/*
* Add a node to the tree as a child of the given node.
*/
public TreeNode<StateConfig> addNode(StateConfig state, TreeNode<StateConfig> parent)
{
TreeNode<StateConfig> newNode = new TreeNode<StateConfig>(parent, state);
// Add the new configuration as a child of the closest node.
parent.addChild(newNode);
nodeList.Add(newNode);
return newNode;
}
public RRT(StateConfig initialConfiguration, Tuple<float,float>[] limits, float increment, float goalBias, float goalDistanceThreshold)
{
this.initialConfiguration = initialConfiguration;
this.increment = increment;
this.goalSet = false;
this.goalBias = goalBias;
this.goalDistanceThreshold = goalDistanceThreshold;
this.limits = limits;
}
/// <summary>
/// StateConfig新增
/// </summary>
/// <param name="setting"></param>
public void Insert_StateConfig(StateConfig setting)
{
try
{
using (var Conn = new MySqlConnection(scsb.ConnectionString))
{
string sql = "INSERT IGNORE INTO StateConfig (DeviceTypeEnum,StateNo,CharAddress,StateName,StateBitAddress,StateFalg,StateHigh,StateLow)" +
" VALUES(@DeviceTypeEnum,@StateNo,@CharAddress,@StateName,@StateBitAddress,@StateFalg,@StateHigh,@StateLow) ";
Conn.Execute(sql, setting);
}
}
catch (Exception ex)
{
Log.Error(ex, "StateConfig新增" + "錯誤(ChungHsin)");
}
}
public void Test_MemZ3_Forward_Eq3()
{
StateConfig stateConfig = new StateConfig();
stateConfig.Set_All_Off();
stateConfig.RAX = true;
stateConfig.RBX = true;
stateConfig.RCX = true;
stateConfig.R8 = true;
stateConfig.Mem = true;
State state = this.CreateState(stateConfig);
Context ctx = state.Ctx;
Tools tools = state.Tools;
using (StateUpdate updateState = new StateUpdate(state.HeadKey, Tools.CreateKey(tools.Rand), tools))
{
updateState.Set(Rn.RBX, 10);
updateState.Set(Rn.RCX, 5);
state.Update_Forward(updateState);
}
BitVecExpr address1 = Tools.Calc_Effective_Address("qword ptr[rax + 2 * rbx + 10]", state.HeadKey, tools, ctx);
{
StateUpdate updateState = new StateUpdate(state.HeadKey, Tools.CreateKey(tools.Rand), tools);
updateState.Set(Rn.RAX, state.Ctx.MkBVAdd(state.Create(Rn.RAX), state.Ctx.MkBV(0, 64)));
state.Update_Forward(updateState);
}
BitVecExpr address2 = Tools.Calc_Effective_Address("qword ptr[rax + 4 * rcx + 10]", state.HeadKey, tools, ctx);
BitVecExpr value1 = state.Create(Rn.R8B);
int nBytes = (int)value1.SortSize >> 3;
using (StateUpdate updateState = new StateUpdate(state.HeadKey, Tools.CreateKey(tools.Rand), tools))
{
updateState.Set_Mem(address1, value1);
state.Update_Forward(updateState);
}
BitVecExpr value2 = state.Create_Mem(address2, nBytes);
if (LogToDisplay)
{
Console.WriteLine("value1 = " + value1);
Console.WriteLine("value2 = " + value2);
Console.WriteLine(state);
}
AsmTestTools.AreEqual(Tv.ONE, state.EqualValues(value1, value2));
}
/// <summary>
/// ConfigurationWatcher Test
/// </summary>
[Test] public void ConfigurationWatcherTest()
{
//Assembly a = Assembly.GetExecutingAssembly();
//Uri uri = new System.Uri(a.CodeBase);
//string binDirectory = Path.GetDirectoryName(uri.LocalPath);
string fileName = "test.config";
FileInfo fi = new FileInfo(fileName);
if (!fi.Exists)
{
using (FileStream fs = fi.Create());
}
// Configure a watcher
ConfigureHandler configureDelegate = new ConfigureHandler(Configure);
ConfigWatcherHandler.ClearFilesMonitored();
CustomUriBuilder builder = new CustomUriBuilder(fileName, AppDomain.CurrentDomain.BaseDirectory);
IResource resource = new FileResource(builder.Uri);
ConfigWatcherHandler.AddFileToWatch(resource.FileInfo);
TimerCallback callBakDelegate = new TimerCallback(ConfigWatcherTest.OnConfigFileChange);
StateConfig state = new StateConfig();
state.FileName = fileName;
state.ConfigureHandler = configureDelegate;
new ConfigWatcherHandler(callBakDelegate, state);
resource.FileInfo.LastWriteTime = DateTime.Now;
resource.FileInfo.Refresh();
// Let's give a small bit of time for the change to propagate.
