From 4e8bf084f8a04617a9f542099183b8d829fa7c4b Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期五, 18 十月 2019 19:07:51 +0800
Subject: [PATCH] 1. 修改机器人通信协议及相关流程触发和操作
---
src/Bro.Device.SeerAGV/SeerAGVDriver.cs | 22 ++++++++++++++++++----
1 files changed, 18 insertions(+), 4 deletions(-)
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index e64d17c..c5247c7 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/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);
}
--
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