public void writePersistence() {
StringBuffer sb = new StringBuffer();
if (!m_minSWVersion.equalsIgnoreCase("0.0")) {
sb.append("ReqSWVersion " + m_minSWVersion + NL);
}
sb.append("Steps/rev " + m_stepsPerRev + NL);
if (m_indexDirection != 0) {
sb.append("IndexDirection " + m_indexDirection + NL);
}
if (m_indexDistance != 0) {
sb.append("IndexDistance " + m_indexDistance + NL);
}
sb.append("Limit " + m_minLimit + " " + m_maxLimit + NL);
sb.append("Backlash " + getBacklash() + NL);
if (!Double.isNaN(m_minBacklash)) {
sb.append("BacklashLimits " + (int) m_minBacklash);
if (!Double.isNaN(m_maxBacklash)) {
sb.append(" " + (int) m_maxBacklash);
}
sb.append(NL);
}
sb.append("Odom " + m_odometerCW + " " + m_odometerCCW + NL);
if (m_minCalStep != 0) {
sb.append("MinCalStep " + m_minCalStep + NL);
}
String path = getPersistenceFilePath(false);
TuneUtilities.writeFile(path, sb.toString());
}
public boolean readPersistence(String path) {
BufferedReader input = TuneUtilities.getReader(path);
String line = null;
boolean rtn = true;
try {
while ((line = input.readLine()) != null) {
StringTokenizer toker = new StringTokenizer(line);
if (toker.hasMoreTokens()) {
String key = toker.nextToken().toLowerCase();
if (key.equals("backlash")) {
double backlash = Double.parseDouble(toker.nextToken());
// backlash = Math.max(MIN_BACKLASH, backlash);/*CMP*/
// backlash = Math.min(MAX_BACKLASH, backlash);/*CMP*/
setBacklash(backlash);
m_backlashGroup.clear();
while (toker.hasMoreTokens()) {
m_backlashGroup.add(new Integer(toker.nextToken()));
}
} else if (key.equals("backlashlimits")) {
m_maxBacklash = Double.parseDouble(toker.nextToken());
if (toker.hasMoreTokens()) {
m_minBacklash = Double.parseDouble(toker.nextToken());
}
} else if (key.equals("steps/rev")) {
m_stepsPerRev = Integer.parseInt(toker.nextToken());
} else if (key.equals("limit")) {
m_minLimit = Integer.parseInt(toker.nextToken());
if (toker.hasMoreTokens()) {
m_maxLimit = Integer.parseInt(toker.nextToken());
}
} else if (key.equals("odom")) {
m_odometerCW = Long.parseLong(toker.nextToken());
m_odometerCCW = Long.parseLong(toker.nextToken());
} else if (key.equals("mincalstep")) {
m_minCalStep = Integer.valueOf(toker.nextToken());
} else if (key.equals("indexdirection")) {
int dir = Integer.parseInt(toker.nextToken());
m_indexDirection = dir > 0 ? 1 : -1;
} else if (key.equals("indexdistance")) {
m_indexDistance = Integer.parseInt(toker.nextToken());
} else if (key.equals("reqswversion")) {
// Verify version of software and persistence file
m_minSWVersion = toker.nextToken();
if (!ProbeTune.isSwVersionAtLeast(m_minSWVersion)) {
String msg =
"Require software version "
+ m_minSWVersion
+ "<br>"
+ " to operate on the file "
+ path;
Messages.postError(msg);
String title = "Incompatible_Motor_File";
m_master.sendToGui("popup error title " + title + " msg " + msg);
}
}
}
}
} catch (NumberFormatException nfe) {
Messages.postError("Bad number in persistence file: " + path + ", line: \"" + line + "\"");
rtn = false;
} catch (NoSuchElementException nsee) {
Messages.postError("Bad line in persistence file: " + path + ", line: \"" + line + "\"");
rtn = false;
} catch (Exception e) {
rtn = false;
} finally {
try {
input.close();
} catch (Exception e) {
}
}
return rtn;
}