119 lines
3.9 KiB
C#
119 lines
3.9 KiB
C#
//using CommonUsage.Protocols.VDA5050.Messages;
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//using System;
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//using System.Collections.Generic;
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//using System.Net.Http.Headers;
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//using System.Runtime.CompilerServices;
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//using System.Text;
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//using System.Threading;
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//using System.Threading.Tasks;
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//using CommonUsage.Protocols.VDA5050.Objects;
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//using ClumsyCore.Utilities;
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//using System.Linq;
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//using ClumsyCore.Pilot;
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//using System.Numerics;
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//namespace CommonUsage.Protocols.VDA5050
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//{
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// public abstract class VDA5050Basic
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// {
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// protected static IVDACommunicationProtocol _communicationProtocol;
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// public void Enable(IVDACommunicationProtocol protocol)
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// {
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// _communicationProtocol = protocol;
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// Task.Run(() => ManageConnection());
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// StartVisualizationLoop();
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// }
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// private void StartVisualizationLoop()
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// {
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// Console.WriteLine("Visualization in CommonUsage");
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// new Thread(async () =>
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// {
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// while (true)
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// {
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// var position = GetAGVPosition();
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// if (position != null)
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// {
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// var msg = new stateMessage()
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// {
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// serialNumber = "test-01",
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// agvPosition = new()
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// {
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// x = position.Value.X,
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// y = position.Value.Y,
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// theta = position.Value.Theta,
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// positionInitialized = true
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// }
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// };
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// await _communicationProtocol.SendMessageAsync(msg, "vda5050/frldAGV/visualization");
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// }
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// Thread.Sleep(100);
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// }
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// })
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// { Name = "VDA5050TopicVisualization" }.Start();
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// }
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// private void ManageConnection()
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// {
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// while (true)
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// {
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// var status = CheckConnectionStatus() ? "ONLINE" : "OFFLINE";
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// _communicationProtocol.PublishConnectionStatus(status);
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// Thread.Sleep(1000);
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// }
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// }
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// protected List<sequenceItem> OrganizeReceivedSequence(orderMessage order)
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// {
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// List<sequenceItem> receivedSequence = new();
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// int ii = 0, jj = 0;
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// while (true)
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// {
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// var edge = order.edges[ii];
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// var node = order.nodes[jj];
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// var takeEdge = edge.sequenceId < node.sequenceId;
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// if (takeEdge)
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// {
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// receivedSequence.Add(edge);
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// ii++;
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// if (ii == order.edges.Length) break;
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// }
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// else
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// {
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// receivedSequence.Add(node);
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// jj++;
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// if (jj == order.nodes.Length) break;
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// }
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// }
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// for (var i = ii; i < order.edges.Length; ++i) receivedSequence.Add(order.edges[i]);
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// for (var j = jj; j < order.nodes.Length; ++j) receivedSequence.Add(order.nodes[j]);
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// for (var i = 1; i < receivedSequence.Count; i++)
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// {
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// if (receivedSequence[i - 1].sequenceId + 1 != receivedSequence[i].sequenceId)
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// throw new Exception("stateMessage not continuous!");
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// }
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// return receivedSequence;
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// }
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// public virtual bool CheckConnectionStatus()
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// {
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// return false;
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// }
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// protected abstract Vector3? GetAGVPosition();
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// public struct Vector3
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// {
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// public double X;
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// public double Y;
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// public double Theta;
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// }
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// }
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//}
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