public AGVStatusPositionFrame GetPosition()
{
AGVComFrame recvFrame = comStatus.SendAndGet(new AGVComFrame(AGVFrameTypes.状态_查询机器人位置, null));
if (recvFrame != null)
{
AGVStatusPositionFrame resp = recvFrame.DataParse <AGVStatusPositionFrame>();
if (null != resp && resp.RetCode == AGVErrorCodeTypes.成功)
{//导航获取成功
return(resp);
}
}
return(null);
}
/// <summary>
/// 取消导航
/// </summary>
public AGVErrorCodeTypes CancelNavi()
{
AGVComFrame sendFrame = new AGVComFrame(AGVFrameTypes.导航_取消当前导航, null);
AGVComFrame recvFrame = comNavi.SendAndGet(sendFrame);
if (recvFrame != null)
{
AGVNavigationResponse resp = recvFrame.DataParse <AGVNavigationResponse>();
if (null != resp)
{//导航取消成功
return(resp.RetCode);
}
}
return(AGVErrorCodeTypes.未知错误);
}
public AGVStatusNavigationStateFrame GetTaskStatus(bool simple = false)
{
AGVComFrame sendFrame = new AGVComFrame(AGVFrameTypes.状态_查询机器人导航状态, new { simple = simple });
AGVComFrame recvFrame = comStatus.SendAndGet(sendFrame);
if (recvFrame != null)
{
AGVStatusNavigationStateFrame resp = recvFrame.DataParse <AGVStatusNavigationStateFrame>();
if (null != resp && resp.RetCode == AGVErrorCodeTypes.成功)
{//导航获取成功
return(resp);
}
}
return(null);
}
/// <summary>
/// 获取导航路径
/// </summary>
/// <param name="target">目的地</param>
/// <returns></returns>
public List <string> GetPathNavi(string target)
{
AGVComFrame sendFrame = new AGVComFrame(AGVFrameTypes.导航_获取路径导航的路径, new { id = target });
AGVComFrame recvFrame = comNavi.SendAndGet(sendFrame);
if (recvFrame != null)
{
AGVNavigationResponse resp = recvFrame.DataParse <AGVNavigationResponse>();
if (null != resp && resp.RetCode == AGVErrorCodeTypes.成功)
{//导航获取成功
return(resp.Path);
}
}
return(null);
}
/// <summary>
/// 设置路径导航
/// </summary>
/// <param name="pos"></param>
public AGVErrorCodeTypes SetNavi(string pos)
{
AGVNavigationDataFrame naviData = new AGVNavigationDataFrame()
{
Id = pos,
Operation = oprations.Load,
Layer = 0,
Recognize = false
};
AGVComFrame sendFrame = new AGVComFrame(AGVFrameTypes.导航_路径导航, naviData);
AGVComFrame recvFrame = comNavi.SendAndGet(sendFrame);
if (recvFrame != null)
{
AGVNavigationResponse resp = recvFrame.DataParse <AGVNavigationResponse>();
if (null != resp)
{//导航发送成功
return(resp.RetCode);
}
}
return(AGVErrorCodeTypes.未知错误);
}