SensorPortNumberB":
// Assign a value to the port.
robotSensor.portB = float.Parse(reader.ReadElementContentAsString());
break;
case "SensorSignalTypeB":
// Assign a value to the port.
robotSensor.conTypePortB = (SensorConnectionType)Enum.Parse(typeof(SensorConnectionType), reader.ReadElementContentAsString());
break;
case "SensorConversionFactor":
// Assign a value to useSecondarySource.
robotSensor.conversionFactor = double.Parse(reader.ReadElementContentAsString());
if (robotSensor.conversionFactor == 0)
{
robotSensor.conversionFactor = 1;
}
break;
}
}
return(robotSensor);
}
/// <summary>
/// Reads a LinearJoint_Base from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static LinearJoint_Base ReadLinearJoint_3_0(XmlReader reader)
{
// Create a new LinearJoint_Base.
LinearJoint_Base linearJoint = (LinearJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.LINEAR);
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "BXDVector3":
switch (reader["VectorID"])
{
case "BasePoint":
// Assign the BXDVector3 to the basePoint.
linearJoint.basePoint = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
case "Axis":
// Assign the BXDVector3 to the axis.
linearJoint.axis = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
}
break;
case "LinearLowLimit":
// Assign a value to the linearLimitLow.
linearJoint.hasLowerLimit = true;
linearJoint.linearLimitLow = float.Parse(reader.ReadElementContentAsString());
break;
case "LinearUpperLimit":
// Assign a value to the linearLimitHigh.
linearJoint.hasUpperLimit = true;
linearJoint.linearLimitHigh = float.Parse(reader.ReadElementContentAsString());
break;
case "CurrentLinearPosition":
// Assign a value to the currentLinearPosition.
linearJoint.currentLinearPosition = float.Parse(reader.ReadElementContentAsString());
break;
}
}
return(linearJoint);
}
/// <summary>
/// Reads a BallJoint_Base from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static BallJoint_Base ReadBallJoint_3_0(XmlReader reader)
{
// Create a new BallJoint_Base.
BallJoint_Base ballJoint = (BallJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.BALL);
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "BXDVector3":
// Read the BXDVector3 as the basePoint.
ballJoint.basePoint = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
}
}
return(ballJoint);
}
/// <summary>
/// Reads a BoxCollider with the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static PropertySet.BoxCollider ReadBoxCollider_2_2(XmlReader reader)
{
// Create the BoxCollider.
PropertySet.BoxCollider boxCollider = null;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "BXDVector3":
// Reads the scale properties and initializes the BoxCollider.
boxCollider = new PropertySet.BoxCollider(ReadBXDVector3_2_2(reader.ReadSubtree()));
break;
}
}
return(boxCollider);
}
/// <summary>
/// Reads an ElevatorDriverMeta from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static ElevatorDriverMeta ReadElevatorDriverMeta_3_0(XmlReader reader)
{
// Create a new ElevatorDriveMeta.
ElevatorDriverMeta elevatorDriverMeta = new ElevatorDriverMeta();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "ElevatorType":
// Assign the type to the current element value.
elevatorDriverMeta.type = (ElevatorType)Enum.Parse(typeof(ElevatorType), reader.ReadElementContentAsString());
break;
}
}
return(elevatorDriverMeta);
}
/// <summary>
/// Reads a MeshCollider with the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static PropertySet.MeshCollider ReadMeshCollider_2_2(XmlReader reader)
{
// Create the MeshCollider.
PropertySet.MeshCollider meshCollider = null;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "Convex":
// Reads the convex property and initializes the MeshCollider.
meshCollider = new PropertySet.MeshCollider(reader.ReadElementContentAsBoolean());
break;
}
}
return(meshCollider);
}
/// <summary>
/// Reads a SphereCollider with the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static PropertySet.SphereCollider ReadSphereCollider_2_2(XmlReader reader)
{
// Create the SphereCollider.
PropertySet.SphereCollider sphereCollider = null;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "Scale":
// Reads the scale property and initializes the SphereCollider.
sphereCollider = new PropertySet.SphereCollider(float.Parse(reader.ReadElementContentAsString()));
break;
}
}
return(sphereCollider);
}
/// <summary>
/// Reads a RotationalJoint_Base from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static RotationalJoint_Base ReadRotationalJoint_3_0(XmlReader reader)
{
// Create a new RotationalJoint_Base.
