From 6428fad15dbe79e30a48ffc9aabe31e03a45426c Mon Sep 17 00:00:00 2001
From: patrick <patrick.xu@broconcentric.com>
Date: 星期四, 05 十二月 2019 12:50:13 +0800
Subject: [PATCH] 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
---
src/Bro.Device.SeerAGV/SeerAGVDriver.cs | 7 +++++--
1 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index 635132e..b875bda 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/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}琛岄┒鍚� {dest}", null, null);
SendMsg(client_Guide, IConfig.GuidePort, msg);
}
}
--
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