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 | 27 ++++++++++++++++++++++++++-
1 files changed, 26 insertions(+), 1 deletions(-)
diff --git a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
index fdb4428..b875bda 100644
--- a/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
+++ b/src/Bro.Device.SeerAGV/SeerAGVDriver.cs
@@ -19,6 +19,7 @@
{
public Action<SeerAGVDriver, string> OnAGVPositoinChanged;
public Action<SeerAGVDriver, AGVTaskStatus> OnAGVTaskStatusChanged;
+ public Action<SeerAGVDriver, float, 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(() =>
{
@@ -76,7 +78,7 @@
if (client_Guide != null && client_Guide.Connected)
{
CancelTask();
- client_Guide.Close();
+ client_Guide.Close();
client_Guide = null;
}
@@ -142,8 +144,24 @@
}
}
+ float batteryLvl = 0;
+ public float BatteryLvl
+ {
+ get => batteryLvl;
+ set
+ {
+ if (batteryLvl != value)
+ {
+ float pre = batteryLvl;
+ batteryLvl = value;
+ OnAGVBatteryLvlChanged?.Invoke(this, pre, 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 +171,8 @@
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 +251,9 @@
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;
}
@@ -253,6 +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);
}
}
--
Gitblit v1.8.0