引入最短舵角行驶的CommonUsage并更新项目引用

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-07-28 18:38:12 +08:00
parent 8e8af847db
commit 583a7d00ca
78 changed files with 5585 additions and 12 deletions
@@ -0,0 +1,69 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using CommonUsage.Protocols.VDA5050.Objects;
+
+namespace CommonUsage.Protocols.VDA5050.Messages
+{
+    /// <summary>
+    /// 6.10 Topic: "state" (from AGV to master control)
+    /// todo: complete all fields required by VDA5050
+    /// </summary>
+    public class stateMessage
+    {
+        public uint headerId;
+        public string timestamp = "";
+        public string version = "";
+        public string manufacturer = "";
+        public string serialNumber = "";
+        /// <summary>
+        /// Unique order identification of the current order or the previously finished order.
+        /// The orderId is kept until a new order is received.
+        /// Empty string (""), if no previous orderId is available.
+        /// </summary>
+        public string orderId = "";
+
+        /// <summary>
+        /// Order update identification to identify, that an order update has been accepted by the AGV.
+        /// "0" if no previous orderUpdateId is available.
+        /// </summary>
+        public uint orderUpdatedId = 0;
+
+        public string lastNodeId;
+
+        public uint lastNodeSequenceId;
+
+        /// <summary>
+        /// Array of nodeState objects that need to be traversed for fulfilling the order (empty array if idle)
+        /// </summary>
+        public nodeState[] nodeStates = [];
+
+        /// <summary>
+        /// Array of edgeState objects that need to be traversed for fulfilling the order (empty array if idle)
+        /// </summary>
+        public edgeState[] edgeStates = [];
+
+        public agvPosition agvPosition;
+
+        public velocity velocity;
+        public load[] loads = [];
+
+        public bool driving;
+
+        public bool paused;
+
+        public bool newBaseRequest;
+
+        public double distanceSinceLastNode;
+
+        public batteryState batteryState;
+
+        public actionState[] actionStates = Array.Empty<actionState>();
+        public string operatingMode = "";
+        public List<errorState> errors { get; set; } = new List<errorState>(); // Array of errorState objects
+
+        public info[] information = [];
+        public safetyState safetyState;
+
+    }
+}