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机器人定位 

任务下发
巡检结果
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afeijia 2023-12-15 13:29:59 +08:00
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using System.Collections;
using System.Collections.Generic;
using System.IO;
using UnityEngine;
using Newtonsoft.Json.Linq;
using static InterfaceManager;
using System;
public class InterfaceTest : MonoBehaviour
{
public string url;
public string[] query;
public string[] query_value;
public string post_json;
// Start is called before the first frame update
void Start()
{
//Debug.Log("{\n \"base_url\": \"https://10.7.6.50:8080\",\n \"battery\": 0,\n \"current_mapname\": \"/home/cruiser/ros_ws/install/share/cruiser_navigation/maps/CWDT010@20231122_111258\",\n \"current_pose\": {\n \"id\": \"e5691290-8b71-48db-991d-c6b503def8b4\",\n \"theta\": 1.7360243797302246,\n \"x\": 5.016031742095947,\n \"y\": -2.2412776947021484\n },\n \"mode\": \"navigation\",\n \"name\": null,\n \"robotId\": \"56ce6c39b8144d91ac3767e757933955\",\n \"status\": null,\n \"system_status\": \"Healthy;\",\n \"system_status_code\": 0\n}");
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyUp(KeyCode.G))
{
//²âÊÔ
//if (query != null && query_value != null)
//{
// var dic = new Dictionary<string, string>();
// for (int i = 0; i < query.Length; i++)
// {
// if (query_value.Length > i)
// {
// dic.Add(query[i], query_value[i]);
// }
// }
// StartCoroutine(GetRequest(url, null, dic, (_data) =>
// {
// Debug.Log(_data);
// }));
//}
if (query != null && query_value != null)
{
var dic = new Dictionary<string, string>();
for (int i = 0; i < query.Length; i++)
{
if (query_value.Length > i)
{
dic.Add(query[i], query_value[i]);
}
}
StartCoroutine(GetRequest(url, new Dictionary<string, string>() { { "Authorization", "none" } }, dic, (_error, _data) =>
{
Debug.Log(_data);
}));
}
}
if (Input.GetKeyUp(KeyCode.P))
{
StartCoroutine(PostRequest(url, post_json, new Dictionary<string, string>() { { "Authorization", "none" } }, (_error, _data) =>
{
Debug.Log(_data);
}));
}
if (Input.GetKeyUp(KeyCode.Q))
{
Tex();
}
}
public string _data;
public UnityEngine.UI.Image image;
public void Tex()
{
byte[] bytes = Convert.FromBase64String(_data);
Texture2D text2D = new Texture2D(100, 100);
text2D.LoadImage(bytes);
Sprite sprite = Sprite.Create(text2D, new Rect(0, 0, text2D.width, text2D.height), new Vector2(0.5f, 0.5f));
//_callback?.Invoke(null, sprite);
image.sprite = sprite;
}
}

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using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using UnityEngine;
using System.Net.WebSockets;
using static InterfaceManager;
using System.Threading;
using System;
using System.Text;
using Unity.VisualScripting;
public class RobotDataManager : MonoBehaviour
{
[Header("响应成功码")]
public string rtCode = "0";
#region 初始化属性
/// <summary>
/// 是否初始化数据
/// </summary>
private bool init_data;
/// <summary>
/// 是否已获取【机器人列表】
/// </summary>
private bool get_robot_list_done;
/// <summary>
/// 是否已获取【机柜列表】
/// </summary>
private bool get_catrbin_list_done;
/// <summary>
/// 是否已获取【机器人地图数据】
/// </summary>
private bool get_robot_map_done;
/// <summary>
/// 是否已获取【定点任务-巡检点列表获取】、【机器人地图数据】
/// </summary>
private bool get_data_after_init_robot;
/// <summary>
/// 机器人信息接收次数
/// </summary>
private int get_info_times = 0;
#endregion
#region 初始化数据
/// <summary>
/// 【机器人列表】数据集合
/// </summary>
public List<RobotClass> RobotList = new List<RobotClass>();
/// <summary>
/// 【机柜列表】数据集合
/// </summary>
public List<CabinClass> CarbinList = new List<CabinClass>();
/// <summary>
/// 【定点任务-巡检点列表】数据集合
/// </summary>
