305 lines
9.5 KiB
C#
305 lines
9.5 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using MegaRobo.Connections;
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using MegaRobo.Connections.Web;
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using MegaRobo.Contract;
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using MegaRobo.ControlDevices.Abstractions;
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using MegaRobo.Logger;
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namespace MegaRobo.C00225155.ControlDevices;
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/// <summary>
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/// http://192.168.50.20:8888/swagger/index.html
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/// </summary>
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public sealed class AgvService : ConnectorBase, IConnection, IDisposable, IConnectionAsync
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{
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public AgvService()
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{
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}
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public override async Task<string> Initialize(ICoreService coreService, params object[] args)
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{
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this.CoreService = coreService;
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try
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{
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if(args is [string hostname, ..])
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{
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this._hostname = hostname.Trim('/');
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this._httpService = new HttpClientEx { StringEncoder = Encoding.UTF8, BaseAddress = new Uri(this._hostname) };
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this._httpService.Timeout = TimeSpan.FromSeconds(5);
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}
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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await Task.Delay(0);
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return string.Empty;
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}
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private string _hostname = "";
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private HttpClientEx _httpService;
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public decimal ChargeVolume { get; set; } // 电量 0-1 即为 100%为满电
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public string CurrentStationName { get; set; } = string.Empty;
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public bool IsInChargeLocation => false;
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public bool IsInWaitLocation => false;
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public string ChargeLocationCode { get; set; }
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public string WaitLocationCode { get; set; }
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public string TargetLocation = "";
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public override async Task<ConnectionState> CheckConnected()
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{
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await Task.Delay(0);
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return ConnectionState.IsConnected;
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}
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public override async Task<ConnectionState> ReconnectAsync()
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{
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await Task.Delay(0);
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return ConnectionState.IsConnected;
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}
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#region Status
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public async Task<bool> CheckMoveDone()
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{
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var currStation= await this.ReadCurrentStation();
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if(string.IsNullOrWhiteSpace(currStation) || string.IsNullOrWhiteSpace(this.TargetLocation))
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{
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return false;
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}
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return string.Equals(currStation, this.TargetLocation, StringComparison.CurrentCultureIgnoreCase);
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}
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public async Task<bool> CheckMoveing()
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{
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try
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{
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this.CurrentStationName = await this.ReadCurrentStation();
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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return false;
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}
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#endregion Status
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#region Init
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public async void Comfirmloc()
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{
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try
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{
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string apiName = "/RobotControl/Comfirmloc";
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var response = await this._httpService.PostJsonAsync(apiName, string.Empty);
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this.Logger.LogDebug(response);
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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}
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public async void Lock(string name = "mega")
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{
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try
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{
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string apiName = this._hostname + "/RobotConfig/Lock";
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// var args = new { nick_name = name };
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//var response = await this._httpService.PostJsonAsync(apiName, args.ToJson());
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IDictionary<string, string> argdict = new Dictionary<string, string>();
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argdict.Add("nick_name", name);
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apiName = this._httpService.UrlCombine(apiName, argdict);
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var response = await this._httpService.PostJsonAsync(apiName, string.Empty);
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this.Logger.LogInformation(response);
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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}
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public async void Unlock()
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{
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try
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{
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string apiName = "/RobotConfig/Unlock";
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var response = await this._httpService.PutAsync(apiName, null);
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if(response.IsSuccessStatusCode)
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{
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this.Logger.LogInformation($"释放控制权");
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}
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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}
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#endregion Init
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#region 状态
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/// <summary>
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/// AGV电量
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/// </summary>
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/// <returns></returns>
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public async Task<string> ReadBattery()
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{
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try
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{
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string apiName = this._hostname + "/RobotStatus/Battery";
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IDictionary<string, string> argdict = new Dictionary<string, string>();
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argdict.Add("simple", false.ToString());
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apiName = this._httpService.UrlCombine(apiName, argdict);
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var response = await this._httpService.GetStringAsync(apiName);
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var batteryLevel = response.GetJsonValueByToken<string>("data.battery_level");
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return batteryLevel;
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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return null;
