/// <summary>
/// キーに紐づくアクションクラスのインスタンスを返します。
/// </summary>
/// <param name="actionName"></param>
/// <returns></returns>
public Action GetCommandAction(CommandActionType actionType)
{
try
{
return(CommandClasses[actionType]);
}catch (KeyNotFoundException keyEx)
{
//キーが存在しない
throw new ApplicationException($"指定されたキー「{actionType}」に紐づくActionが存在しません。設定してから使用する必要があります。", keyEx);
}
}
private void InitialCommand(CommandActionType commandAction)
{
switch (commandAction)
{
case CommandActionType.Move:
AgvcTransCommandType = EnumAgvcTransCommandType.Move;
CompleteStatus = CompleteStatus.Move;
TransferStep = EnumTransferStep.MoveToAddress;
EnrouteState = CommandState.None;
break;
case CommandActionType.Load:
AgvcTransCommandType = EnumAgvcTransCommandType.Load;
CompleteStatus = CompleteStatus.Load;
TransferStep = EnumTransferStep.MoveToLoad;
EnrouteState = CommandState.LoadEnroute;
break;
case CommandActionType.Unload:
AgvcTransCommandType = EnumAgvcTransCommandType.Unload;
CompleteStatus = CompleteStatus.Unload;
TransferStep = EnumTransferStep.MoveToUnload;
EnrouteState = CommandState.UnloadEnroute;
break;
case CommandActionType.Loadunload:
AgvcTransCommandType = EnumAgvcTransCommandType.LoadUnload;
CompleteStatus = CompleteStatus.Loadunload;
TransferStep = EnumTransferStep.MoveToLoad;
EnrouteState = CommandState.LoadEnroute;
break;
case CommandActionType.Movetocharger:
AgvcTransCommandType = EnumAgvcTransCommandType.MoveToCharger;
CompleteStatus = CompleteStatus.MoveToCharger;
TransferStep = EnumTransferStep.MoveToAddress;
EnrouteState = CommandState.None;
break;
case CommandActionType.Home:
break;
case CommandActionType.Override:
AgvcTransCommandType = EnumAgvcTransCommandType.Override;
//CompleteStatus = CompleteStatus.Loadunload;
break;
default:
break;
}
}
public void AddCommandAction(CommandActionType actionType, Action commandClass)
{
CommandClasses.Add(actionType, commandClass);
}