add - 添加AGV接口的实体类

SlnMesnac.Model/AirportApiEntity/AGVActiveMapEntity.cs

@@ -0,0 +1,22 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    /// <summary>
+    /// 获取当前激活地图信息响应实体类
+    /// </summary>
+    public class ResponseActiveMapDataEntity
+    {
+        /// <summary>
+        /// 地图ID
+        /// </summary>
+        public string guid { get; set; }
+
+        /// <summary>
+        /// 地图名称
+        /// </summary>
+        public string name { get; set; }
+    }
+}

SlnMesnac.Model/AirportApiEntity/AGVAddTaskEntity.cs

@@ -0,0 +1,125 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    /// <summary>
+    /// 下发任务请求实体类
+    /// </summary>
+    public class AGVRequestAddTaskEntity
+    {
+        /// <summary>
+        /// 任务单ID-AGVC的任务ID
+        /// </summary>
+        public string businessOrderId { get; set; }
+
+        /// <summary>
+        /// 设备类型
+        /// </summary>
+        public string RobotType { get; set; }
+
+        /// <summary>
+        /// 优先级 默认值0
+        /// </summary>
+        public int priority { get; set; } = 0;
+
+        /// <summary>
+        /// 机器人ID
+        /// </summary>
+        public string roborId { get; set; }
+
+        /// <summary>
+        /// 分组ID 默认空
+        /// </summary>
+        public string group { get; set; } = string.Empty;
+
+        /// <summary>
+        /// 任务来源，调度系统名称 默认值Mesnac
+        /// </summary>
+        public string taskSource { get; set; } = "Mesnac";
+
+        /// <summary>
+        /// 任务类型 0)none 默认值3
+        /// </summary>
+        public int taskType { get; set; } = 3;
+
+        /// <summary>
+        /// 验证任务 0：不验证 1：需要验证 传0
+        /// </summary>
+        public int verifyStatus { get; set; }
+
+        /// <summary>
+        /// 是否允许分⻋执⾏(默认FALSE) 
+        /// </summary>
+        public int? enableSplitCar { get; set; }
+
+        /// <summary>
+        /// 任务描述
+        /// </summary>
+        public string? desc { get; set; }
+
+        /// <summary>
+        /// 装货点
+        /// </summary>
+        public List<LoadsEntity> load { get; set; }
+
+        /// <summary>
+        /// 卸货点
+        /// </summary>
+        public List<LoadsEntity> unload { get; set; }
+    }
+
+    /// <summary>
+    /// 装载/卸载点位
+    /// </summary>
+    public class LoadsEntity
+    {
+        /// <summary>
+        /// 任务模板 默认空字符串
+        /// </summary>
+        public string jobid { get; set; } = string.Empty;
+
+        /// <summary>
+        /// 地图中的点位 默认空字符串
+        /// </summary>
+        public string loaction { get; set; } = string.Empty;
+
+        /// <summary>
+        /// 参数 数据跟location一样
+        /// </summary>
+        public List<ParamEntity> param { get; set; }
+
+        /// <summary>
+        ///  默认空字符串
+        /// </summary>
+        public string robotPort { get; set; } = string.Empty;
+    }
+
+    /// <summary>
+    /// 不知道是啥 paramvalue点位跟load一样
+    /// </summary>
+    public class ParamEntity
+    {
+        /// <summary>
+        /// 参数名称 默认空字符串
+        /// </summary>
+        public string paramname { get; set; } = string.Empty;
+
+        /// <summary>
+        /// 参数值 默认空字符串
+        /// </summary>
+        public string paramvalue { get; set; } = string.Empty;
+    }
+
+    /// <summary>
+    /// 下发任务成功响应数据
+    /// </summary>
+    public class ResponseAddTaskDataEntity
+    {
+        /// <summary>
+        /// AGV任务ID
+        /// </summary>
+        public string guid { get; set; }
+    }
+}

SlnMesnac.Model/AirportApiEntity/AGVCallSingalEntity.cs

@@ -1,39 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-namespace SlnMesnac.Model.AirportApiEntity
-{
-    public class AGVCallSingalEntity
-    {
-        /// <summary>
-        /// AGV编号
-        /// </summary>
-        public string AGVNo { get; set; }
-
-        /// <summary>
-        /// AGV类型
-        /// </summary>
-        public string AGVType { get; set; }
-
-        /// <summary>
-        /// 起始地编号
-        /// </summary>
-        public string StartingPointNo { get; set; }
-
-        /// <summary>
-        /// 目的地编号
-        /// </summary>
-        public string DestinationNo { get; set; }
-
-        /// <summary>
-        /// 任务编号
-        /// </summary>
-        public string TaskNo { get; set; }
-
-        /// <summary>
-        /// 信号发送时间
-        /// </summary>
-        public string SignalSendTime { get; set; }
-    }
-}

