public void SendAgvMisson(AgvMissonModel obj)
{
SendAgvMissonEvent?.Invoke(obj);
//if (obj != null)
//{
// SendSignalrEvent?.Invoke(AgvSendActionEnum.SendInMissionFinMessage.EnumToString(), obj as AgvInMissonModel);
// SendSignalrEvent?.Invoke(AgvSendActionEnum.SendOutMissionFinMessage.EnumToString(), obj as AgvOutMissonModel);
//}
}
public AgvMissionManagerClient(IControlDevice _carryDevice)
{
missionContext = new MissionContext(_carryDevice);
missionContext.SendAgvMissionServiceStateMessageEvent += (obj) => ShowLogEvent?.Invoke(obj);
missionContext.SendSignalrEvent += (action, obj) => SendSignalrEvent?.Invoke(action, obj);
missionContext.SendAgvMissonEvent += (s) => SendAgvMissonEvent?.Invoke(s);
InitMissionState();
}
public void PushInMission(AgvInMissonModel mission)
{
var count = missionContext.MissionInNodes.Where(x => x.Id == mission.Id && (x.Process != AgvMissonProcessEnum.CLOSE || x.CarryProcess != CarryMissonProcessEnum.CLOSE)).Count();
if (count == 0)
{
mission.AgvProcessChangeEvent += (s, e) => AgvMissonChangeEvent?.Invoke(s, e);
AgvMissonChangeEvent?.Invoke(mission, true);
missionContext.MissionInNodes.Add(mission);
SendAgvMissonEvent?.Invoke(mission);
}
}
public void AgvStateChange(string s)
{
try
{
var data = s.Split('_');
var obj = missionContext.MissionOutNodes.LastOrDefault(d => d.Id == $"{data[0]}_{data[1]}");
if (obj != null)
{
obj.Process = (AgvMissonProcessEnum)Enum.Parse(typeof(AgvMissonProcessEnum), data[2]);
SendAgvMissonEvent?.Invoke(obj);
}
var objIn = missionContext.MissionInNodes.LastOrDefault(d => d.Id == $"{data[0]}_{data[1]}");
if (objIn != null)
{
objIn.Process = (AgvMissonProcessEnum)Enum.Parse(typeof(AgvMissonProcessEnum), data[2]);
SendAgvMissonEvent?.Invoke(obj);
}
}
catch (Exception ex)
{
ShowLogEvent?.Invoke("AgvStateChange Error:" + ex.Message);
}
}
