54 lines
1.7 KiB
C#
54 lines
1.7 KiB
C#
namespace AGVNavigationCore.Models
|
|
{
|
|
/// <summary>
|
|
/// AGV 제어 명령 클래스 (실제 AGV 제어용)
|
|
/// Predict() 메서드가 반환하는 다음 동작 명령
|
|
/// </summary>
|
|
public class AGVCommand
|
|
{
|
|
/// <summary>모터 명령 (정지/전진/후진)</summary>
|
|
public MotorCommand Motor { get; set; }
|
|
|
|
/// <summary>마그넷 위치 (직진/왼쪽/오른쪽)</summary>
|
|
public MagnetPosition Magnet { get; set; }
|
|
|
|
/// <summary>속도 레벨 (저속/중속/고속)</summary>
|
|
public SpeedLevel Speed { get; set; }
|
|
|
|
/// <summary>명령 이유 메세지- (디버깅/로깅용)</summary>
|
|
public string Message { get; set; }
|
|
|
|
/// <summary>명령 이유- (디버깅/로깅용)</summary>
|
|
public eAGVCommandReason Reason { get; set; }
|
|
|
|
/// <summary>
|
|
/// 생성자
|
|
/// </summary>
|
|
public AGVCommand(MotorCommand motor, MagnetPosition magnet, SpeedLevel speed, eAGVCommandReason reason, string reasonmessage = "")
|
|
{
|
|
Motor = motor;
|
|
Magnet = magnet;
|
|
Speed = speed;
|
|
Reason = reason;
|
|
Message = reasonmessage;
|
|
}
|
|
|
|
/// <summary>
|
|
/// 기본 생성자
|
|
/// </summary>
|
|
public AGVCommand()
|
|
{
|
|
Motor = MotorCommand.Stop;
|
|
Magnet = MagnetPosition.S;
|
|
Speed = SpeedLevel.L;
|
|
Message = "";
|
|
Reason = eAGVCommandReason.Normal;
|
|
}
|
|
|
|
public override string ToString()
|
|
{
|
|
return $"Motor:{Motor}, Magnet:{Magnet}, Speed:{Speed},Reason:{Reason}" +
|
|
(string.IsNullOrEmpty(Message) ? "" : $" ({Message})");
|
|
}
|
|
}
|
|
} |