SlnMesnac.Model/AirportApiEntity/AGVMapPositionEntity.cs

@@ -0,0 +1,45 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    /// <summary>
+    /// 获取当前地图所有位置点请求实体类（get方法）
+    /// </summary>
+    [Obsolete]
+    public class AGVRequestMapPositionEntity
+    {
+        /// <summary>
+        /// 地图ID
+        /// </summary>
+        public string mapId {  get; set; }
+    }
+
+    /// <summary>
+    /// 当前地图所有位置点响应数据实体类
+    /// </summary>
+    public class ResponseMapPositionDataEntity
+    {
+
+        /// <summary>
+        /// 点位名称
+        /// </summary>
+        public string name { get; set; }
+
+        /// <summary>
+        /// 所属地图ID
+        /// </summary>
+        public string mapId { get; set; }
+
+        /// <summary>
+        /// 位置点类型 0：普通 1：⾼精度 2：充电桩 3：闲置点
+        /// </summary>
+        public int type { get; set; }
+
+        /// <summary>
+        /// 点位ID
+        /// </summary>
+        public string guid { get; set; }
+    }
+}

SlnMesnac.Model/AirportApiEntity/AGVOperationalTaskEntity.cs

@@ -0,0 +1,37 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    /// <summary>
+    /// 取消/终止任务请求实体类
+    /// </summary>
+    public class AGVRequestOperationalTaskEntity
+    {
+        /// <summary>
+        /// 任务ID
+        /// </summary>
+        public string taskid {  get; set; }
+
+        /// <summary>
+        /// 状态：0：终止 4：取消
+        /// </summary>
+        public int state { get; set; }
+
+        /// <summary>
+        /// 操作源
+        /// </summary>
+        public string operatingSource { get; set; }
+
+        /// <summary>
+        /// 操作用户
+        /// </summary>
+        public string operatingUser { get; set; }
+
+        /// <summary>
+        /// 操作说明
+        /// </summary>
+        public string remark { get; set; }
+    }
+}

SlnMesnac.Model/AirportApiEntity/AGVResponseEntity.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    /// <summary>
+    /// AGV返回值 根类型 实体类
+    /// </summary>
+    /// <typeparam name="T"></typeparam>
+    public class AGVResponseEntity<T> where T : class
+    {
+        /// <summary>
+        /// 代码
+        /// </summary>
+        public int code {  get; set; }
+
+        /// <summary>
+        /// 数据体
+        /// </summary>
+        public T? Data { get; set; }
+
+        /// <summary>
+        /// 信息
+        /// </summary>
+        public string message { get; set; }
+
+        /// <summary>
+        /// 计数
+        /// </summary>
+        public int? count { get; set; }
+    }
+
+}