public List<RobotFixedPointins> RobotFixedPointsins = new List<RobotFixedPointins>();
/// <summary>
/// 【机器人地图】数据
/// </summary>
public RobotMap RobotMap = new RobotMap();
/// <summary>
/// 【机器人任务队列】数据
/// </summary>
public RobotTask RobotTask = new RobotTask();
/// <summary>
/// 【巡检报表数据】
/// </summary>
public InsReport InsReport = new InsReport();
///// <summary>
///// 【机器人位置状态信息】数据队列
///// </summary>
//public Queue<RobotPos> RobotPosQueue = new Queue<RobotPos>();
/// <summary>
/// 【机器人信息】
/// </summary>
public Queue<RobotInfo[]> RobotInfosQueue = new Queue<RobotInfo[]>();
#endregion
#region 对象
/// <summary>
/// 机器人对象
/// </summary>
public RobotObject RobotObject;
#endregion
// Start is called before the first frame update
void Start()
{
///获取配置信息
StartCoroutine(GetRequest(Path.Combine(Application.streamingAssetsPath, "robot.txt"), null, null, (_error, _json) =>
{
if (_error != null)
{
Debug.Log("请求【配置信息】错误：" + _error);
return;
}
JObject _j = JObject.Parse(_json);
http_ip_address = _j["http"].ToString();
ws_ip_address = _j["ws"].ToString();
http_ip_ma_address = _j["http_ma"].ToString();
isLive = true;
}));
}
public string _pno;
// Update is called once per frame
void Update()
{
Init();
if (Input.GetKeyUp(KeyCode.Y))
{
//UsageExample(_pno);
for (int i = 0; i < RobotFixedPointsins.Count; i++)
{
Debug.Log(RobotFixedPointsins[i].pointNo);
}
}
if (Input.GetKeyUp(KeyCode.J))
{
UsageExample(_pno);
}
}
/// <summary>
/// 需要Start中获取的数据在此执行
/// 等待Start完成本地文件读取后执行
/// </summary>
public void Init()
{
if (!init_data && isLive)
{
init_data = true;
Debug.Log("初始化数据");
//获取机器人列表
StartCoroutine(GetRequest(http_ip_address + get_robot_list, request_header, null, (_error, _data) =>
{
if (_error != null)
{
Debug.Log("请求【机器人列表】错误：" + _error);
return;
}
var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
Debug.Log(_response.rtMsg);
if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
{
if (_jobject != null)
{
RobotList = _jobject["list"].ToObject<List<RobotClass>>();
//实例化实体机器人
RobotObject.RobotClass = RobotList[0];
}
}
get_robot_list_done = true;
}));
//获取机柜列表
StartCoroutine(GetRequest(http_ip_address + get_cabin_list, request_header, new Dictionary<string, string>() { { "isExport", "false" }, { "pageSize", "200" } }, (_error, _data) =>
{
if (_error != null)
{
Debug.Log("请求【机柜列表】错误：" + _error);
return;
}
var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
Debug.Log(_response.rtMsg);
if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
{
if (_jobject != null)
{
CarbinList = _jobject["list"].ToObject<List<CabinClass>>();
}
}
get_catrbin_list_done = true;
}));
}
if (get_robot_list_done && get_catrbin_list_done && !get_data_after_init_robot)
{
get_data_after_init_robot = true;
if (RobotList.Count < 1)
{
Debug.Log("机器人列表小于1！");
return;
}
//获取定点任务-巡检点列表
StartCoroutine(GetRequest(http_ip_address + get_robot_fixed_pointins, request_header, new Dictionary<string, string>() { { "roomId", RobotList[0].roomId }, { "pageSize", "200" } }, (_error, _data) =>
{
if (_error != null)
{
Debug.Log("请求【定点任务-巡检点列表】错误：" + _error);
return;
}
var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
Debug.Log(_response.rtMsg);
if (_response.rtCode.Equals(rtCode))
{
RobotFixedPointsins = JsonConvert.DeserializeObject<List<RobotFixedPointins>>(_response.rtData.ToString());
}
get_catrbin_list_done = true;
}));
//获取机器人地图数据
StartCoroutine(GetRequest(http_ip_address + get_robot_map + RobotObject.RobotClass.robot_id + "/map", request_header, new Dictionary<string, string>() { { "robotId", RobotList[0].robot_id } }, (_error, _data) =>
{
if (_error != null)
{
Debug.Log("请求【机器人地图数据】错误：" + _error);
return;
}
