AHTC/RGD/RGD.HaiRouAPI/HaiRouModel/RobotStatue.cs

/*************************************************************************************
 *
 * 文 件 名:   RobotStatue
 * 描    述:   AGV状态查询
 * 备    注:
 * 创 建 者：  Du
 * 创建时间：  2022/8/1 8:50:01
*************************************************************************************/

using System.Collections.Generic;

namespace RGD.HaiRouAPI.HaiRouModel
{
    public class RobotStatue
    {
        private List<string> robotsCodes;

        /// <summary>
        /// 机器人编码,可传多个,若不传则查全部
        /// </summary>
        public List<string> RobotsCodes { get => robotsCodes; set => robotsCodes = value; }
    }

    public class robot
    {
        private string RobotCode;
        private string RobotTypeCode;
        private string PointCode;
        private long PositionX;
        private long PositionY;
        private int Theta;
        private long ForkHeight;
        private long ForkLength;
        private int ForkTheta;
        private string StationCode;
        private string LocationCode;
        private string State;
        private string HardwareState;
        private List<tray> trays;

        /// <summary>
        /// 编码
        /// </summary>
        public string robotCode { get => RobotCode; set => RobotCode = value; }

        /// <summary>
        /// 型号
        /// </summary>
        public string robotTypeCode { get => RobotTypeCode; set => RobotTypeCode = value; }

        /// <summary>
        /// 节点编码,机器人当前所处节点
        /// </summary>
        public string pointCode { get => PointCode; set => PointCode = value; }

        /// <summary>
        /// X坐标
        /// </summary>
        public long positionX { get => PositionX; set => PositionX = value; }

        /// <summary>
        /// Y坐标
        /// </summary>
        public long positionY { get => PositionY; set => PositionY = value; }

        /// <summary>
        /// 机器人角度
        /// </summary>
        public int theta { get => Theta; set => Theta = value; }

        /// <summary>
        /// 货叉高度
        /// </summary>
        public long forkHeight { get => ForkHeight; set => ForkHeight = value; }

        /// <summary>
        /// 货叉长度
        /// </summary>
        public long forkLength { get => ForkLength; set => ForkLength = value; }

        /// <summary>
        /// 货叉相对机器人角度
        /// </summary>
        public int forkTheta { get => ForkTheta; set => ForkTheta = value; }

        /// <summary>
        /// 工作站编码,当机器人在工作站工作时会具有
        /// </summary>
        public string stationCode { get => StationCode; set => StationCode = value; }

        /// <summary>
        /// 当机器人控制权在工作位上时会具有
        /// </summary>
        public string locationCode { get => LocationCode; set => LocationCode = value; }

        /// <summary>
        /// 机器人状态
        /// UNAVAILABLE =  杀机器人后，在场外的状态
        /// UNKNOWN = 未知,待初始化
        /// ERROR = 错误（机器人状态更新超时）
        /// IDLE = 空闲
        /// EXECUTING = 执行任务中
        /// AWAITING = 原地等待
        /// </summary>
        public string state { get => State; set => State = value; }

        /// <summary>
        /// 机器人硬件状态
        /// ROBOT_READY_TO_INIT =  机器人启动以后的初始状态，等待初始化指令
        /// ROBOT_IDLE =  空闲状态，等待任务指令(MOVE、BIN_OP)
        /// ROBOT_RUNNING =  运行状态(正在执行任务）
        /// ROBOT_ABNORMAL = 异常状态(内部故障，或者执行任务过程中发生异常需要处理)
        /// ROBOT_RECOVERY = 恢复状态
        /// </summary>
        public string hardwareState { get => HardwareState; set => HardwareState = value; }

        /// <summary>
        /// 背篓描述
        /// </summary>
        public List<tray> Trays { get => trays; set => trays = value; }
    }

    public class tray
    {
        private int TrayLevel;
        private string ContainerCode;
        private List<string> TaskCodes;
        private string PositionCode;

        /// <summary>,货叉标识
        /// 背篓编号
        /// </summary>
        public int trayLevel { get => TrayLevel; set => TrayLevel = value; }

        /// <summary>
        /// 容器编码,若背篓为空则为空
        /// </summary>
        public string containerCode { get => ContainerCode; set => ContainerCode = value; }

        /// <summary>
        /// 业务任务,容器对应的业务任务编码
        /// </summary>
        public List<string> taskCodes { get => TaskCodes; set => TaskCodes = value; }

        /// <summary>
        /// 位置编码,格式为机器人id#背篓编号
        /// </summary>
        public string positionCode { get => PositionCode; set => PositionCode = value; }
    }
}