70 lines
2.1 KiB
C#
70 lines
2.1 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using CommonUsage.Protocols.VDA5050.Objects;
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namespace CommonUsage.Protocols.VDA5050.Messages
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{
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/// <summary>
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/// 6.10 Topic: "state" (from AGV to master control)
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/// todo: complete all fields required by VDA5050
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/// </summary>
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public class stateMessage
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{
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public uint headerId;
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public string timestamp = "";
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public string version = "";
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public string manufacturer = "";
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public string serialNumber = "";
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/// <summary>
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/// Unique order identification of the current order or the previously finished order.
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/// The orderId is kept until a new order is received.
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/// Empty string (""), if no previous orderId is available.
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/// </summary>
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public string orderId = "";
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/// <summary>
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/// Order update identification to identify, that an order update has been accepted by the AGV.
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/// "0" if no previous orderUpdateId is available.
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/// </summary>
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public uint orderUpdatedId = 0;
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public string lastNodeId;
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public uint lastNodeSequenceId;
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/// <summary>
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/// Array of nodeState objects that need to be traversed for fulfilling the order (empty array if idle)
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/// </summary>
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public nodeState[] nodeStates = [];
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/// <summary>
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/// Array of edgeState objects that need to be traversed for fulfilling the order (empty array if idle)
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/// </summary>
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public edgeState[] edgeStates = [];
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public agvPosition agvPosition;
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public velocity velocity;
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public load[] loads = [];
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public bool driving;
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public bool paused;
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public bool newBaseRequest;
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public double distanceSinceLastNode;
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public batteryState batteryState;
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public actionState[] actionStates = Array.Empty<actionState>();
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public string operatingMode = "";
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public List<errorState> errors { get; set; } = new List<errorState>(); // Array of errorState objects
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public info[] information = [];
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public safetyState safetyState;
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}
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}
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