var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
Debug.Log(_response.rtMsg);
if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
{
if (_jobject != null)
{
RobotMap = _jobject.ToObject<RobotMap>();
//实例化实体机器人的地图数据
RobotObject.RobotMap = RobotMap;
}
}
get_robot_map_done = true;
}));
//websocket
WSRobotPos();
//WSRobotInfo();
}
}
#region WebSocket数据接收
private ClientWebSocket ws_robot_pos;
/// <summary>
/// 【机器人位置状态信息】
/// </summary>
private async void WSRobotPos()
{
try
{
ws_robot_pos = new ClientWebSocket();
CancellationToken ct = new CancellationToken();
var url = ws_ip_address + ws_robot_html5 + RobotObject.RobotClass.id;
Debug.Log(url);
Uri uri = new Uri(url);
await ws_robot_pos.ConnectAsync(uri, ct);
while (true)
{
Debug.Log("111");
var result = new byte[1024];
await ws_robot_pos.ReceiveAsync(new ArraySegment<byte>(result), new CancellationToken());
var str = Encoding.UTF8.GetString(result, 0, result.Length);
//处理数据
JObject _jobject = JObject.Parse(str);
if (_jobject != null && _jobject["msg"] != null)
{
if (RobotObject != null)
{
RobotPos _robot_pos = JsonConvert.DeserializeObject<RobotPos>(_jobject["msg"].ToString());
RobotObject.RobotPosQueue.Enqueue(_robot_pos);
}
}
}
}
catch (Exception ex)
{
Debug.LogError(ex.ToString());
}
}
/// <summary>
/// 【机器人信息】
/// </summary>
private async void WSRobotInfo()
{
ClientWebSocket ws = new ClientWebSocket();
CancellationToken ct = new CancellationToken();
Uri uri = new Uri(ws_ip_address + ws_robot_info);
await ws.ConnectAsync(uri, ct);
while (true)
{
if (get_info_times == 0) continue;
var result = new byte[1024];
await ws.ReceiveAsync(new ArraySegment<byte>(result), new CancellationToken());
var str = Encoding.UTF8.GetString(result, 0, result.Length);
//处理数据
RobotInfo[] _robot_info = JsonConvert.DeserializeObject<RobotInfo[]>(str.ToString());
RobotInfosQueue.Enqueue(_robot_info);
get_info_times++;
}
}
#endregion
#region 功能点2：下发巡检任务
/*
* 任务描述：
* 功能：点击机柜，下发巡检任务。
* 1.【获取机器人任务队列】先看机器人是否正在巡检（没有才下发）
* 2.【定点任务下发】“pointList“参数中”pointNo “为机柜巡检点，其他参数照抄不动
* 3.下发后看【获取机器人任务队列】是否巡检完成
* 4.巡检完成查看【查询巡检报表数据】将“pic“字段的值从” thermal “开始拆分，把thermal后的截取出来，发送到后台进行保存。
*/
/// <summary>
/// 功能点2调用示例
/// </summary>
/// <param name="_point_no">点位编号</param>
public void UsageExample(string _point_no)
{
//开始执行第一步：查询当前是否正在巡检
GetTaskQueue((_error, _no_task) =>
{
if (_error != null)
{
Debug.Log(_error);
return;
}
//判断当前是否正在巡检
if (!_no_task)
{
//如果准备下发巡检任务时正在巡检，则执行如下操作
Debug.Log("当前正在巡检中！请稍后再试！");
//ToDo
//...
//return;
}
//若未在巡检，执行第二步：下发任务
PostRobotTask(_point_no, (_error, _post_success) =>
{
//判断是否下发成功
if (_error != null)
{
Debug.Log(_error);
return;
}
//下发成功后开始执行第三步：循环查询直至结束任务
StartCoroutine(Cyclic_GetTaskQuery((_error) =>
{
if (_error != null)
{
Debug.Log(_error);
return;
}
//任务结束后执行第四步：查看【查询巡检报表数据】将“pic“字段的值从” thermal “开始拆分，把thermal后的截取出来，发送到后台进行保存
GetInsReport((_error, _success) =>
{
if (_error != null)
{
Debug.Log(_error);
return;
}
Dictionary<string, List<string>> _pics = new Dictionary<string, List<string>>();
for (int i = 0; i < InsReport.thermal.Count; i++)
{
var _ps = new List<string>();
var pic1 = InsReport.thermal[i].pic1.Split("thermal")[1];
var pic2 = InsReport.thermal[i].pic2.Split("thermal")[1];
var pic3 = InsReport.thermal[i].pic3.Split("thermal")[1];
var pic4 = InsReport.thermal[i].pic4.Split("thermal")[1];
var pic5 = InsReport.thermal[i].pic5.Split("thermal")[1];
var pic6 = InsReport.thermal[i].pic6.Split("thermal")[1];
var pic7 = InsReport.thermal[i].pic7.Split("thermal")[1];
_ps.Add(pic1);
_ps.Add(pic2);
_ps.Add(pic3);
_ps.Add(pic4);
_ps.Add(pic5);
_ps.Add(pic6);
_ps.Add(pic7);
_pics.Add(InsReport.thermal[i].id, _ps);
}
//ToDo
//将处理好的数据发送给后台
//...