RotationalJoint_Base rotationalJoint = (RotationalJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.ROTATIONAL);
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "BXDVector3":
switch (reader["VectorID"])
{
case "BasePoint":
// Read the BXDVector3 as the basePoint.
rotationalJoint.basePoint = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
case "Axis":
// Read the BXDVector3 as the axis.
rotationalJoint.axis = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
}
break;
case "AngularLowLimit":
// Assign the current element value to angularLimitLow.
rotationalJoint.hasAngularLimit = true;
rotationalJoint.angularLimitLow = float.Parse(reader.ReadElementContentAsString());
break;
case "AngularHighLimit":
// Assign the current element value to angularLimitHigh.
rotationalJoint.angularLimitHigh = float.Parse(reader.ReadElementContentAsString());
break;
case "CurrentAngularPosition":
// Assign the current element value to currentAngularPosition.
rotationalJoint.currentAngularPosition = float.Parse(reader.ReadElementContentAsString());
break;
}
}
return(rotationalJoint);
}
/// <summary>
/// Reads the subtree of a PropertySet element.
/// </summary>
/// <param name="reader"></param>
/// <param name="fieldDefinition"></param>
private static void ReadPropertySet_2_2(XmlReader reader, FieldDefinition fieldDefinition)
{
// Creates a new PropertySet.
PropertySet propertySet = new PropertySet();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "PropertySet":
// Assigns the ID attribute value to the PropertySetID property.
propertySet.PropertySetID = reader["ID"];
break;
case "BoxCollider":
// Assigns the BoxCollider read by the XmlReader to the PropertySet's Collider property.
propertySet.Collider = ReadBoxCollider_2_2(reader.ReadSubtree());
break;
case "SphereCollider":
// Assigns the SphereCollider read by the XmlReader to the PropertySet's Collider property.
propertySet.Collider = ReadSphereCollider_2_2(reader.ReadSubtree());
break;
case "MeshCollider":
// Assigns the MeshCollider read by the XmlReader to the PropertySet's Collider property.
propertySet.Collider = ReadMeshCollider_2_2(reader.ReadSubtree());
break;
case "Friction":
// Assings the Friction attribute value to the Friction property.
propertySet.Friction = reader.ReadElementContentAsInt();
break;
case "Mass":
// Assings the Mass attribute value to the Mass property.
propertySet.Mass = float.Parse(reader.ReadElementContentAsString());
break;
}
}
// Adds the PropertySet to the fieldDefinition.
fieldDefinition.AddPropertySet(propertySet);
}
/// <summary>
/// Reads a Polynomial from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static Polynomial ReadPolynomial_3_0(XmlReader reader)
{
// Initialize a list of floats.
List <float> coeff = new List <float>();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "Coefficient":
// Add a new coefficient to the list of floats.
coeff.Add(float.Parse(reader.ReadElementContentAsString()));
break;
}
}
// Convert the list of floats to a Polynomial.
return(new Polynomial(coeff.ToArray()));
}
/// <summary>
/// Reads the subtree of a FieldNode and returns the result.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static FieldNode ReadFieldNode_2_2(XmlReader reader)
{
FieldNode node = null;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "Node":
node = new FieldNode(reader["ID"]);
break;
case "BXDVector3":
// Read the BXDVector3 as the node's position.
node.Position = ReadBXDVector3_2_2(reader.ReadSubtree());
break;
case "BXDQuaternion":
// Read the BXDVector3 as the node's rotation.
node.Rotation = ReadBXDQuaternion_2_2(reader.ReadSubtree());
break;
case "SubMeshID":
// Assign the MeshID attribute value to the SubMeshID property.
node.SubMeshID = reader.ReadElementContentAsInt();
break;
case "CollisionMeshID":
// Assign the CollisionMeshID attribute value to the CollisionMeshID property.
node.CollisionMeshID = reader.ReadElementContentAsInt();
break;
case "PropertySetID":
// Assign the PropertySetID attribute value to the PropertySetID property.
node.PropertySetID = reader.ReadElementContentAsString();
break;
}
}
return(node);
}
/// <summary>
/// Reads a PneumaticDriverMeta from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static PneumaticDriverMeta ReadPneumaticDriverMeta_3_0(XmlReader reader)
{
// Create a new pneumaticDriverMeta.
PneumaticDriverMeta pneumaticDriverMeta = new PneumaticDriverMeta();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "WidthMM":
// Assign the current element value to widthMM.
pneumaticDriverMeta.widthMM = reader.ReadElementContentAsInt();
break;
case "PressurePSI":
// Assign the current element value to pressurePSI.
pneumaticDriverMeta.pressurePSI = float.Parse(reader.ReadElementContentAsString());
break;
}
}
return(pneumaticDriverMeta);
}
/// <summary>
/// Read a RobotSensor from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static RobotSensor ReadRobotSensor_3_0(XmlReader reader)
{
RobotSensor robotSensor = null;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "SensorType":
// Initialize the RobotSensor.
robotSensor = new RobotSensor((RobotSensorType)Enum.Parse(typeof(RobotSensorType), reader.ReadElementContentAsString()));
break;
case "SensorModule":
// Assign a value to the module.
short m = (short)reader.ReadElementContentAsInt();
break;
case "SensorPort":
// Assign a value to the port.
short s = (short)reader.ReadElementContentAsInt();
break;
case "Polynomial":
// Create a polynomial and assign it to the equation.
