private void On_VecUpdateData(object sender, JCVT_VEC data)
{
EvtUpdateStatus?.Invoke(this, new UDATESTATUS()
{
id = eVIWER.Pnl_Vec, mthd = data.typeName, msg = data.json
});
}
public static JCVT_VEC Set <T>(T data)
{
var obj = new JCVT_VEC();
obj.typeName = $"{typeof(T).Name}";
obj.json = JsonConvert.SerializeObject(data, Formatting.Indented);
return(obj);
}
private void ReportLog(string msg, bool bSend = true)
{
var jsonLog = JCVT_VEC.Set(new LOG()
{
bSend = bSend, msg = msg
});
Evt_UpdateData?.Invoke(this, jsonLog);
}
private void On_RecvdData(object sender, string data)
{
var temp = new LD_STATUS(data);
switch (temp.cmd)
{
case eSTATE_CMD_TYPE.EXTENDEDSTATUSFORHUMANS:
case eSTATE_CMD_TYPE.STATUS:
case eSTATE_CMD_TYPE.ERROR:
case eSTATE_CMD_TYPE.PAUSETASK:
_curr.state.st = temp.state.st;
_curr.state.dst = temp.state.dst;
_curr.state.subMsg = temp.state.subMsg;
break;
case eSTATE_CMD_TYPE.STATEOFCHARGE: _curr.batt = temp.batt; break;
case eSTATE_CMD_TYPE.LOCALIZATIONSCORE: _curr.local = temp.local; break;
case eSTATE_CMD_TYPE.TEMPERATURE: _curr.temp = temp.temp; break;
case eSTATE_CMD_TYPE.LOCATION: _curr.pos = new POS()
{
x = temp.pos.x, y = temp.pos.y, ang = temp.pos.ang
}; break;
case eSTATE_CMD_TYPE.PARKING: _curr.state.st = temp.state.st; break;
default: break;
}
switch (temp.cmd)
{
case eSTATE_CMD_TYPE.NONE: ReportLog($"Parsing Failed : {data}", false); break;
case eSTATE_CMD_TYPE.PASSWORD:
SendQuery("adept", false);
bInit = true;
break;
case eSTATE_CMD_TYPE.END_OF_COMMAND:
break;
default:
var rcv = JCVT_VEC.Set(_curr);
Evt_UpdateData?.Invoke(this, rcv);
if (_beforeSt.state.st != _curr.state.st || _beforeSt.state.dst != _curr.state.dst)
{
_beforeSt.state.st = _curr.state.st;
_beforeSt.state.dst = _curr.state.dst;
ReportLog(data, false);
}
break;
}
}
public void Vec_SendCmd(eVEC_CMD cmd, SENDARG s)
{
var arg = JCVT_VEC.Set(s);
_Vec.Send(cmd, arg);
}
public void SetStatus(string rcvMsg)
{
JCVT_VEC.Get(rcvMsg, out status);
}
public void Send(eVEC_CMD cmd, JCVT_VEC data = null)
{
bool bSend = true;
string cmdmsg = string.Empty;
switch (data.typeName)
{
case "SENDARG":
{
if (null != data)
{
SENDARG arg;
JCVT_VEC.Get(data.json, out arg);
switch (cmd)
{
case eVEC_CMD.Say: cmdmsg = $"say {arg.msg}"; break;
case eVEC_CMD.LocalizeAtGoal: cmdmsg = $"dotask localizeatgoal {arg.goal_1st}"; break;
case eVEC_CMD.Go2Goal:
case eVEC_CMD.Go2Point:
case eVEC_CMD.Go2Straight:
{
ChangeToIdleMode();
switch (cmd)
{
case eVEC_CMD.Go2Goal: cmdmsg = $"goto {arg.goal_1st}"; break;
case eVEC_CMD.Go2Point: cmdmsg = $"gotopoint {arg.pos.x} {arg.pos.y}"; break;
case eVEC_CMD.Go2Straight: cmdmsg = $"doTask gotostraight {arg.goal_1st}"; break;
}
break;
}
case eVEC_CMD.MoveDeltaHeading:
case eVEC_CMD.MoveFront:
{
if (0 >= arg.acc)
{
arg.acc = 10;
}
if (0 >= arg.dec)
{
arg.acc = 10;
}
switch (cmd)
{
case eVEC_CMD.MoveDeltaHeading:
if (30 >= arg.dec)
{
arg.acc = 30;
}
cmdmsg = $"dotask deltaheading {arg.move} {arg.spd} {arg.acc} {arg.dec}";
break;
case eVEC_CMD.MoveFront:
if (50 >= arg.dec)
{
arg.acc = 50;
}
cmdmsg = $"dotask move {arg.move} {arg.spd} {arg.acc} {arg.dec} 10";
break;
}
break;
}
case eVEC_CMD.GetDistBetween: cmdmsg = $"distancebetween {arg.goal_1st} {arg.goal_2nd}"; break;
case eVEC_CMD.GetDistFromHere: cmdmsg = $"distanceFromHere {arg.goal_1st}"; break;
default: bSend = false; break;
}
}
else
{
switch (cmd)
{
case eVEC_CMD.Stop: cmdmsg = $"stop"; break;
case eVEC_CMD.PauseCancel: cmdmsg = $"pausetaskcancel"; break;
case eVEC_CMD.Dock: cmdmsg = $"dock"; break;
case eVEC_CMD.Undock: cmdmsg = $"undock"; break;
default: bSend = false; break;
}
}
if (true == bSend)
{
SendQuery(cmdmsg);
}
break;
}
default: break;
}
}
