private async void onTaskOrder(string strTaskid, string[] missionbuf, string taskname, string strMissionid_list, string strRobotlist, int ntaskcnt)
{
try
{
Task_Order taskorder = new Task_Order();
int cnt = missionbuf_in.Length;
List <MisssionInfo> missioninfo_list = new List <MisssionInfo>();
for (int i = 0; i < cnt; i++)
{
MisssionInfo missioninfo = mainform.dbBridge.onDBRead_Mission(missionbuf_in[i]);
missioninfo_list.Add(missioninfo);
}
taskorder.task_id = strTaskid;
taskorder.loop_flag = ntaskcnt;
taskorder.missionlist = strMissionid_list;
taskorder.robotlist = strRobotlist;
mainform.commBridge.onTaskrder_publish(taskorder, taskname, missioninfo_list);
// var task = Task.Run(() => mainform.commBridge.onTaskrder_publish(taskorder, taskname, missioninfo_list));
// await task;
}
catch (Exception ex)
{
Console.WriteLine("onTaskOrder err=" + ex.Message.ToString());
}
}
/// <summary>
/// 등록된 미션 리스트 읽어오기
/// </summary>
public void onDBRead_Missionlist()
{
string sql = "";
bool bdataok = false;
try
{
missionlisttable.missioninfo = new List <MisssionInfo>();
sql = string.Format("SELECT * FROM missionlist_t ");
DataSet ds = new DataSet();
MySqlDataAdapter da = new MySqlDataAdapter(sql, G_SqlCon);
da.Fill(ds);
int ncnt = ds.Tables[0].Rows.Count;
if (ncnt > 0)
{
for (int i = 0; i < ncnt; i++)
{
MisssionInfo missioninfo = new MisssionInfo();
string strmissionid = ds.Tables[0].Rows[i]["mission_id"].ToString();
string strmissionname = ds.Tables[0].Rows[i]["mission_name"].ToString();
int nmissionlevel = int.Parse(ds.Tables[0].Rows[i]["mission_level"].ToString());
string strworkdata = ds.Tables[0].Rows[i]["work"].ToString();
missioninfo.strMisssionID = strmissionid;
missioninfo.strMisssionName = strmissionname;
missioninfo.nMisssionLevel = nmissionlevel;
missioninfo.work = strworkdata;
missionlisttable.missioninfo.Add(missioninfo);
}
}
}
catch (MySqlException ex)
{
MessageBox.Show("onDBRead_Missionlist err" + ex.Message.ToString());
}
catch (Exception ex2)
{
MessageBox.Show("onDBRead_Missionlist err" + ex2.Message.ToString());
}
}
private void test()
{
try
{
int cnt = missionbuf_in.Count();
WorkFlowGoal workflowgoal = new WorkFlowGoal();
workflowgoal.work_id = "TEMP_";
workflowgoal.action_start_idx = 0;
workflowgoal.loop_flag = 1;
for (int i = 0; i < cnt; i++)
{
DB_MissionData db_missiondata = new DB_MissionData();
MisssionInfo missioninfo = new MisssionInfo();
string strmissionid = missionbuf_in[i];
missioninfo = mainform.dbBridge.onDBRead_Mission(strmissionid);
string strwork = missioninfo.work;
db_missiondata = JsonConvert.DeserializeObject <DB_MissionData>(strwork);
float x = db_missiondata.work[0].action_args[0];
float y = db_missiondata.work[0].action_args[1];
float theta = db_missiondata.work[0].action_args[2];
Action act = new Action();
act.action_type = (int)Data.ACTION_TYPE.Goal_Point;
act.action_args.Add(x);
act.action_args.Add(y);
act.action_args.Add(theta);
ParameterSet paramset = new ParameterSet();
paramset.param_name = "max_trans_vel";
paramset.type = "float";
paramset.value = "1.0";
act.action_params.Add(paramset);
paramset = new ParameterSet();
paramset.param_name = "xy_goal_tolerance";
paramset.type = "float";
paramset.value = "0.15";
act.action_params.Add(paramset);
paramset = new ParameterSet();
paramset.param_name = "yaw_goal_tolerance";
paramset.type = "float";
paramset.value = "0.05";
act.action_params.Add(paramset);
paramset = new ParameterSet();
paramset.param_name = "p_drive";
paramset.type = "float";
paramset.value = "0.4";
act.action_params.Add(paramset);
paramset = new ParameterSet();
paramset.param_name = "d_drive";
paramset.type = "float";
paramset.value = "1.2";
act.action_params.Add(paramset);
paramset = new ParameterSet();
paramset.param_name = "wp_tolerance";
paramset.type = "float";
paramset.value = "1";
act.action_params.Add(paramset);
paramset = new ParameterSet();
paramset.param_name = "avoid";
paramset.type = "bool";
paramset.value = "true";
act.action_params.Add(paramset);
paramset = new ParameterSet();
paramset.param_name = "passing_flag";
paramset.type = "bool";
paramset.value = "true";
act.action_params.Add(paramset);
workflowgoal.work.Add(act);
}
string strMissionData_Json = JsonConvert.SerializeObject(workflowgoal);
mainform.dbBridge.onDBInsert_Missionlist(DateTime.Now.ToString("LS_" + "yyyyMMddhhmm"), "TEMP_", "0", "", strMissionData_Json);
}
catch (Exception e)
{
Console.WriteLine("insert mission buf error -> {0}", e);
}
}
