public WaypointEventArgs(ReasonType t, PathGroup g, RobotPath s, WayPoint pt)
{
Reason = t;
Group = g;
Path = s;
Point = pt;
}
public WaypointEventArgs(ReasonType t)
{
Reason = t;
Group = null;
Path = null;
Point = null;
}
public MapForm(RobotPath robotPath)
{
InitializeComponent();
m_OriginX = m_PictureBox.Width / 2.0f;
m_OriginY = -m_PictureBox.Height / 2.0f;
m_RobotPath = robotPath;
InitializeMapImage();
}
public override void GenerateSplines(RobotPath path, List <Spline> xsplines, List <Spline> ysplines)
{
for (int i = 0; i < path.Points.Length - 1; i++)
{
Spline x, y;
GenerateSpline(path.Points[i], path.Points[i + 1], out x, out y);
xsplines.Add(x);
ysplines.Add(y);
}
}
private static void LaunchRobot(string robotsDirectoryName, Process processInfo)
{
var latestVersion =
RobotDirectory
.GetVersions(RobotPath.Combine(robotsDirectoryName, processInfo.FileName))
.GetLatestVersion();
var robotFileName =
new RobotFileNameBuilder()
.RobotDirectoryName(robotsDirectoryName)
.Version(latestVersion)
.FileName(processInfo.FileName)
.Build();
if (string.IsNullOrEmpty(robotFileName))
{
throw new FileNotFoundException($"Robot not found '{robotFileName}'.");
}
if (IsRunning(processInfo.FileName, processInfo.Arguments))
{
throw new InvalidOperationException($"Robot already running '{robotFileName}'.");
}
using (var process = System.Diagnostics.Process.Start(new ProcessStartInfo
{
FileName = robotFileName,
Arguments = processInfo.Arguments,
WindowStyle = processInfo.WindowStyle,
//UseShellExecute = false,
}))
{
if (process == null)
{
throw new ProcessNotStartedException(robotFileName);
}
LogEntry.New().Info().Message($"Started '{robotFileName}'").Log(Logger);
using (var logEntry = LogEntry.New().Info().Stopwatch(sw => sw.Start()).AsAutoLog(Logger))
{
process.WaitForExit();
if (process.ExitCode != 0)
{
logEntry.Error().Message($"'{robotFileName}' exited with error code {process.ExitCode}.");
throw new ProcessTerminatedException($"'{robotFileName}' exited with error code {process.ExitCode}.");
}
logEntry.Info().Message($"'{robotFileName}' exited with error code {process.ExitCode}.");
}
}
}
void Start()
{
// Copies paths from GameManager
paths = GameManager.paths;
foreach (string path in paths)
{
StreamReader reader = new StreamReader(path);
string input = reader.ReadToEnd();
string[] values = input.Split(new char[] { }, StringSplitOptions.RemoveEmptyEntries);
RobotPath robotPath = new RobotPath();
robotPath.PathType = values[0];
List <float[]> coordinates = new List <float[]>();
int i = 1;
int row = 0;
int col = 0;
for (; i < values.Length; i++, col++)
{
col %= RobotPath.itemsPerEntry;
if (col == 0)
{
coordinates.Add(new float[RobotPath.itemsPerEntry]);
}
coordinates[row][col] = float.Parse(values[i]);
if (col >= RobotPath.itemsPerEntry - 1)
{
row++;
}
}
robotPath.Coordinates = coordinates;
// Debugging
//foreach(float[] entry in robotPath.Coordinates)
//{
// foreach(float item in entry)
// {
// Debug.Log(item);
// }
// Debug.Log("-");
//}
GameObject newRobot = Instantiate(robot);
newRobot.GetComponent <RobotMovement>().Path = robotPath;
}
}
public void CreateMainDirectoryName_DirectoryAndFileName_Name()
{
Assert.AreEqual(
@"c:\foo\bar\baz",
RobotPath.Combine(@"c:\foo\bar", @"baz.exe"));
}
public override PathSegment[] GenerateDetailedPath(RobotParams robot, RobotPath path)
{
StringBuilder stdout;
StringBuilder stderr;
string outfile = Path.GetTempFileName();
string pathfile = Path.GetTempFileName();
stdout = new StringBuilder();
stderr = new StringBuilder();
string dir = AppDomain.CurrentDomain.BaseDirectory;
string execpath = Path.Combine(dir, "PathFinderV1Gen.exe");
GeneratePathFile(robot, path, pathfile);
string args = string.Empty;
if (pathfile == string.Empty)
{
return(null);
}
args += "--outfile " + outfile;
args += " --pathfile " + pathfile;
args += " --timestep " + robot.TimeStep.ToString();
ProcessStartInfo info = new ProcessStartInfo();
info.CreateNoWindow = true;
info.RedirectStandardError = true;
info.RedirectStandardOutput = true;
info.UseShellExecute = false;
info.Arguments = args;
info.FileName = execpath;
Process proc = new Process();
proc.StartInfo = info;
proc.EnableRaisingEvents = true;
proc.OutputDataReceived += new DataReceivedEventHandler(delegate(object sender, DataReceivedEventArgs e)
{
stdout.Append(e.Data);
}
);
proc.ErrorDataReceived += new DataReceivedEventHandler(delegate(object sender, DataReceivedEventArgs e)
{
stderr.Append(e.Data);
}
);
proc.Start();
proc.BeginErrorReadLine();
proc.BeginOutputReadLine();
proc.WaitForExit();
proc.CancelErrorRead();
proc.CancelOutputRead();
string[] headers = { "time", "x", "y", "position", "velocity", "acceleration", "jerk", "heading" };
PathSegment[] seg = ParseOutputFile(outfile, headers);
File.Delete(outfile);
File.Delete(pathfile);
return(seg);
}