Polynomial e = ReadPolynomial_3_0(reader.ReadSubtree());
break;
case "UseSecondarySource":
// Assign a value to useSecondarySource.
reader.ReadElementContentAsBoolean();
break;
}
}
return(robotSensor);
}
/// <summary>
/// Reads a RigidNode_Base with the given reader, list of nodes, and root node reference.
/// </summary>
/// <param name="reader"></param>
/// <param name="nodes"></param>
/// <param name="root"></param>
private static void ReadNode_3_0(XmlReader reader, List <RigidNode_Base> nodes, ref RigidNode_Base root)
{
int parentID = -1;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "Node":
// Adds a new node to the list of RigidNode_Bases.
nodes.Add(RigidNode_Base.NODE_FACTORY(new Guid(reader["GUID"])));
break;
case "ParentID":
// Stores this ID for later use.
parentID = reader.ReadElementContentAsInt();
if (parentID == -1) // If this is the root...
{
root = nodes[nodes.Count - 1];
}
break;
case "ModelFileName":
// Assigns the ModelFileName property to the ModelFileName element value.
nodes[nodes.Count - 1].ModelFileName = reader.ReadElementContentAsString();
break;
case "ModelID":
// Assigns the ModelFullID property to the ModelID element value.
nodes[nodes.Count - 1].ModelFullID = reader.ReadElementContentAsString();
break;
case "BallJoint":
// Reads the current element as a BallJoint.
nodes[parentID].AddChild(ReadBallJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "CylindricalJoint":
// Reads the current element as a CylindricalJoint.
nodes[parentID].AddChild(ReadCylindricalJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "LinearJoint":
// Reads the current element as a LinearJoint.
nodes[parentID].AddChild(ReadLinearJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "PlanarJoint":
// Reads the current element as a PlanarJoint.
nodes[parentID].AddChild(ReadPlanarJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "RotationalJoint":
// Reads the current elemenet as a RotationalJoint.
nodes[parentID].AddChild(ReadRotationalJoint_3_0(reader.ReadSubtree()), nodes[nodes.Count - 1]);
break;
case "JointDriver":
// Add a joint driver to the skeletal joint of the current node.
nodes[nodes.Count - 1].GetSkeletalJoint().cDriver = ReadJointDriver_3_0(reader.ReadSubtree());
break;
case "RobotSensor":
nodes[nodes.Count - 1].GetSkeletalJoint().attachedSensors.Add(ReadRobotSensor_3_0(reader.ReadSubtree()));
break;
}
}
}
/// <summary>
/// Reads a WheelDriverMeta from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static WheelDriverMeta ReadWheelDriverMeta_3_0(XmlReader reader)
{
// Create new WheelDriveMeta.
WheelDriverMeta wheelDriverMeta = new WheelDriverMeta();
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "WheelType":
// Assign a value to the type.
wheelDriverMeta.type = (WheelType)Enum.Parse(typeof(WheelType), reader.ReadElementContentAsString());
break;
case "WheelRadius":
// Assign a value to the radius.
wheelDriverMeta.radius = float.Parse(reader.ReadElementContentAsString());
break;
case "WheelWidth":
// Assign a value to the width.
wheelDriverMeta.width = float.Parse(reader.ReadElementContentAsString());
break;
case "BXDVector3":
// Assign a value to the center.
wheelDriverMeta.center = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
case "ForwardAsympSlip":
// Assign a value to the forwardAsympSlip.
wheelDriverMeta.forwardAsympSlip = float.Parse(reader.ReadElementContentAsString());
break;
case "ForwardAsympValue":
// Assign a value to the forwardAsympValue.
wheelDriverMeta.forwardAsympValue = float.Parse(reader.ReadElementContentAsString());
break;
case "ForwardExtremeSlip":
// Assign a value to the forwardExtremeSlip.
wheelDriverMeta.forwardExtremeSlip = float.Parse(reader.ReadElementContentAsString());
break;
case "ForwardExtremeValue":
// Assign a value to the forwardExtremeValue.
wheelDriverMeta.forwardExtremeValue = float.Parse(reader.ReadElementContentAsString());
break;
case "SideAsympSlip":
// Assign a value to the sideAsympSlip.
wheelDriverMeta.sideAsympSlip = float.Parse(reader.ReadElementContentAsString());
break;
case "SideAsympValue":
// Assign a value to the sideAsympValue.