Debug.Log("图片路径处理完成！");
});
}));
});
});
}
/// <summary>
/// 获取机器人任务列队
/// </summary>
/// <param name="_callback">参数1：异常信息；参数2：true->当前未在巡检</param>
public void GetTaskQueue(Action<string, bool> _callback = null)
{
Debug.Log("查询当前巡检状态中...");
//注意接口地址中最后一个为机器人id，后期根据业务修改机器人id
StartCoroutine(GetRequest(http_ip_address + get_task_queue + RobotObject.RobotClass.robot_id, request_header, null, (_error, _data) =>
{
if (_error != null)
{
_callback?.Invoke(_error, false);
return;
}
var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
{
Debug.Log(_response.rtMsg);
if (_jobject != null)
{
RobotTask = _jobject.ToObject<RobotTask>();
//实例化实体机器人的任务数据，注意机器人id是否匹配
RobotObject.RobotTask = RobotTask;
//判断每条 RobotTask.data[].Task_type是否为fixed
//...如果没有返回True，表示未在巡检，否则返回False
_callback?.Invoke(null, RobotTask.data == null || RobotTask.data.Count == 0);
}
}
else
{
_callback?.Invoke(_response.rtMsg, false);
}
}));
}
/// <summary>
/// 机器人任务下发
/// </summary>
public void PostRobotTask(string _point_no, Action<string, bool> _callback = null)
{
string _json_data = "{\r\n \"robotIp\": \"192.168.8.198\",\r\n \"pointList\": [\r\n {\r\n \"pointNo\": \"" + _point_no + "\",\r\n \"04\": \"0\",\r\n \"06\": \"0\",\r\n \"01\": \"1\",\r\n \"cabinType\": \"1\",\r\n \"03\": \"0\",\r\n \"05\": \"0\"\r\n }\r\n ]\r\n}";
StartCoroutine(PostRequest(http_ip_address + post_robot_fixed_point, _json_data, request_header, (_error, _data) =>
{
if (_error != null)
{
Debug.Log(_error);
_callback?.Invoke(_error, false);
return;
}
var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
Debug.Log(_response.rtMsg);
if (_response.rtCode.Equals(rtCode))//返回值匹配表示下发成功
{
//下发成功后循环执行获取机器人任务队列，直至任务队列为空后继续执行后续操作
_callback?.Invoke(null, true);
}
else
{
_callback?.Invoke(_response.rtMsg, false);
}
}));
}
/// <summary>
/// 执行循环查询等待操作
/// </summary>
/// <returns></returns>
public IEnumerator Cyclic_GetTaskQuery(Action<string> _callback = null)
{
int _call_time = 0;//调用次数
int _response_time = 0;//返回次数
bool _finish = false;//结束循环操作
int _error_time = 0;
while (true)
{
if (_finish) break;
//循环查询异常次数超过一定值，结束查询并跳出循环，避免过多不必要的开销
if (_error_time > 3)
{
_callback?.Invoke("查询异常！");
break;
}
yield return new WaitForSeconds(3);
if (_call_time != _response_time) continue;
#region 测试
if (_response_time == 3)
{
Debug.Log("测试：等待次数过多");
_callback?.Invoke(null);
break;
}
#endregion
_call_time++;
Debug.Log("执行第" + _call_time + "次循环");
GetTaskQueue((_error, _no_task) =>
{
if (_error != null)
{
_error_time++;
_response_time++;
Debug.Log("请求返回第" + _response_time + "次");
return;
}
if (_no_task)
{
//当前无任务，结束循环操作
_finish = true;
_callback?.Invoke(null);
}
else
{
//当前任务尚未结束，继续执行循环操作等待任务结束
_response_time++;
Debug.Log("请求返回第" + _response_time + "次");
}
});
}
yield return null;
}
/// <summary>
/// 获取巡检报表数据
/// </summary>
public void GetInsReport(Action<string, bool> _callback)
{
//需补充请求参数，机器人任务队列中的Ins_Id,根据业务筛选具体数据
StartCoroutine(GetRequest(http_ip_address + get_record_ins_report, request_header, new Dictionary<string, string>() { { "insId", RobotTask.data[0].Ins_Id } }, (_error, _data) =>
{
if (_error != null)
{
Debug.Log(_error);
_callback?.Invoke(_error, false);
return;
}
var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
{
Debug.Log(_response.rtMsg);
if (_jobject != null)
{
InsReport = _jobject.ToObject<InsReport>();
_callback?.Invoke(null, true);
}
}
else
{
_callback?.Invoke(_response.rtMsg, false);
}
}));
}
#endregion
#region 功能点3：巡检结果查看
