private RobotSpecification BuildRobotSpec()
{
RobotSpecification specRobot = new RobotSpecification();
specRobot.RobotID = "R7";
specRobot.BehaviorsPath = @"C:\Devel\EmergeStudio\BehaviorSet-R7\bin\Debug";
SpecComm cs1 = new SpecComm() { Name = "Drive", CommunicatorType = SpecComm.CommType.Serial, HasTelemetry = true, HasRemoteControl = true };
cs1.Parameters.Add("COMPORT", "COM25");
cs1.Parameters.Add("BAUD", "9600");
specRobot.CommSpecs.Add(cs1);
specRobot.SensorSpecs.Add(new SpecSensor { Name = "DistFwd", Position = 0, RetType = typeof(int), Plot = true });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "DistR30", Position = 1, RetType = typeof(int), Plot = true });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "DistL30", Position = 2, RetType = typeof(int), Plot = true });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "DistL90", Position = 3, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "Heading", Position = 4, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "Encoder1", Position = 5, RetType = typeof(int), Plot = true });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "Encoder2", Position = 6, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "Speed", Position = 7, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "Direction", Position = 8, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "IsPower", Position = 9, RetType = typeof(bool) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "HasArrived", Position = 10, RetType = typeof(bool) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "ArmBase", Position = 11, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "ArmElbow", Position = 12, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "ArmWrist", Position = 13, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "ArmWristRot", Position = 14, RetType = typeof(int) });
specRobot.SensorSpecs.Add(new SpecSensor { Name = "ArmGripper", Position = 15, RetType = typeof(int) });
SpecBehavior bs = new SpecBehavior() { Name = "Blocked", Priority = 1 };
bs.Parameters.Add("Parameter1", "abc");
specRobot.BehaviorSpecs.Add("Blocked", bs);
specRobot.BehaviorSpecs.Add("Avoid", new SpecBehavior() { Name = "Avoid", Priority = 2 });
specRobot.BehaviorSpecs.Add("Cruise", new SpecBehavior() { Name = "Cruise", Priority = 3 });
specRobot.HaltRequests.Add(new Request() { Name = "Halt/Reset", Channel = "Drive", Command = "EH" });
specRobot.HaltRequests.Add(new Request() { Name = "Power Off", Channel = "Drive", Command = "p1" });
specRobot.GeneralSpecs.Add("CruiseDistance", "40");
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnPower2", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnPower3", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnFunc1", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnFunc2", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnFunc3", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnVidUp", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnVidDown", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnVidLeft", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnVidRight", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnVidCenter", IsEnabled = false });
specRobot.ControlSpecs.Add(new SpecControl() { ControlName = "btnVidScan", IsEnabled = false });
// Save it
// specRobot.Save("Test.xml");
return specRobot;
}
public RobotSpecification(string filename)
{
BehaviorsPath = Path.GetDirectoryName(filename);
XDocument doc = XDocument.Load(filename);
// Robot ID
RobotID = doc.Descendants("RobotID").First().Value;
// Comm Specs
var x = doc.Descendants("CommSpecs");
var specComms = from cs in doc.Descendants("CommSpecs").Descendants("CommSpec") select cs;
foreach (XElement elSpecComm in specComms)
{
SpecComm sc = new SpecComm();
sc.Name = elSpecComm.Element("Name").Value;
sc.CommunicatorType = (SpecComm.CommType)Enum.Parse(typeof(SpecComm.CommType), elSpecComm.Element("CommunicatorType").Value, true);
sc.HasTelemetry = (bool)bool.Parse(elSpecComm.Element("HasTelemetry").Value);
sc.HasRemoteControl = (bool)bool.Parse(elSpecComm.Element("HasRemoteControl").Value);
var parameters = from parm in elSpecComm.Descendants("Parameters").Descendants("Parameter") select parm;
foreach (XElement elParm in parameters)
sc.Parameters.Add(elParm.Attribute("Name").Value, elParm.Attribute("Value").Value);
m_CommSpec.Add(sc);
}
// Sensor Specs
var specSensors = from ss in doc.Descendants("SensorSpecs").Descendants("SensorSpec") select ss;
foreach (XElement elSpecSensor in specSensors)
{
SpecSensor ss = new SpecSensor();
ss.Name = elSpecSensor.Element("Name").Value;
ss.Position = (int)int.Parse(elSpecSensor.Element("Position").Value);
ss.RetType = Type.GetType(elSpecSensor.Element("RetType").Value);
ss.Plot = (bool)bool.Parse(elSpecSensor.Element("Plot").Value);
m_SensorSpecs.Add(ss);
}
// Behavior Specs
var specBehaviors = from bs in doc.Descendants("BehaviorSpecs").Descendants("BehaviorSpec") select bs;
foreach (XElement elSpecBehavior in specBehaviors)
{
SpecBehavior bs = new SpecBehavior();
bs.Name = elSpecBehavior.Element("Name").Value;
bs.Priority = (int)int.Parse(elSpecBehavior.Element("Priority").Value);
var parameters = from parm in elSpecBehavior.Descendants("Parameters").Descendants("Parameter") select parm;
foreach (XElement elParm in parameters)
bs.Parameters.Add(elParm.Attribute("Name").Value, elParm.Attribute("Value").Value);
m_BehaviorSpecs.Add(bs.Name, bs);
}
// General Specs
var specGeneral = from gs in doc.Descendants("GeneralSpecs").Descendants("GeneralSpec") select gs;
foreach (XElement elGeneral in specGeneral)
m_GeneralSpecs.Add(elGeneral.Attribute("Name").Value, elGeneral.Attribute("Value").Value);
// Halt Requests
var requestsHalt = from hr in doc.Descendants("HaltRequests").Descendants("HaltRequest") select hr;
foreach (XElement elHaltRequest in requestsHalt)
{
Request req = new Request();
req.Name = elHaltRequest.Element("Name").Value;
req.Channel = elHaltRequest.Element("Channel").Value;
req.Command = elHaltRequest.Element("Command").Value;
m_HaltRequests.Add(req);
}
// Control Specs
var specControls = from hr in doc.Descendants("ControlSpecs").Descendants("ControlSpec") select hr;
foreach (XElement elSpecControl in specControls)
{
SpecControl cs = new SpecControl();
cs.ControlName = elSpecControl.Element("ControlName").Value;
cs.Text = elSpecControl.Element("Text").Value;
cs.IsEnabled = (bool)bool.Parse(elSpecControl.Element("IsEnabled").Value);
m_ControlSpecs.Add(cs);
}
// Route Specs
var specRoute = from rs in doc.Descendants("RouteSpecs").Descendants("RouteSpec") select rs;
foreach (XElement elSpecRoute in specRoute)
{
SpecRoute rs = new SpecRoute();
rs.OperatorName = elSpecRoute.Element("OperatorName").Value;
rs.Parameters = elSpecRoute.Element("Parameters").Value;
m_RouteSpecs.Add(rs);
}
}