SlnMesnac.Model/AirportApiEntity/AGVRobotAtrributeEntity.cs

@@ -0,0 +1,127 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    /// <summary>
+    /// 获取车辆所有信息响应实体类
+    /// </summary>
+    public class ResponseRobotAtrributeDataEntity
+    {
+
+        /// <summary>
+        /// 机器人ID
+        /// </summary>
+        public string Guid { get; set; }
+
+        /// <summary>
+        /// 机器人名称
+        /// </summary>
+        public string Name { get; set; }
+
+        /// <summary>
+        /// 运动状态
+        /// 0：暂⽆信息 1：待机 2：执⾏任务 3：充电中 4：暂停 5：急停 6：异常 7：建图中 8：等待 9：调度控制
+        /// ？（文档空缺）任务暂停 51：同步 52：脱机
+        /// </summary>
+        public int AgvMoveStatus { get; set; }
+
+        /// <summary>
+        /// 任务模板ID
+        /// </summary>
+        public string jobId { get; set; }
+
+        /// <summary>
+        /// 子任务ID
+        /// </summary>
+        public string orderId { get; set; }
+
+        /// <summary>
+        /// 任务ID
+        /// </summary>
+        public string TaskID { get; set; }
+
+        /// <summary>
+        /// 当前执行动作
+        /// </summary>
+        public CurrentActionEntity currentAction { get; set; }
+
+        /// <summary>
+        /// 错误
+        /// </summary>
+        public List<AGVErrorEntity> error { get; set; }
+
+    }
+
+    /// <summary>
+    /// 车辆当前执行动作实体类
+    /// </summary>
+    public class CurrentActionEntity
+    {
+        /// <summary>
+        /// 动作ID
+        /// </summary>
+        public string guid { get; set; }
+
+        /// <summary>
+        /// 任务类型
+        /// 1：移动 2：播放声⾳ 3：亮灯带 4：停留 5：检查位置状态 6：占地⾯积 7：切换地图 8：移动⾄预备位置 9：停靠 
+        /// 10：相对移动 11：等待 12：if else 13：设置plc 14:等待plc 15：停⽌⾳效 16：停⽌灯带 17:暂停 18：loop 
+        /// 23：while 29：任务模板
+        /// </summary>
+        public string actionType { get; set; }
+
+        /// <summary>
+        /// 参数列表
+        /// </summary>
+        public List<AGVCurrentActionParamesEntity> Parames { get; set; }
+    }
+
+    /// <summary>
+    /// 车辆动作参数实体类
+    /// </summary>
+    public class AGVCurrentActionParamesEntity
+    {
+        /// <summary>
+        /// 动作参数guid
+        /// </summary>
+        public string guid { get; set; }
+
+        /// <summary>
+        /// 参数名称
+        /// </summary>
+        public string paramName { get; set; }
+
+        /// <summary>
+        /// 动作类型
+        /// </summary>
+        public int type { get; set; }
+
+        /// <summary>
+        /// 参数值
+        /// </summary>
+        public string value { get; set; }
+    }
+
+    /// <summary>
+    /// 车辆错误信息实体类
+    /// </summary>
+    public class AGVErrorEntity
+    {
+        /// <summary>
+        /// 错误码
+        /// </summary>
+        public int errorCode { get; set; }
+
+        /// <summary>
+        /// 错误模块
+        /// </summary>
+        public int errorModule { get; set; }
+
+        /// <summary>
+        /// 错误消息
+        /// </summary>
+        public string errorMsg { get; set; }
+    }
+}

SlnMesnac.Model/AirportApiEntity/AGVSingalEntity.cs

@@ -4,7 +4,7 @@ using System.Text;
 
 namespace SlnMesnac.Model.AirportApiEntity
 {
-    public class AGVArrivalSingalEntity
+    public class AGVSingalEntity
     {
         /// <summary>
         /// AGV编号

SlnMesnac.Model/AirportApiEntity/AGVStateEntity.cs

@@ -1,57 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-namespace SlnMesnac.Model.AirportApiEntity
-{
-    public class AGVStateRequestEntity
-    {
-        /// <summary>
-        /// AGV编号
-        /// </summary>
-        public string AGVNo { get; set; }
-
-        /// <summary>
-        /// 信号发送时间
-        /// </summary>
-        public string SignalSendTime { get; set; }
-    }
-
-    public class AGVStateResponseEntity
-    {
-        /// <summary>
-        /// AGV编号
-        /// </summary>
-        public string AGVNo { get; set; }
-
-        /// <summary>
-        /// AGV类型（1：机械臂小车，2：运载小车）
-        /// </summary>
-        public string AGVType { get; set; }
-
-        /// <summary>
-        /// AGV报警状态（1：正常，2：故障）
-        /// </summary>
-        public string AGVAlarmState { get; set; }
-
-        /// <summary>
-        /// AGV工作状态（1：空闲，2：忙碌）
-        /// </summary>
-        public string AGVWorkState { get; set; }
-
-        /// <summary>
-        /// 报警信息
-        /// </summary>
-        public string AlarmText { get; set; }
-
-        /// <summary>
-        /// 任务编号
-        /// </summary>
-        public string TaskNo { get; set; }
-
-        /// <summary>
-        /// 信号发送时间
-        /// </summary>
-        public string SignalSendTime { get; set; }
-    }
-}

SlnMesnac.Model/AirportApiEntity/AGVTaskStateDetailEntity.cs

@@ -0,0 +1,43 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    /// <summary>
+    /// 查询任务状态请求实体类
+    /// </summary>
+    public class AGVRequestTaskStateDetailEntity
+    {
+        /// <summary>
+        /// 任务ID
+        /// </summary>
+        public string taskId { get; set; }
+    }
+
+    /// <summary>
+    /// 任务状态响应数据
+    /// </summary>
+    public class ResponseTaskStateDetailDataEntity
+    {
+        /// <summary>
+        /// 任务ID
+        /// </summary>
+        public string taskId { get; set; }
+
+        /// <summary>
+        /// 状态 0：已终⽌ 1：待执⾏ 2：正在执⾏ 3：已完成 4：已取消 5：已暂停 6：匹配中 7: 核验中
+        /// </summary>
+        public int state { get; set; }
+
+        /// <summary>
+        /// 车辆ID
+        /// </summary>
+        public string robotId { get; set; }
+
+        /// <summary>
+        /// 车辆名称
+        /// </summary>
+        public string robotName { get; set; }
+    }
+}