// The ConfigWatcherHandler class has a timer which
// waits for 500 Millis before delivering
// the event notification.
System.Threading.Thread.Sleep(600);
Assert.IsTrue(_hasChanged);
}
/// <summary>
/// Configure and monitor the configuration file for modifications
/// and automatically reconfigure SqlMap.
/// </summary>
/// <param name="resource">
/// A FileInfo to your config file.
/// </param>
///<param name="configureDelegate">
/// Delegate called when the file has changed, to rebuild the dal.
/// </param>
/// <returns>An SqlMap</returns>
public void ConfigureAndWatch(FileInfo resource, ConfigureHandler configureDelegate)
{
XmlDocument document = Resources.GetFileInfoAsXmlDocument(resource);
ConfigWatcherHandler.ClearFilesMonitored();
ConfigWatcherHandler.AddFileToWatch(resource);
BuildDaoManagers(document, true);
TimerCallback callBakDelegate = new TimerCallback(DomDaoManagerBuilder.OnConfigFileChange);
StateConfig state = new StateConfig();
state.FileName = resource.FullName;
state.ConfigureHandler = configureDelegate;
new ConfigWatcherHandler(callBakDelegate, state);
}
public void Test_MemZ3_Forward_Eq4()
{
StateConfig stateConfig = new StateConfig();
stateConfig.Set_All_Off();
stateConfig.RAX = true;
stateConfig.RBX = true;
stateConfig.RCX = true;
stateConfig.RDX = true;
stateConfig.Mem = true;
State state = this.CreateState(stateConfig);
Context ctx = state.Ctx;
Tools tools = state.Tools;
using (StateUpdate updateState = new StateUpdate(state.HeadKey, Tools.CreateKey(tools.Rand), tools))
{
updateState.Set(Rn.RAX, state.Create(Rn.RBX));
state.Update_Forward(updateState);
}
BitVecExpr address1 = Tools.Calc_Effective_Address("qword ptr[rax]", state.HeadKey, tools, ctx);
BitVecExpr address2 = Tools.Calc_Effective_Address("qword ptr[rbx]", state.HeadKey, tools, ctx);
using (StateUpdate updateState = new StateUpdate(state.HeadKey, Tools.CreateKey(tools.Rand), tools))
{
updateState.Set_Mem(address1, state.Create(Rn.RCX));
state.Update_Forward(updateState);
}
using (StateUpdate updateState = new StateUpdate(state.HeadKey, Tools.CreateKey(tools.Rand), tools))
{
updateState.Set_Mem(address2, state.Create(Rn.RDX));
state.Update_Forward(updateState);
}
BitVecExpr value1 = state.Create_Mem(address1, 1);
BitVecExpr value2 = state.Create_Mem(address2, 1);
if (LogToDisplay)
{
Console.WriteLine("value1 = " + value1);
Console.WriteLine("value2 = " + value2);
Console.WriteLine(state);
}
AsmTestTools.AreEqual(Tv.ONE, state.EqualValues(value1, value2));
}
public void Test_MemZ3_Forward_SetGet1()
{
StateConfig stateConfig = new StateConfig();
stateConfig.Set_All_Off();
stateConfig.RAX = true;
stateConfig.R8 = true;
stateConfig.R9 = true;
stateConfig.Mem = true;
State state = this.CreateState(stateConfig);
Context ctx = state.Ctx;
Tools tools = state.Tools;
BitVecExpr address1 = Tools.Calc_Effective_Address("qword ptr[rax]", state.HeadKey, tools, ctx);
BitVecExpr value1a = state.Create(Rn.R8);
BitVecExpr value2a = state.Create(Rn.R9);
using (StateUpdate updateState = new StateUpdate(state.HeadKey, Tools.CreateKey(tools.Rand), tools))
{
updateState.Set_Mem(address1, value1a);
state.Update_Forward(updateState);
}
BitVecExpr value1b = state.Create_Mem(address1, 8);
using (StateUpdate updateState = new StateUpdate(state.HeadKey, Tools.CreateKey(tools.Rand), tools))
{
updateState.Set_Mem(address1, value2a);
state.Update_Forward(updateState);
}
BitVecExpr value2b = state.Create_Mem(address1, 8);
if (LogToDisplay)
{
Console.WriteLine("value1a = " + value1a);
Console.WriteLine("value1b = " + value1b);
Console.WriteLine("value2a = " + value2a);
Console.WriteLine("value2b = " + value2b);
