public void Vec_SendCmd(eVEC_CMD cmd, SENDARG s)
{
var arg = JCVT_VEC.Set(s);
_Vec.Send(cmd, arg);
}
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;
}
}