SlnMesnac.Model/AirportApiEntity/ManipulatorStartWorkEntity.cs

@@ -1,36 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-namespace SlnMesnac.Model.AirportApiEntity
-{
-    public class ManipulatorStartWorkEntity
-    {
-
-        /// <summary>
-        /// 机械臂编号
-        /// </summary>
-        public string ManipulatorNo { get; set; }
-
-        /// <summary>
-        /// 运载小车编号
-        /// </summary>
-        public string CarryAGVNo { get; set; }
-
-        /// <summary>
-        /// 传送带编号
-        /// </summary>
-        public string ConveyorNo { get; set; }
-
-        /// <summary>
-        /// 任务编号
-        /// </summary>
-        public string TaskNo { get; set; }
-
-        /// <summary>
-        /// 信号发送时间
-        /// </summary>
-        public string SignalSendTime { get; set; }
-
-    }
-}

SlnMesnac.Model/AirportApiEntity/ManipulatorStateEntity.cs

@@ -1,54 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-namespace SlnMesnac.Model.AirportApiEntity
-{
-    public class ManipulatorStateRequestEntity
-    {
-        /// <summary>
-        /// 机械臂编号
-        /// </summary>
-        public string ManipulatorNo { get; set; }
-
-        /// <summary>
-        /// 信号发送时间
-        /// </summary>
-        public string SignalSendTime { get; set; }
-    }
-
-
-    public class ManipulatorStateResponseEntity
-    {
-        /// <summary>
-        /// 机械臂编号
-        /// </summary>
-        public string ManipulatorNo { get; set; }
-
-        /// <summary>
-        /// 机械臂报警状态（1：正常，2：故障）
-        /// </summary>
-        public string ManipulatorAlarmState { get; set; }
-
-        /// <summary>
-        /// 机械臂工作状态（1：空闲，2：工作）
-        /// </summary>
-        public string ManipulatorWorkState { get; set; }
-
-        /// <summary>
-        /// 报警信息
-        /// </summary>
-        public string AlarmText { get; set; }
-
-        /// <summary>
-        /// 任务编号
-        /// </summary>
-        public string TaskNo { get; set; }
-
-        /// <summary>
-        /// 信号发送时间
-        /// </summary>
-        public string SignalSendTime { get; set; }
-    }
-
-}

SlnMesnac.Model/AirportApiEntity/ManipulatorWorkDoneEntity.cs

@@ -1,61 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-namespace SlnMesnac.Model.AirportApiEntity
-{
-    public class ManipulatorWorkDoneEntity
-    {
-
-        /// <summary>
-        /// 机械臂编号
-        /// </summary>
-        public string ManipulatorNo { get; set; }
-
-        /// <summary>
-        /// 运载小车编号
-        /// </summary>
-        public string CarryAGVNo { get; set; }
-
-        /// <summary>
-        /// 传送带编号
-        /// </summary>
-        public string ConveyorNo { get; set; }
-
-        /// <summary>
-        /// 此次抓取数量
-        /// </summary>
-        public int NowCarryNumber { get; set; }
-
-        /// <summary>
-        /// 小车装载数量
-        /// </summary>
-        public int CarrierLoadNumber { get; set; }
-
-        /// <summary>
-        /// 此次工作总抓取数量
-        /// </summary>
-        public int AllCarryNumber { get; set; }
-
-        /// <summary>
-        /// 装载方向（1：机械臂小车，2：装载小车）
-        /// </summary>
-        public string LoadLocation { get; set; }
-
-        /// <summary>
-        /// 工作是否结束（0：未结束，1：结束）
-        /// </summary>
-        public string WorkIsDone { get; set; }
-
-        /// <summary>
-        /// 任务编号
-        /// </summary>
-        public string TaskNo { get; set; }
-
-        /// <summary>
-        /// 信号发送时间
-        /// </summary>
-        public string SignalSendTime { get; set; }
-
-    }
-}