Console.WriteLine(state);
}
Assert.AreEqual(Tv.ONE, state.EqualValues(value1a, value1b));
Assert.AreEqual(Tv.ONE, state.EqualValues(value2a, value2b));
}
public TreeNode<StateConfig> findClosest(StateConfig config, SearchMethod search)
{
TreeNode<StateConfig> closestNode = nodeList[0];
float closestDistance = closestNode.content.computeDistanceEuclidean(config);
float thisDistance = -1;
TreeNode<StateConfig> currentNode = null;
for (int i = 0; i < nodeList.Count; i++) {
currentNode = nodeList[i];
if ((thisDistance = currentNode.content.computeDistanceEuclidean(config)) < closestDistance){
closestNode = currentNode;
closestDistance = thisDistance;
}
}
// if (search == SearchMethod.BFS){
// closestNode = findClosestBFS(config);
// } else {
// closestNode = findClosestDFS(config);
// }
return closestNode;
}
public async Task <StateConfig> SaveStateAsync(StateConfig model)
{
State dbState = null;
if (!model.StateId.HasValue)
{
dbState = new State
{
Name = model.Name
};
await context.State.AddAsync(dbState);
}
else
{
dbState = await context.State.FirstOrDefaultAsync(s => s.StateId == model.StateId.Value);
if (dbState == null)
{
throw new ApplicationException($"State with id {model.StateId.ToString()} was not found.");
}
dbState.Name = model.Name;
context.State.Update(dbState);
}
try
{
await context.SaveChangesAsync();
}
catch (Exception)
{
//logger.LogError(new EventId(5001), ex, string.Empty);
throw;
}
return(await GetStateAsync(dbState.StateId));
}
/// <summary>
/// StateConfig更新
/// </summary>
/// <param name="setting"></param>
public void Update_StateConfig(StateConfig setting)
{
try
{
using (var Conn = new MySqlConnection(scsb.ConnectionString))
{
string sql = "UPDATE StateConfig SET " +
"StateName = @StateName," +
"CharAddress = @CharAddress," +
"StateBitAddress = @StateBitAddress," +
"StateFlag = @StateFlag," +
"StateHigh = @StateHigh," +
"StateLow = @StateLow" +
" WHERE StateNo = @StateNo AND DeviceTypeEnum = @DeviceTypeEnum";
Conn.Execute(sql, setting);
}
}
catch (Exception ex)
{
Log.Error(ex, "StateConfig更新" + "錯誤(ChungHsin)");
}
}
public new ISqlMapper ConfigureAndWatch(string resource, ConfigureHandler configureDelegate)
{
XmlDocument document;
if (resource.StartsWith("file://"))
{
document = Resources.GetUrlAsXmlDocument(resource.Remove(0, 7));
}
else
{
document = Resources.GetResourceAsXmlDocument(resource);
}
ConfigWatcherHandler.ClearFilesMonitored();
ConfigWatcherHandler.AddFileToWatch(Resources.GetFileInfo(resource));
TimerCallback onWhatchedFileChange = new TimerCallback(DomSqlMapBuilder.OnConfigFileChange);
StateConfig state = default(StateConfig);
state.FileName = resource;
state.ConfigureHandler = configureDelegate;
ISqlMapper result = this.Build(document, true);
new ConfigWatcherHandler(onWhatchedFileChange, state);
return(result);
}
public void ConfigurationWatcherTest()
{
Assembly a = Assembly.GetExecutingAssembly();
Uri uri = new System.Uri(a.Location);
string binDirectory = Path.GetDirectoryName(uri.LocalPath);
string fileName = "test.config";
// Configure a watcher
ConfigureHandler configureDelegate = new ConfigureHandler(Configure);
ConfigWatcherHandler.ClearFilesMonitored();
ConfigWatcherHandler.AddFileToWatch(Resources.GetFileInfo(fileName));
TimerCallback callBakDelegate = new TimerCallback(ConfigWatcherTest.OnConfigFileChange);
StateConfig state = new StateConfig();
state.FileName = fileName;
state.ConfigureHandler = configureDelegate;
new ConfigWatcherHandler(callBakDelegate, state);
FileInfo fi = Resources.GetFileInfo(fileName);
fi.LastWriteTime = DateTime.Now;
fi.Refresh();
// Let's give a small bit of time for the change to propagate.
