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 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
});
}
}
