1. 添加部分log信息 2. 修改部分机器人动作流程 3. 开放OperationConfig的InputData参数

patrick

2019-12-05 6428fad15dbe79e30a48ffc9aabe31e03a45426c

 src/Bro.Device.SeerAGV/SeerAGVDriver.cs

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

        SeerAGVInitialConfig IConfig
        {
@@ -152,8 +152,9 @@
            {
                if (batteryLvl != value)
                {
                    float pre = batteryLvl;
                    batteryLvl = value;
                    OnAGVBatteryLvlChanged?.Invoke(this, batteryLvl);
                    OnAGVBatteryLvlChanged?.Invoke(this, pre, batteryLvl);
                }
            }
        }
@@ -275,6 +276,8 @@
        {
            CurrentPosition = "";
            SeerMessage msg = new SeerMessage((int)AGVCode.TaskOrder, SID, JsonConvert.SerializeObject(new { id = dest }));

            OnLog?.BeginInvoke(DateTime.Now, this, $"{Name}行驶向 {dest}", null, null);
            SendMsg(client_Guide, IConfig.GuidePort, msg);
        }
    }