// The ConfigWatcherHandler class has a timer which
// waits for 500 Millis before delivering
// the event notification.
System.Threading.Thread.Sleep(600);
Assert.IsTrue(_hasChanged);
}
public static StateConfig AddEvent(this StateConfig self, IncomingEventConfig e)
{
self.Events.Add(e.Name, e);
return(self);
}
public AssetsTreeView(TreeViewState treeViewState, MultiColumnHeader multiColumnHeader, ModuleConfig moduleConfig, StateConfig stateConfig) : base(treeViewState, multiColumnHeader)
{
this.moduleConfig = moduleConfig;
this.stateConfig = stateConfig;
#region TreeView设置
baseIndent = 0;
cellMargin = 2;
columnIndexForTreeFoldouts = 1;
//depthIndentWidth (get only)
extraSpaceBeforeIconAndLabel = 0;
//foldoutWidth (get only)
//hasSearch (get only)
//isDragging (get only)
//isInitialized (get only)
//base.multiColumnHeader
//rootItem (get only)
rowHeight = 20;
customFoldoutYOffset = (rowHeight - EditorGUIUtility.singleLineHeight) * 0.5f;
//searchString
showAlternatingRowBackgrounds = true;
showBorder = true;
//showingHorizontalScrollBar (get only)
//showingVerticalScrollBar (get only)
//state (get only)
//totalHeight (get only)
//treeViewControlID
//treeViewRect
#endregion
#region MultiColumnHeader设置
base.multiColumnHeader.canSort = false;
//base.multiColumnHeader.height = 25;
base.multiColumnHeader.sortedColumnIndex = -1;
//base.multiColumnHeader.sortingChanged += OnSortingChanged;
#endregion
emptyTexture = new Texture2D(1, 1, TextureFormat.RGBA32, false)
{
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Point,
anisoLevel = 1,
mipMapBias = 0,
};
emptyTexture.SetPixel(0, 0, new Color(0, 0, 0, 0));
emptyTexture.Apply();
multiColumnHeader.ResizeToFit();
Reload();
}
private void findPathToGoal()
{
// Debug.Log("---------------- generating random path -----------------");
StateConfig start = new StateConfig(new float[]{robot.transform.position.x, robot.transform.position.z});
StateConfig end = new StateConfig(new float[]{goal.first, goal.second});
NavigationPath path = null;
path = prm.findShortestPath(start,end);
if (path == null) {
//GUI TEXT
Debug.Log("Path not found!");
return;
}
// Debug.Log("Free path between start and goal? " + grid.obstacleFreeStraightPath(st.getPosition(), en.getPosition()));
path.drawPath(0,"RobotCamera");
//Debug.Log("---------------- trimming path -----------------");
pathToGoal = path.trimPath(grid);
pathToGoal.drawPath(1,"RobotCamera");
}
public void generatePRMGraph(int numNodes)
{
float x = 0;
float y = 0;
int placed = 0;
while (placed < numNodes){
x = UnityEngine.Random.Range(-bounds.x, bounds.x);
y = UnityEngine.Random.Range(-bounds.z, bounds.z);
if (occupancy.isOccupied(x,y))
continue;
float[] arr = {x,y};
StateConfig nw = new StateConfig(arr);
graph.addNode(new GraphNode<StateConfig>(nw,5));
placed++;
}
if (method == ConnectionMethod.KNEAREST)
connectNodesKNN(neighbours);
if (method == ConnectionMethod.RADIUS)
connectNodesRadius(radius);
if (method == ConnectionMethod.NEIGHBOURHOOD)
connectNodesNeighbourhood(neighbours, radius);
search.graph = graph;
}
public NavigationPath findShortestPath(StateConfig start, StateConfig goal)
{
GraphNode<StateConfig> startNode = new GraphNode<StateConfig>(start,5);
GraphNode<StateConfig> goalNode = new GraphNode<StateConfig>(goal,5);
connectNode(startNode);
connectNode(goalNode);
return search.findShortestPath(startNode, goalNode);
}
public abstract bool ShouldRunState(AgentController owner, out StateConfig config);
/// <summary>
/// state :
/// STATE key comment?