public void ViewInspectionResults(Action<string, List<Sprite>> _callback)
{
//注意补充Token值
StartCoroutine(GetRequest(http_ip_ma_address + get_inspection, new Dictionary<string, string>() { { "X-Token", "" } }, null, (_error, _data) =>
{
if (_error != null)
{
Debug.Log(_error);
_callback?.Invoke(_error, null);
return;
}
ResponseData_ma response = JsonConvert.DeserializeObject<ResponseData_ma>(_data);
if (response.message.Equals("操作成功") && response.data is JObject jobject)
{
if (response.data != null)
{
var inspection_datas = jobject.ToObject<List<InspectionResult>>();
var sprites = new List<Sprite>();
for (int i = 0; i < inspection_datas.Count; i++)
{
//base64转图片
byte[] bytes = Convert.FromBase64String(_data);
Texture2D text2D = new Texture2D(100, 100);
text2D.LoadImage(bytes);
Sprite sprite = Sprite.Create(text2D, new Rect(0, 0, text2D.width, text2D.height), new Vector2(0.5f, 0.5f));
sprites.Add(sprite);
}
_callback?.Invoke(null, sprites);
}
}
}));
}
#endregion
private void OnDestroy()
{
CloseClientWebSocket();
}
/// <summary>
/// 关闭ClientWebSocket。
/// </summary>
public void CloseClientWebSocket()
{
//关闭Socket
if (ws_robot_pos != null && ws_robot_pos.State == WebSocketState.Open)
{
var task = ws_robot_pos.CloseAsync(WebSocketCloseStatus.NormalClosure, string.Empty, CancellationToken.None);
task.Wait();
}
}
}

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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class RobotMapCreater : MonoBehaviour
{
// Start is called before the first frame update
void Start()
{
}
// Update is called once per frame
void Update()
{
}
}

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using BestHTTP.SecureProtocol.Org.BouncyCastle.Tsp;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using DG.Tweening;
using UnityEngine.UI;
/// <summary>
/// 机器人对象
/// </summary>
public class RobotObject : MonoBehaviour
{
public RectTransform rect_transform;
/*
bmp_x = origin.x
*/
/// <summary>
/// 机器人信息
/// </summary>
public RobotClass RobotClass = null;
/// <summary>
/// 机器人地图数据
/// </summary>
public RobotMap RobotMap = null;
/// <summary>
/// 机器人位置状态信息
/// </summary>
public Queue<RobotPos> RobotPosQueue = new Queue<RobotPos>();
/// <summary>
/// 机器人任务队列
/// </summary>
public RobotTask RobotTask = null;
/// <summary>
/// 当前执行的机器人位置信息
/// </summary>
private RobotPos current_robot_pos = null;
//固定值
public int origin_x;//=info.origin.x
public int origin_y;//=info.origin.y
public int pixel_width;//info.width
public int pixel_height;//info.height
public double resolution;//=info.resolution
//public double bmp_x;//=origin.x/resolution
//public double bmp_y;//=info.height-(origin.y/resolution)
//public float bmp_h;//=info.height
//public float bmp_w;//=info.width
//实时值
//public double map_x;//=current_pos.x
//public double map_y;//=current_pos.y
public double display_x;//=(current_pos.x-origin.x)/resolution
public double display_y;//=(current_pos.y-origin.y)/resolution
private bool get;
// Start is called before the first frame update
void Start()
{
rect_transform = GetComponent<RectTransform>();
}
// Update is called once per frame
void Update()
{
if (RobotClass == null || RobotMap == null) return;
if (!get)
{
get = true;
origin_x = RobotMap.info.origin.x;
origin_y = RobotMap.info.origin.y;
pixel_width = RobotMap.info.width;
pixel_height = RobotMap.info.height;
resolution = RobotMap.info.resolution;
}
if (RobotPosQueue.Count > 0 && current_robot_pos == null)
{