wheelDriverMeta.sideAsympValue = float.Parse(reader.ReadElementContentAsString());
break;
case "SideExtremeSlip":
// Assign a value to the sideExtremeSlip.
wheelDriverMeta.sideExtremeSlip = float.Parse(reader.ReadElementContentAsString());
break;
case "SideExtremeValue":
// Assign a value to the sideExtremeValue.
wheelDriverMeta.sideExtremeValue = float.Parse(reader.ReadElementContentAsString());
break;
case "IsDriveWheel":
// Assign a value to isDriveWheel.
wheelDriverMeta.isDriveWheel = reader.ReadElementContentAsBoolean();
break;
}
}
return(wheelDriverMeta);
}
/// <summary>
/// Reads a JointDriver from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static JointDriver ReadJointDriver_4_2(XmlReader reader)
{
JointDriver driver = null;
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "DriveType":
// Initialize the driver.
driver = new JointDriver((JointDriverType)Enum.Parse(typeof(JointDriverType), reader.ReadElementContentAsString()));
break;
case "Port1":
// Assign a value to port1.
driver.port1 = reader.ReadElementContentAsInt();
break;
case "Port2":
// Assign a value to port2.
driver.port2 = reader.ReadElementContentAsInt();
break;
case "InputGear":
// Assign a value to InputGear
driver.InputGear = reader.ReadElementContentAsDouble();
break;
case "OutputGear":
// Assign a value to OutputGear
driver.OutputGear = reader.ReadElementContentAsDouble();
break;
case "LowerLimit":
// Assign a value to the lowerLimit.
driver.lowerLimit = float.Parse(reader.ReadElementContentAsString());
break;
case "UpperLimit":
// Assign a value to the upperLimit.
driver.upperLimit = float.Parse(reader.ReadElementContentAsString());
break;
case "HasBrake":
// Assign a value to the upperLimit.
driver.hasBrake = reader.ReadElementContentAsBoolean();
break;
case "SignalType":
// Assign a value to isCan.
driver.isCan = reader.ReadElementContentAsString().Equals("CAN") ? true : false;
break;
case "ElevatorDriverMeta":
// Add an ElevatorDriverMeta.
driver.AddInfo(ReadElevatorDriverMeta_4_2(reader.ReadSubtree()));
break;
case "PneumaticDriverMeta":
// Add a PneumaticsDriverMeta.
driver.AddInfo(ReadPneumaticDriverMeta_4_2(reader.ReadSubtree()));
break;
case "WheelDriverMeta":
// Add a WheelDriverMeta.
driver.AddInfo(ReadWheelDriverMeta_4_2(reader.ReadSubtree()));
break;
}
}
return(driver);
}
/// <summary>
/// Reads a CylindricalJoint_Base from the given XmlReader.
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
private static CylindricalJoint_Base ReadCylindricalJoint_3_0(XmlReader reader)
{
// Create a new CylindricalJoint_Base.
CylindricalJoint_Base cylindricalJoint = (CylindricalJoint_Base)SkeletalJoint_Base.JOINT_FACTORY(SkeletalJointType.CYLINDRICAL);
foreach (string name in IOUtilities.AllElements(reader))
{
switch (name)
{
case "BXDVector3":
switch (reader["VectorID"])
{
case "BasePoint":
// Assign the BXDVector3 to the basePoint.
cylindricalJoint.basePoint = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
case "Axis":
// Assign the BXDVector3 to the axis.
cylindricalJoint.axis = ReadBXDVector3_3_0(reader.ReadSubtree());
break;
}
break;
case "AngularLowLimit":
// Assign a value to the angularLimitLow.
cylindricalJoint.hasAngularLimit = true;
cylindricalJoint.angularLimitLow = float.Parse(reader.ReadElementContentAsString());
break;
case "AngularHighLimit":
// Assign a value to the angularLimitHigh.
cylindricalJoint.angularLimitHigh = float.Parse(reader.ReadElementContentAsString());
break;
case "LinearStartLimit":
// Assign a value to the linearLimitStart.
cylindricalJoint.hasLinearStartLimit = true;
cylindricalJoint.linearLimitStart = float.Parse(reader.ReadElementContentAsString());
break;
case "LinearEndLimit":
// Assign a value to the linearLimitEnd.
cylindricalJoint.hasLinearEndLimit = true;
cylindricalJoint.linearLimitEnd = float.Parse(reader.ReadElementContentAsString());
break;
case "CurrentLinearPosition":
// Assign a value to the currentLinearPosition.
cylindricalJoint.currentLinearPosition = float.Parse(reader.ReadElementContentAsString());
break;
case "CurrentAngularPosition":
// Assign a value to the currentAngularPosition.
cylindricalJoint.currentAngularPosition = float.Parse(reader.ReadElementContentAsString());
break;
}
}
return(cylindricalJoint);
}