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}
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public async Task<string> ReadCurrentStation()
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{
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try
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{
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string apiName = this._hostname + "/RobotStatus/Loc";
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IDictionary<string, string> argDict = new Dictionary<string, string>();
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argDict.Add("simple", false.ToString());
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apiName = this._httpService.UrlCombine(apiName, argDict);
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var response = await this._httpService.GetStringAsync(apiName);
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var currentStation = response.GetJsonValueByToken<string>("data.current_station");
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return currentStation;
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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return null;
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}
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public async Task<bool> ReadTaskStatus()
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{
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try
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{
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//https://support.seer-group.com/d/1674676593139699713.html
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string apiName = this._hostname + "/RobotStatus/Task";
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// IDictionary<string, string> argdict = new Dictionary<string, string>();
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// argdict.Add("simple", false.ToString());
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apiName = this._httpService.UrlCombine(apiName, null);
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var response = await this._httpService.GetStringAsync(apiName);
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var taskStatus = response.GetJsonValueByToken<string>("data.task_status");
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return new[] { "2", "3" }.Contains(taskStatus);
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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return false;
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}
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public async Task ClearAllErrors()
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{
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try
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{
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string apiName = this._hostname + "/RobotConfig/Clearallerrors";
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// IDictionary<string, string> argdict = new Dictionary<string, string>();
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// argdict.Add("simple", false.ToString());
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apiName = this._httpService.UrlCombine(apiName, null);
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var response = await this._httpService.GetStringAsync(apiName);
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response.GetJsonValueByToken<string>("data.ret_code");
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} catch(Exception ex)
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{
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this.Logger.LogException(ex);
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}
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}
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#endregion
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#region Move
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private async Task<string> LoadCurrentLocationAsync()
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{
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try
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{
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string apiName = this._hostname + "/RobotStatus/Loc";
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var response = await this._httpService.GetStringAsync(apiName);
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var currentStation = response.GetJsonValueByToken<string>("data.current_station");
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return currentStation;
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} catch(Exception ex)
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{
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Console.WriteLine(ex);
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}
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return null;
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}
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public async void MoveToLocation(string location)
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{
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try
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{
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this.TargetLocation = location;
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this.Comfirmloc();
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string apiName = this._hostname + "/RobotTask/Gotarget";
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string sourceId = "SELF_POSITION";
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// sourceId = await this.LoadCurrentLocationAsync();
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var locationItem = new { id = location, source_id = sourceId, task_id = $"goto_{DateTime.Now:yyyyMMdd_HHmmssfff}_{location}" };
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var jsonRaw = locationItem.ToJson(true);
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var response = await this._httpService.PostJsonAsync(apiName, jsonRaw);
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this.Logger.LogInformation(response);
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} catch(Exception ex)
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{
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Console.WriteLine(ex);
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}
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}
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/// <summary>
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/// 指定路过某点到某点
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/// 优点: 会按照任务发送队列执行
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/// 缺点: 假如同命令连续发送多次，可能会造成首次命令执行后原地掉头导致碰撞风险;
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/// </summary>
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/// <param name="locations"></param>
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public async void MoveToLocation(IList<string> locations)
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{
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if(locations == null || !locations.Any())
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return;
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try
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{
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this.Comfirmloc();
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string apiName = this._hostname + "/RobotTask/Gotargetlist";
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string sourceId = "SELF_POSITION";
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sourceId = await this.LoadCurrentLocationAsync();
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IList<object> orderList = new List<object>();
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for(var index = 0; index < locations.Count; index++)
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{
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string item = locations[index];
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if(index > 0)
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{
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sourceId = locations[index - 1];
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}
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var locationItem = new { id = item, source_id = sourceId, task_id = $"goto_{DateTime.Now:yyyyMMdd_HHmmssfff}_{item}" };
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orderList.Add(locationItem);
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}
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var args = new { move_task_list = orderList };
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var jsonRaw = args.ToJson(true);
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var response = await this._httpService.PostJsonAsync(apiName, jsonRaw);
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this.Logger.LogInformation(response);
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} catch(Exception ex)
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{
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Console.WriteLine(ex);
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}
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}
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#endregion Move
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#region Watcher
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#endregion Watcher
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} |