current_robot_pos = RobotPosQueue.Peek();
//Debug.Log(Newtonsoft.Json.JsonConvert.SerializeObject(current_robot_pos));
display_x = (current_robot_pos.current_pose.x - origin_x) / resolution;
display_y = (current_robot_pos.current_pose.x - origin_y) / resolution;
display_x *= (rect_transform.sizeDelta.x / pixel_width);
display_y *= (rect_transform.sizeDelta.y / pixel_height);
rect_transform.DOAnchorPos(new Vector2((float)display_x, (float)display_y), 0.5f).OnComplete(() =>
{
RobotPosQueue.Dequeue();
current_robot_pos = null;
});
}
}
}

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using System;
using System.Collections;
using System.Collections.Generic;
using System.Text;
using UnityEngine;
using UnityEngine.Networking;
public static class InterfaceManager
{
#region 接口地址
/// <summary>
/// 是否可用
/// </summary>
public static bool isLive = false;
/// <summary>
/// http接口ip地址
/// </summary>
public static string http_ip_address { get; set; }
/// <summary>
/// ws服务地址
/// </summary>
public static string ws_ip_address { get; set; }
/// <summary>
/// 马允波提供的后台ip,
/// </summary>
public static string http_ip_ma_address { get; set; }
/// <summary>
/// 请求头
/// </summary>
public static Dictionary<string, string> request_header = new Dictionary<string, string>() { { "Authorization", "none" } };
/// <summary>
/// 机房列表
/// 参数：
/// isExport=false&currentPage=1&pageSize=10
/// </summary>
public static string get_room_list => "/jk/room/list";
/// <summary>
/// 巡检数据
/// 参数：
/// pageSize=1&currentPage=0&isExport=false
/// </summary>
public static string get_record_list => "/jk/record/list";
/// <summary>
/// 机器人列表
/// </summary>
public static string get_robot_list => "/jk/robot/list";
/// <summary>
/// 设备列表
/// 参数：
/// isExport=false
/// </summary>
public static string get_device_list => "/jk/device/list";
/// <summary>
/// 机柜列表
/// 参数：
/// isExport=false
/// pageSize=200
/// </summary>
public static string get_cabin_list => "/jk/cabin/list";
/// <summary>
/// 机器人摄像头信息
/// 参数：
/// robotId=56ce6c39b8144d91ac3767e757933955
/// </summary>
public static string get_robot_camera_rtsp => "/jk/robotParam/getCameraRtspParams";
/// <summary>
/// 机器人地图
/// 注意接口参数：/robot/{robotId}/map
/// 参数：
/// robotId=56ce6c39b8144d91ac3767e757933955
/// </summary>
public static string get_robot_map => "/jk/robot/";
/// <summary>
/// 任务列表查询
/// </summary>
public static string get_task_list => "/jk/task/list";
/// <summary>
/// 任务详情
/// </summary>
public static string get_task => "/jk/task/2fc8b609e202404db573946da7e30b57";
/// <summary>
/// 机器人任务队列
///
/// </summary>
public static string get_task_queue => "/jk/task/taskqueue/list/";
/// <summary>
/// 定点任务下发
/// 参数：
/// { "robotIp": "192.168.8.198", "pointList": [ { "pointNo": "xj01", "04": "0", "06": "0", "01": "1", "cabinType": "1", "03": "0", "05": "0" } ]}
/// </summary>
public static string post_robot_fixed_point => "/jk/robot/dofixedPointins";
/// <summary>
/// 立即执行任务队列中的任务
/// 参数：
/// { "robotId": "3e42c3014eb5463a94602c13dfc0921c", "TaskQueue_Id": "1686128400786", "interfaceNo": "goToQueueTask"}
/// </summary>
public static string post_robot_send_commond => "/jk/interface/sendCommand";
/// <summary>
/// 定点任务-巡检点列表查询接口
/// 参数：
/// roomId=0703de6c8f6111eeb00f0242ac0a0005
/// </summary>
public static string get_robot_fixed_pointins => "/jk/robot/fixedPointins";
/// <summary>
/// 巡检任务下发
/// 参数：
/// { "taskId": "", "robotId": "56ce6c39b8144d91ac3767e757933955", "robotIp": "192.168.8.198"}
