public void ReserveOkPartMove(MapSection mapSection)
{
try
{
int sectionIndex = MovingGuide.GuideSectionIds.FindIndex(x => x.Trim() == mapSection.Id.Trim());
if (sectionIndex < 0)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = $"ReserveOkPartMove fail.[{mapSection.Id.Trim()}].[{MovingGuide.GuideSectionIds.GetJsonInfo()}]"
});
return;
}
MapAddress address = MapInfo.addressMap[MovingGuide.GuideAddressIds[sectionIndex + 1]];
PositionArgs positionArgs = new PositionArgs()
{
EnumLocalArrival = sectionIndex == MovingGuide.GuideSectionIds.Count - 1 ? EnumLocalArrival.EndArrival : EnumLocalArrival.Arrival,
MapPosition = address.Position
};
FakeMoveArrivalQueue.Enqueue(positionArgs);
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
}
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
});
}
}
public void StartCharge(EnumAddressDirection chargeDirection)
{
Task.Run(() =>
{
try
{
SpinWait.SpinUntil(() => false, 2000);
IsCharging = true;
OnUpdateChargeStatusEvent?.Invoke(this, IsCharging);
while (BatteryStatus.Percentage < 100 && IsCharging)
{
SpinWait.SpinUntil(() => false, 2000);
BatteryStatus.Percentage = Math.Min(BatteryStatus.Percentage + 10, 100);
OnUpdateBatteryStatusEvent?.Invoke(this, BatteryStatus);
}
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
SpinWait.SpinUntil(() => false, 2000);
IsCharging = false;
OnUpdateChargeStatusEvent?.Invoke(this, IsCharging);
});
}
private void MoveControl_MoveCompleteEvent(object sender, Agv.EnumMoveComplete e)
{
try
{
var localData = LocalPackage.MainFlowHandler.localData;
OnUpdatePositionArgsEvent?.Invoke(sender, new PositionArgs()
{
EnumLocalArrival = GetEnumLocalArrival(e),
MapPosition = new MapPosition()
{
X = localData.Real.Position.X,
Y = localData.Real.Position.Y
},
HeadAngle = (int)localData.Real.Angle,
MovingDirection = (int)localData.MoveDirectionAngle,
Speed = (int)localData.MoveControlData.MotionControlData.LineVelocity
});
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
}
private MapAddress GetLastAddress(INX.Model.LocalData localData)
{
try
{
INX.Model.VehicleLocation nowVehicleLocation = localData.Location;
var addressId = nowVehicleLocation.LastAddress;
return(Vehicle.Instance.MapInfo.addressMap[addressId]);
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
return(null);
}
private MapSection GetLastSection(INX.Model.LocalData localData)
{
try
{
INX.Model.VehicleLocation nowVehicleLocation = localData.Location;
var sectionId = nowVehicleLocation.NowSection;
var lastSection = Vehicle.Instance.MapInfo.sectionMap[sectionId];
lastSection.VehicleDistanceSinceHead = localData.Location.DistanceFormSectionHead;
return(lastSection);
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
return(null);
}
private void FakeMoveEngine()
{
while (true)
{
if (IsFakeMoveEnginePause)
{
SpinWait.SpinUntil(() => !IsFakeMoveEnginePause, 1000);
continue;
}
try
{
if (FakeMoveArrivalQueue.Any())
{
FakeMoveArrivalQueue.TryDequeue(out PositionArgs positionArgs);
OnUpdatePositionArgsEvent?.Invoke(this, positionArgs);
}
else
{
FakeMoveArrivalQueue.Enqueue(new PositionArgs()
{
EnumLocalArrival = EnumLocalArrival.Arrival,
MapPosition = MoveStatus.LastMapPosition
});
}
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
SpinWait.SpinUntil(() => false, 5000);
}
}
private void MoveControl_PassAddressEvent(object sender, string addressId)
{
try
{
var address = Vehicle.Instance.MapInfo.addressMap[addressId];
var localData = LocalPackage.MainFlowHandler.localData;
OnUpdatePositionArgsEvent?.Invoke(sender, new PositionArgs()
{
MapPosition = address.Position,
EnumLocalArrival = EnumLocalArrival.Arrival,
HeadAngle = (int)localData.Real.Angle,
MovingDirection = (int)localData.MoveDirectionAngle,
Speed = (int)localData.MoveControlData.MotionControlData.LineVelocity
});
}
catch (Exception ex)
{
OnLogErrorEvent?.Invoke(this, new MessageHandlerArgs()
{
ClassMethodName = GetType().Name + ":" + System.Reflection.MethodBase.GetCurrentMethod().Name,
Message = ex.Message
});
}
}
public void LogError(object sender, string message, Exception exception) => OnLogErrorEvent?.Invoke(this, new BuildEventArgs(message, exception));