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 EnumLocalArrival GetEnumLocalArrival(Agv.EnumMoveComplete e) { switch (e) { case Agv.EnumMoveComplete.End: return(EnumLocalArrival.EndArrival); case Agv.EnumMoveComplete.Error: return(EnumLocalArrival.Fail); case Agv.EnumMoveComplete.Cancel: return(EnumLocalArrival.Arrival); default: return(EnumLocalArrival.Arrival); } }