private void SocketEvent_ProcessMessage(object sender, SocketEventArgs data)
{
if (!SocketEvent_InSync)
{
SocketEvent_InSync = true;
this.Queue(false, new Action(() => SocketEvent_InSyncEvent?.Invoke(this, true)));
}
switch (data.Command)
{
case 1: //Initial Scan
this.Queue(false, new Action(() => HealthCheck?.Invoke(sender, new HealthCheckEventArgs(data.ID))));
HealthCheckEventArgs hc = new HealthCheckEventArgs(data.ID);
hc.Valid = flipflop;
flipflop ^= true;
HealthCheckResponse(hc);
break;
case 10: //Tote ready for pickup.
this.Queue(false, new Action(() => ToteReady?.Invoke(sender, data)));
break;
case 12: //Tote Loading complete.
this.Queue(false, new Action(() => ToteLoadComplete?.Invoke(sender, data)));
break;
case 13: //Tote Unloading complete.
this.Queue(false, new Action(() => ToteUnloadComplete?.Invoke(sender, data)));
break;
}
}
private bool RobotAtGoal(SocketEventArgs data)
{
if (SocketEvent_Client.Write(data.GetCommandString(11)))
{
return(true);
}
return(false);
}
