From 6abe7bf5c66a67c20887f07bfcdb376cdde802f2 Mon Sep 17 00:00:00 2001
From: SoulStar <gxhsoulstar@163.com>
Date: Thu, 26 Sep 2024 11:07:09 +0800
Subject: [PATCH] =?UTF-8?q?add=20-=20=E6=B7=BB=E5=8A=A0AGV=E6=8E=A5?=
 =?UTF-8?q?=E5=8F=A3=E7=B1=BB?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../base/BaseStateRefreshBusiness.cs          |   2 +-
 SlnMesnac.TouchSocket/AirPorthttpClient.cs    | 110 +++++++++++++++---
 2 files changed, 94 insertions(+), 18 deletions(-)

diff --git a/SlnMesnac.Business/base/BaseStateRefreshBusiness.cs b/SlnMesnac.Business/base/BaseStateRefreshBusiness.cs
index 6977a54..721e974 100644
--- a/SlnMesnac.Business/base/BaseStateRefreshBusiness.cs
+++ b/SlnMesnac.Business/base/BaseStateRefreshBusiness.cs
@@ -31,7 +31,7 @@ namespace SlnMesnac.Business.@base
         {
             try
             {
-                var response = AirPorthttpClient.AGVStateRequest();
+                var response = AirPorthttpClient.AGVAllStateRequest();
                 _AGVStateService.UpdateOrAddByResponse(response);
             }
             catch (Exception e) 
diff --git a/SlnMesnac.TouchSocket/AirPorthttpClient.cs b/SlnMesnac.TouchSocket/AirPorthttpClient.cs
index eb2b10d..28177a6 100644
--- a/SlnMesnac.TouchSocket/AirPorthttpClient.cs
+++ b/SlnMesnac.TouchSocket/AirPorthttpClient.cs
@@ -31,7 +31,6 @@ namespace SlnMesnac.TouchSocket
         }
 
         public static WebApiClient AirportAGVClient;
-        public static WebApiClient AirportManipulatorClient;
 
         private WebApiClient CreateWebApiClient(string IpHost)
         {
@@ -63,25 +62,14 @@ namespace SlnMesnac.TouchSocket
             return Task.CompletedTask;
         }
 
-        /// <summary>
-        /// 
-        /// </summary>
-        /// <returns></returns>
-        public static string AGVCallRequest()
-        {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:", null, new AGVSingalEntity());
-
-            return responseValue.ToString();
-        }
-
         /// <summary>
         /// AGV下发任务请求
         /// </summary>
         /// <param name="aGVStateRequest"></param>
         /// <returns></returns>
-        public static AGVResponseEntity<ResponseAddTaskDataEntity> AGVAddTaskRequest(AGVRequestAddTaskEntity addTaskEntity)
+        public static AGVResponseEntity<ResponseAddTaskDataEntity> AGVAddTaskRequest(AGVRequestAddTaskEntity requestValue)
         {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/api/task/addTask", null, addTaskEntity);
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/api/task/addTask", null, requestValue);
             if (responseValue == null)
             {
                 return new AGVResponseEntity<ResponseAddTaskDataEntity>();
@@ -96,15 +84,57 @@ namespace SlnMesnac.TouchSocket
             return responseEntity;
         }
 
+        /// <summary>
+        /// 取消/终止任务请求
+        /// </summary>
+        /// <returns></returns>
+        public static AGVResponseEntity<object> AGVOperationalTaskRequest(AGVRequestOperationalTaskEntity requestValue)
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/api/task/operationalTask", null, requestValue);
+            if (responseValue == null)
+            {
+                return new AGVResponseEntity<object>();
+            }
+            string json = responseValue.ToString();
+            if (string.IsNullOrEmpty(json))
+            {
+                return new AGVResponseEntity<object>();
+            }
+            AGVResponseEntity<object> responseEntity;
+            responseEntity = JsonSerializer.Deserialize<AGVResponseEntity<object>>(json);
+            return responseEntity;
+        }
 
         /// <summary>
-        /// 获取AGV所有信息
+        /// 查询任务状态请求
         /// </summary>
         /// <param name="aGVStateRequest"></param>
         /// <returns></returns>
-        public static AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> AGVStateRequest()
+        public static AGVResponseEntity<ResponseTaskStateDetailDataEntity> AGVGetTaskStateDetailRequest(AGVRequestTaskStateDetailEntity requestValue)
         {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:http://192.168.40.81:5102/api/task/robot/getRobot", null);
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("PUT:/api/task/getTaskStateDetail", null, requestValue);
+            if (responseValue == null)
+            {
+                return new AGVResponseEntity<ResponseTaskStateDetailDataEntity>();
+            }
+            string json = responseValue.ToString();
+            if (string.IsNullOrEmpty(json))
+            {
+                return new AGVResponseEntity<ResponseTaskStateDetailDataEntity>();
+            }
+            AGVResponseEntity<ResponseTaskStateDetailDataEntity> ResponseEntity;
+            ResponseEntity = JsonSerializer.Deserialize<AGVResponseEntity<ResponseTaskStateDetailDataEntity>>(json);
+            return ResponseEntity;
+        }
+
+        /// <summary>
+        /// 获取所有AGV信息请求
+        /// </summary>
+        /// <param name="aGVStateRequest"></param>
+        /// <returns></returns>
+        public static AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> AGVAllStateRequest()
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/task/robot/getRobot", null);
             if (responseValue == null)
             {
                 return new AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>>();
@@ -118,6 +148,52 @@ namespace SlnMesnac.TouchSocket
             ResponseEntity = JsonSerializer.Deserialize<AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>>>(json);
             return ResponseEntity;
         }
+
+        /// <summary>
+        /// 获取当前激活地图信息请求
+        /// </summary>
+        /// <param name="aGVStateRequest"></param>
+        /// <returns></returns>
+        public static AGVResponseEntity<ResponseActiveMapDataEntity> AGVMapActiveRequest()
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Maps/mapActive", null);
+            if (responseValue == null)
+            {
+                return new AGVResponseEntity<ResponseActiveMapDataEntity>();
+            }
+            string json = responseValue.ToString();
+            if (string.IsNullOrEmpty(json))
+            {
+                return new AGVResponseEntity<ResponseActiveMapDataEntity>();
+            }
+            AGVResponseEntity<ResponseActiveMapDataEntity> ResponseEntity;
+            ResponseEntity = JsonSerializer.Deserialize<AGVResponseEntity<ResponseActiveMapDataEntity>>(json);
+            return ResponseEntity;
+        }
+
+        /// <summary>
+        /// 获取当前地图所有位置点请求
+        /// </summary>
+        /// <param name="aGVStateRequest"></param>
+        /// <returns></returns>
+        public static AGVResponseEntity<List<ResponseMapPositionDataEntity>> AGVMapPositionRequest(string requestValue)
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Positions?mapId={0}", null, requestValue);
+            if (responseValue == null)
+            {
+                return new AGVResponseEntity<List<ResponseMapPositionDataEntity>>();
+            }
+            string json = responseValue.ToString();
+            if (string.IsNullOrEmpty(json))
+            {
+                return new AGVResponseEntity<List<ResponseMapPositionDataEntity>>();
+            }
+            AGVResponseEntity<List<ResponseMapPositionDataEntity>> ResponseEntity;
+            ResponseEntity = JsonSerializer.Deserialize<AGVResponseEntity<List<ResponseMapPositionDataEntity>>>(json);
+            return ResponseEntity;
+        }
+
+
     }
 
 }