~patrick.xu/A032.git

			@@ -19,6 +19,7 @@
			{
			public Action<SeerAGVDriver, string> OnAGVPositoinChanged;
			public Action<SeerAGVDriver, AGVTaskStatus> OnAGVTaskStatusChanged;
			public Action<SeerAGVDriver, float> OnAGVBatteryLvlChanged;

			SeerAGVInitialConfig IConfig
			{
			@@ -64,6 +65,7 @@
			{
			msg_Position = new SeerMessage((int)AGVCode.QueryPosition, SID);
			msg_GuideStatus = new SeerMessage((int)AGVCode.QueryTaskStatus, SID, IConfig.IsSimpleMonitor ? JsonConvert.SerializeObject(new { simple = true }) : "");
			msg_Battery = new SeerMessage((int)AGVCode.QueryBattery, SID, IConfig.IsSimpleMonitor ? JsonConvert.SerializeObject(new { simple = true }) : "");

			Task.Run(() =>
			{
			@@ -142,8 +144,23 @@
			}
			}

			float batteryLvl = 0;
			public float BatteryLvl
			{
			get => batteryLvl;
			set
			{
			if (batteryLvl != value)
			{
			batteryLvl = value;
			OnAGVBatteryLvlChanged?.Invoke(this, batteryLvl);
			}
			}
			}

			SeerMessage msg_Position = new SeerMessage();
			SeerMessage msg_GuideStatus = new SeerMessage();
			SeerMessage msg_Battery = new SeerMessage();
			private void MonitorAGV()
			{
			while (CurrentState != EnumHelper.DeviceState.DSClose && CurrentState != EnumHelper.DeviceState.DSExcept)
			@@ -153,6 +170,8 @@
			SendMsg(client_State, IConfig.StatusPort, msg_Position);
			Thread.Sleep(IConfig.ScanInterval);
			SendMsg(client_State, IConfig.StatusPort, msg_GuideStatus);
			Thread.Sleep(IConfig.ScanInterval);
			SendMsg(client_State, IConfig.StatusPort, msg_Battery);
			Thread.Sleep(IConfig.ScanInterval);
			}
			catch (Exception ex)
			@@ -231,6 +250,9 @@
			case (int)AGVCode.QueryTaskStatus:
			TaskStatus = (AGVTaskStatus)recMsg.JValues.Value<int>("task_status");
			break;
			case (int)AGVCode.QueryBattery:
			BatteryLvl = recMsg.JValues.Value<float>("battery_level");
			break;
			default:
			break;
			}