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);
}
}