/// </summary>
public static string post_robot_doins_task => "/jk/robot/doinsTask";
/// <summary>
/// 巡检任务-任务列表查询接口
/// 参数：
/// roomId=0703de6c8f6111eeb00f0242ac0a0005
/// </summary>
public static string get_robot_ins_task => "/jk/robot/insTask";
/// <summary>
/// 查询巡检报表数据
/// 参数：
/// insId=6978d1982a4449c48f7e4b2064d1b28b
/// </summary>
public static string get_record_ins_report => "/jk/record/insReport";
/// <summary>
/// 巡检数据告警详情
/// 参数：
/// isExport=false
/// rocerdId=1f77ddf75f9f490ba84fb2a125962903
/// </summary>
public static string get_record_task_list => "/jk/record/tasklist";
/// <summary>
/// 巡检数据停检位置告警列表
/// 参数：
/// inspectionPointId=1f77ddf75f9f490ba84fb2a125962903
/// </summary>
public static string get_record_dev_list => "/jk/record/devList";
/// <summary>
/// 巡检数据停检位置巡检图片
/// 参数：
/// inspectionPointId=1f77ddf75f9f490ba84fb2a125962903
/// </summary>
public static string get_record_pic => "/jk/record/getPic";
/// <summary>
/// 获取机器人信息
/// </summary>
public static string ws_robot_info => "/jk/api/robotinfo/clkc5gnu5000d3p6p8lu41tnj-clkc5gnu5000e3p6pvux9aid3-socket_index_page_robot_info";
/// <summary>
/// 机器人位置状态信息
/// 参数：
/// 机器人id，直接拼接在地址后面
/// </summary>
public static string ws_robot_html5 => "/jk/api/html5/";
/// <summary>
/// 巡检结果
/// </summary>
public static string get_inspection => "/robot/queryInspection";
#endregion
#region 调接口
/// <summary>
/// Get请求
/// </summary>
/// <param name="_url"></param>
/// <param name="_header"></param>
/// <param name="_query"></param>
/// <param name="_callback"></param>
/// <returns></returns>
public static IEnumerator GetRequest(string _url, Dictionary<string, string> _header = null, Dictionary<string, string> _query = null, Action<string, string> _callback = null)
{
StringBuilder builder = new StringBuilder();
builder.Append(_url);
if (_query != null)
{
builder.Append("?");
int i = 0;
foreach (var item in _query)
{
if (i > 0)
builder.Append("&");
builder.AppendFormat("{0}={1}", item.Key, item.Value);
i++;
}
}
using (UnityWebRequest request = UnityWebRequest.Get(builder.ToString()))
{
if (_header != null)
{
foreach (var item in _header)
{
request.SetRequestHeader(item.Key, item.Value);
}
}
yield return request.SendWebRequest();
if (request.error != null)
{
_callback?.Invoke(request.error, null);
}
else
{
_callback?.Invoke(null, request.downloadHandler.text);
}
}
}
/// <summary>
/// Post请求
/// </summary>
/// <param name="_url"></param>
/// <param name="_post_json"></param>
/// <param name="_callback"></param>
/// <returns></returns>
public static IEnumerator PostRequest(string _url, string _post_json, Dictionary<string, string> _header = null, Action<string, string> _callback = null)
{
using (UnityWebRequest request = new UnityWebRequest(_url, "POST"))
{
var data = Encoding.UTF8.GetBytes(_post_json);
request.uploadHandler = new UploadHandlerRaw(data);
request.downloadHandler = new DownloadHandlerBuffer();
if (_header != null)
{
foreach (var item in _header)
{
request.SetRequestHeader(item.Key, item.Value);
}
}
yield return request.SendWebRequest();
if (request.error != null)
{
_callback?.Invoke(request.error, null);
}
else
{
_callback?.Invoke(null, request.downloadHandler.text);
}
}
}
#endregion
}

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{
"http":"http://192.168.8.11:8000",
"ws":"ws://192.168.8.11:8000",
"http_ma":"http://192.168.8.11:8081"
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