1. 修改机器人通信协议及相关流程触发和操作

patrick

2019-10-18 4e8bf084f8a04617a9f542099183b8d829fa7c4b

 src/Bro.Device.SeerAGV/SeerAGVDriver.cs

@@ -96,7 +96,7 @@
        byte[] buffer = new byte[1024];

        string currentPosition = "";
        string CurrentPosition
        public string CurrentPosition
        {
            get => currentPosition;
            set
@@ -105,13 +105,16 @@
                {
                    currentPosition = value;

                    OnAGVPositoinChanged?.Invoke(this, currentPosition);
                    if (!string.IsNullOrWhiteSpace(currentPosition))
                    {
                        OnAGVPositoinChanged?.Invoke(this, currentPosition);
                    }
                }
            }
        }

        AGVTaskStatus taskStatus = AGVTaskStatus.None;
        AGVTaskStatus TaskStatus
        public AGVTaskStatus TaskStatus
        {
            get => taskStatus;
            set
@@ -119,7 +122,11 @@
                if (taskStatus != value)
                {
                    taskStatus = value;
                    OnAGVTaskStatusChanged?.Invoke(this, taskStatus);

                    if (taskStatus != AGVTaskStatus.None)
                    {
                        OnAGVTaskStatusChanged?.Invoke(this, taskStatus);
                    }
                }
            }
        }
@@ -219,8 +226,15 @@
            SendMsg(client_Guide, IConfig.GuidePort, msg);
        }

        public void PauseTask()
        {
            SeerMessage msg = new SeerMessage((int)AGVCode.PauseTask, SID);
            SendMsg(client_Guide, IConfig.GuidePort, msg);
        }

        public void TaskOrder(string dest)
        {
            CurrentPosition = "";
            SeerMessage msg = new SeerMessage((int)AGVCode.TaskOrder, SID, JsonConvert.SerializeObject(new { id = dest }));
            SendMsg(client_Guide, IConfig.GuidePort, msg);
        }