public async Task ZjistiStavRobota()
{
LynxModel lynx = new LynxModel
{
Hostname = "Jana",
IpAdress = "10.226.178.252"
};
lynx.Connect();
AgvStatus status = await lynx.StatusRobota();
Assert.IsNotNull(status);
}
public override async Task <AgvStatus> StatusRobota()
{
RobotClient.RefreshStatus(out RobotStatus robotStatus, out string error);
string StatusForHumans = robotStatus.ExtendedStatusForHumans;
StatusType agvStatusType = StatusType.Unknown;
if (StatusForHumans.ToLower().Contains("going to"))
{
agvStatusType = StatusType.InWork;
}
if (StatusForHumans.ToLower().Contains("parking"))
{
agvStatusType = StatusType.Parking;
}
if (StatusForHumans.ToLower().Contains("docking"))
{
agvStatusType = StatusType.Docking;
}
if (StatusForHumans.ToLower().Contains("docked"))
{
agvStatusType = StatusType.Docked;
}
Struct.Location accurateLocationOfRobot = new Struct.Location(robotStatus.Location.X, robotStatus.Location.Y);
MapGoal? goal = null;
if (agvStatusType == StatusType.Docked)
{
foreach (MapGoal dock in await GoalsInfo())
{
long robotX = accurateLocationOfRobot.X;
long robotY = accurateLocationOfRobot.Y;
if (dock.Location.X >= robotX - 1000 && dock.Location.X <= robotX + 1000)
{
if (dock.Location.Y >= robotY - 400 && dock.Location.Y <= robotY + 400)
{
goal = dock;
break;
}
}
}
}
AgvStatus result = new AgvStatus(agvStatusType, robotStatus.LocalizationScore, accurateLocationOfRobot, goal);
return(result);
}