SlnMesnac.TouchSocket/AirPorthttpClient.cs

@@ -70,18 +70,7 @@ namespace SlnMesnac.TouchSocket
         /// <returns></returns>
         public static string AGVCallRequest()
         {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:", null, new AGVArrivalSingalEntity());
-
-            return responseValue.ToString();
-        }
-
-        /// <summary>
-        /// 机械臂开始工作请求
-        /// </summary>
-        /// <returns></returns>
-        public static string ManipulatorStartRequest()
-        {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:", null, new AGVArrivalSingalEntity());
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:", null, new AGVSingalEntity());
 
             return responseValue.ToString();
         }
@@ -108,26 +97,5 @@ namespace SlnMesnac.TouchSocket
             return aGVStateResponseEntity;
         }
 
-        /// <summary>
-        /// 机械臂状态请求
-        /// </summary>
-        /// <param name="manipulatorStateRequest"></param>
-        /// <returns></returns>
-        public static ManipulatorStateResponseEntity ManipulatorStateRequest(ManipulatorStateRequestEntity manipulatorStateRequest)
-        {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/m1/5051269-4712337-default/apitest/manipulatortest", null, manipulatorStateRequest);
-            if (responseValue == null)
-            {
-                return new ManipulatorStateResponseEntity();
-            }
-            string json = responseValue.ToString();
-            if (string.IsNullOrEmpty(json))
-            {
-                return new ManipulatorStateResponseEntity();
-            }
-            ManipulatorStateResponseEntity manipulatorState = new ManipulatorStateResponseEntity();
-            manipulatorState = JsonSerializer.Deserialize<ManipulatorStateResponseEntity>(json);
-            return manipulatorState;
-        }
     }
 }

SlnMesnac.TouchSocket/ApiServer.cs

@@ -36,7 +36,7 @@ namespace SlnMesnac.TouchSocket
 
         }
 
-        public delegate void AGVArrivalStart(string message, AGVArrivalSingalEntity aGVArrivalSingalEntity);
+        public delegate void AGVArrivalStart(string message, AGVSingalEntity aGVArrivalSingalEntity);
         /// <summary>
         /// AGV到位信号刷新
         /// </summary>
@@ -49,32 +49,12 @@ namespace SlnMesnac.TouchSocket
         /// <returns></returns>
         [EnableCors("cors")]
         [WebApi(HttpMethodType.POST)]
-        public object AGVArrivalSignal(string messageHeader, AGVArrivalSingalEntity aGVArrivalSingalEntity)
+        public object AGVSignal(string messageHeader, AGVSingalEntity aGVArrivalSingalEntity)
         {
             AGVArrivalStartEvent?.Invoke(messageHeader, aGVArrivalSingalEntity);
             return "Success";
         }
 
-        public delegate void ManipulatorWorkDoneStart(string message, ManipulatorWorkDoneEntity manipulatorWorkDoneEntity);
-        /// <summary>
-        /// 机械臂抓取完毕事件刷新
-        /// </summary>
-        public event ManipulatorWorkDoneStart ManipulatorWorkDoneEvent;
-
-        /// <summary>
-        /// 机械臂抓取完毕信号接口
-        /// </summary>
-        /// <param name="messageHeader"></param>
-        /// <returns></returns>
-        [EnableCors("cors")]
-        [WebApi(HttpMethodType.POST)]
-        public object ManipulatorWorkDone(string messageHeader, ManipulatorWorkDoneEntity manipulatorWorkDoneEntity)
-        {
-            ManipulatorWorkDoneEvent?.Invoke(messageHeader, manipulatorWorkDoneEntity);
-            return "Success";
-        }
-
-
         public void SubscribeToAGVArrivalEvent()
         {
             // 订阅 AGV 到位事件
@@ -82,7 +62,7 @@ namespace SlnMesnac.TouchSocket
         }
 
         // 处理 AGV 到位事件的方法
-        public void OnAGVArrival(string message, AGVArrivalSingalEntity aGVArrivalSingalEntity)
+        public void OnAGVArrival(string message, AGVSingalEntity aGVArrivalSingalEntity)
         {
             Console.WriteLine($"收到AGV到位信号: {message}");
             Console.WriteLine($"AGV编号: {aGVArrivalSingalEntity.AGVNo}, 到达位置: {aGVArrivalSingalEntity.DestinationNo}");

SlnMesnac.WPF/MainWindow.xaml.cs

@@ -32,9 +32,7 @@ namespace SlnMesnac.WPF
 
         private void Button_Click(object sender, RoutedEventArgs e)
         {
-            var a = AirPorthttpClient.ManipulatorStateRequest(new ManipulatorStateRequestEntity());
-            var b = AirPorthttpClient.AGVStateRequest(new AGVStateRequestEntity());
-
+