/// (ON (ENTER STATE | EXIT STATE | ENTER AND EXIT STATE) execute)*
/// on_event_statement*
/// ;
/// </summary>
/// <param name="context"></param>
/// <returns></returns>
public override object VisitState([NotNull] WorkflowParser.StateContext context)
{
string comment = string.Empty;
var c = context.comment();
if (c != null)
{
comment = (string)Visit(c);
}
StateConfig state = new StateConfig()
{
Name = (string)VisitKey(context.key()),
Label = comment,
};
var executes = context.execute();
if (executes != null)
{
foreach (var execute in executes)
{
var e = ((bool, bool, ResultRuleConfig))VisitExecute(execute);
if (e.Item1)
{
state.IncomingRules.Add(e.Item3);
}
if (e.Item2)
{
state.OutcomingRules.Add(e.Item3);
}
}
}
var on_event_statements = context.on_event_statement();
if (on_event_statements != null)
{
foreach (var on_event_statement in on_event_statements)
{
var e = ((IncomingEventConfig, List <(string, ResultRuleConfig)>))VisitOn_event_statement(on_event_statement);
if (state.Events.TryGetValue(e.Item1.Name, out IncomingEventConfig ic))
{
throw new Exceptions.DuplicatedArgumentNameMethodReferenceException($"event name {e.Item1.Name} in {state.Name}");
}
state.Events.Add(e.Item1.Name, e.Item1);
foreach (var item in e.Item2)
{
switch (item.Item1)
{
case "in":
state.IncomingRules.Add(item.Item2);
break;
case "out":
state.OutcomingRules.Add(item.Item2);
break;
default:
break;
}
}
}
}
return(state);
}
public DefendState(StateConfig config) : base(config)
{
}
public override bool ShouldRunState(AgentController owner, out StateConfig config)
{
config = null;
return(false);
}
public SpecialistState(StateConfig config) : base(config)
{
}
/*
* Finds the node in the graph which has contents closest to
* the data item provided.
*/
public GraphNode<StateConfig> findClosest(StateConfig data)
{
GraphNode<StateConfig> closestNode = nodes[0];
float closestDistance = closestNode.content.computeDistanceEuclidean(data);
float thisDistance = -1;
GraphNode<StateConfig> currentNode = null;
for (int i = 0; i < nodes.Count; i++) {
currentNode = nodes[i];
if ((thisDistance = currentNode.content.computeDistanceEuclidean(data)) < closestDistance){
closestNode = currentNode;
closestDistance = thisDistance;
}
}
return closestNode;
}
private TreeNode<StateConfig> findClosestBFS(StateConfig start)
{
TreeNode<StateConfig> closestNode = null;
float closestDistance = float.MaxValue;
Queue q = new Queue();
q.Enqueue(root);
while(q.Count != 0){
Debug.Log("expanded front");
Debug.Log("Queue size: " + q.Count);
TreeNode<StateConfig> front = (TreeNode<StateConfig>)q.Dequeue();
float thisDistance = front.content.computeDistanceEuclidean(start);
if (thisDistance < closestDistance){
closestDistance = thisDistance;
closestNode = front;
}
foreach (var child in front.children) {
q.Enqueue(child);
}
}
return closestNode;
}
public static WorkflowConfig AddState(this WorkflowConfig self, StateConfig state)
{
self.States.Add(state.Name, state);
return(self);
}
/// <summary>
/// Called when the configuration has been updated.
/// </summary>
/// <param name="obj">The state config.</param>
public static void OnConfigFileChange(object obj)
{
StateConfig state = (StateConfig)obj;
state.ConfigureHandler(null);
}
public Tree(StateConfig root)
{
this.root = new TreeNode<StateConfig>(null, root);
nodeList = new List<TreeNode<StateConfig>>();
nodeList.Add(this.root);
}
private TreeNode<StateConfig> findClosestDFS(StateConfig start)
{
TreeNode<StateConfig> closestNode = null;
float closestDistance = float.MaxValue;
Stack s = new Stack();
s.Push(root);
while(s.Count != 0){
TreeNode<StateConfig> front = (TreeNode<StateConfig>)s.Pop();
float thisDistance = front.content.computeDistanceEuclidean(start);
if (thisDistance < closestDistance){
closestDistance = thisDistance;
closestNode = front;
}
foreach (var child in front.children) {
s.Push(child);
}
}
return closestNode;
}
