private void MiidlerInfo()
{
/// 充電相關資訊.
///
bool 正在充電 = localData.MIPCData.Charging;
/// SOC
double soc = localData.BatteryInfo.SOC;
double 到站充電高水位 = localData.MIPCData.Config.ChargingSOC_High;
double 在站點上充電水位 = localData.MIPCData.Config.ChargingSOC_Low;
/// 這邊訊號在充電送出成功時就會on,會做delay,middler不用再做delay.
/// 開始充電、結束充電.
StartChargingByAddressID("48001??");
StopCharging();
/// 上報位置相關.
/// 目前位置(座標)
MapAGVPosition nowPosition = localData.Real;
/// 這邊迷航是會是null 但如果config設定迷航時殘留上次數值,就會迷航前的資料.
if (nowPosition != null)
{
double x = nowPosition.Position.X;
double y = nowPosition.Position.Y;
double angle = nowPosition.Angle;
}
double 移動方向 = localData.MoveDirectionAngle;
double 移動速度 = localData.MoveControlData.MotionControlData.LineVelocity;
bool 避車停止 = localData.MoveControlData.ReserveStop;
bool 障礙物停止 = localData.MoveControlData.SafetySensorStop;
bool AlarmBit = AlarmHandler.HasAlarm;
bool Auto中 = (localData.AutoManual == EnumAutoState.Auto);
/// Address Section Distance.
VehicleLocation nowVehicleLocation = localData.Location;
string NowSection = nowVehicleLocation.NowSection;
/// 迷航時為空白.
string LastAddress = nowVehicleLocation.LastAddress;
/// 迷航時為空白.
///
bool 是否在LastAddress上 = nowVehicleLocation.InAddress;
double distance = nowVehicleLocation.DistanceFormSectionHead;
/// 走行相關.
/// 移動命令
///
bool 現在可以下命令 = localData.MoveControlData.Ready && !localData.MoveControlData.ErrorBit;
/// ErrorBit理論上等同AlarmHandler.HasAlarm,因此應該不會發生兩邊狀態不一致.
bool 現在MoveControl有命令 = (localData.MoveControlData.MoveCommand != null);
string errorMessage = "";
MoveControl.VehicleMove(null, ref errorMessage);
/// 這樣好了 你呼叫的地方就先打null沒關係 只是上面要有三行
string CommandID = "???";
List <string> movingAddressList;
List <string> movingSectionList;
/// 停車.
MoveControl.VehicleStop();
/// Pause.Continue.
MoveControl.VehiclePause();
MoveControl.VehicleContinue();
/// Cancel 下了會自己先pause在Stop.
MoveControl.VehicleCancel();
/// Override需要自己寫.
/// 下面一個為完成上報,一個為過站上報.
/// MoveControl.MoveCompleteEvent += MoveControl_MoveComplete;
/// MoveControl.PassAddressEvent += MoveControl_PassAddress;
/// 取放相關.
/// 開始命令
///
bool Fork現在可以下命令 = localData.LoadUnloadData.Ready && !localData.LoadUnloadData.ErrorBit;
/// 可以視為友達版本的ForkHome訊號.
/// LoadUnloadCommand(addressID, load or unload)
/// return true = 開始執行, false = 無法執行
///
/// 應該不會需要停止, 停止這樣下.
/// 這邊要考慮一下 取放貨到底能不能中斷.
StopLoadUnload();
///
/// 取放 結束Event
/// LoadUnloadControl.ForkCompleteEvent
///
/// 更新loading 和CSTID
UpdateLoadingAndCSTID();
bool 臺車有貨物 = localData.LoadUnloadData.Loading;
string 卡夾ID = localData.LoadUnloadData.CstID;
}
