public void SetAutoState(EnumAutoState autoState)
{
try
{
Agv.EnumAutoState localPackageAutoState = GetLocalPackageAutoStateFrom(autoState);
string errorMessage = "";
if (LocalPackage.MainFlowHandler.ChangeAutoManual(localPackageAutoState, ref errorMessage))
{
OnModeChangeEvent?.Invoke(this, autoState);
}
else
{
OnLogDebugEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = $"LocalPackage.ChangeMode fail.[Error={errorMessage}]"
});
}
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
}
private EnumAutoState GetAutoStateFromAgvAutoState(Agv.EnumAutoState e)
{
switch (e)
{
case Agv.EnumAutoState.Auto:
return(EnumAutoState.Auto);
case Agv.EnumAutoState.Manual:
return(EnumAutoState.Manual);
case Agv.EnumAutoState.PreAuto:
return(EnumAutoState.None);
default:
return(EnumAutoState.None);
}
}
private void MainFlowHandler_OnModeChangeEvent(object sender, Agv.EnumAutoState e)
{
Utmc.EnumAutoState autoState = GetAutoStateFromAgvAutoState(e);
OnModeChangeEvent?.Invoke(sender, autoState);
}
