640 lines
21 KiB
C#
640 lines
21 KiB
C#
using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.IO;
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using System.Net.WebSockets;
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using System.Text;
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using System.Threading;
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using UnityEngine;
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using static InterfaceManager;
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public class RobotDataManager : MonoBehaviour
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{
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[Header("响应成功码")]
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public string rtCode = "0";
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#region 初始化属性
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/// <summary>
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/// 是否初始化数据
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/// </summary>
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private bool init_data;
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/// <summary>
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/// 是否已获取【机器人列表】
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/// </summary>
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private bool get_robot_list_done;
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/// <summary>
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/// 是否已获取【机柜列表】
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/// </summary>
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private bool get_catrbin_list_done;
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/// <summary>
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/// 是否已获取【机器人地图数据】
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/// </summary>
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private bool get_robot_map_done;
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/// <summary>
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/// 是否已获取【定点任务-巡检点列表获取】、【机器人地图数据】
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/// </summary>
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private bool get_data_after_init_robot;
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/// <summary>
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/// 机器人信息接收次数
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/// </summary>
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private int get_info_times = 0;
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#endregion
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#region 初始化数据
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/// <summary>
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/// 【机器人列表】数据集合
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/// </summary>
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[Header("【机器人列表】数据集合")] public List<RobotClass> RobotList = new List<RobotClass>();
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/// <summary>
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/// 【机柜列表】数据集合
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/// </summary>
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[Header("【机柜列表】数据集合")] public List<CabinClass> CarbinList = new List<CabinClass>();
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/// <summary>
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/// 【定点任务-巡检点列表】数据集合
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/// </summary>
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[Header("【定点任务-巡检点列表】数据集合")] public List<RobotFixedPointins> RobotFixedPointsins = new List<RobotFixedPointins>();
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/// <summary>
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/// 【机器人地图】数据
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/// </summary>
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[Header("【机器人地图】数据")] public RobotMap RobotMap = new RobotMap();
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/// <summary>
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/// 【机器人任务队列】数据
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/// </summary>
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[Header("【机器人任务队列】数据")] public RobotTask RobotTask = new RobotTask();
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/// <summary>
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/// 【巡检报表数据】
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/// </summary>
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[Header("【巡检报表数据】")] public InsReport InsReport = new InsReport();
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///// <summary>
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///// 【机器人位置状态信息】数据队列
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///// </summary>
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//public Queue<RobotPos> RobotPosQueue = new Queue<RobotPos>();
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/// <summary>
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/// 【机器人信息】
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/// </summary>
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[Header("【机器人信息】")] public Queue<RobotInfo[]> RobotInfosQueue = new Queue<RobotInfo[]>();
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#endregion
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#region 对象
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/// <summary>
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/// 机器人对象
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/// </summary>
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public RobotObject RobotObject;
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#endregion
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// Start is called before the first frame update
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void Start()
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{
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///获取配置信息
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StartCoroutine(GetRequest(Path.Combine(Application.streamingAssetsPath, "robot.txt"), null, null, (_error, _json) =>
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{
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if (_error != null)
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{
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Debug.Log("请求【配置信息】错误：" + _error);
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return;
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}
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JObject _j = JObject.Parse(_json);
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http_ip_address = _j["http"].ToString();
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ws_ip_address = _j["ws"].ToString();
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http_ip_ma_address = _j["http_ma"].ToString();
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isLive = true;
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}));
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}
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public string _pno;
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// Update is called once per frame
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void Update()
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{
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Init();
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if (Input.GetKeyUp(KeyCode.Y))
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{
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//UsageExample(_pno);
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for (int i = 0; i < RobotFixedPointsins.Count; i++)
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{
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Debug.Log(RobotFixedPointsins[i].pointNo);
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}
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}
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if (Input.GetKeyUp(KeyCode.J))
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{
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UsageExample(_pno);
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}
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}
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/// <summary>
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/// 需要Start中获取的数据在此执行
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/// 等待Start完成本地文件读取后执行
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/// </summary>
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public void Init()
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{
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if (!init_data && isLive)
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{
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init_data = true;
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Debug.Log("初始化数据");
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//获取机器人列表
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StartCoroutine(GetRequest(http_ip_address + get_robot_list, request_header, null, (_error, _data) =>
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{
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if (_error != null)
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{
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Debug.Log("请求【机器人列表】错误：" + _error);
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return;
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}
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var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
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Debug.Log(_response.rtMsg);
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if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
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{
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if (_jobject != null)
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{
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RobotList = _jobject["list"].ToObject<List<RobotClass>>();
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//实例化实体机器人
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RobotObject.RobotClass = RobotList[0];
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}
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}
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get_robot_list_done = true;
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}));
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//获取机柜列表
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StartCoroutine(GetRequest(http_ip_address + get_cabin_list, request_header, new Dictionary<string, string>() { { "isExport", "false" }, { "pageSize", "200" } }, (_error, _data) =>
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{
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if (_error != null)
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{
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Debug.Log("请求【机柜列表】错误：" + _error);
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return;
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}
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var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
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Debug.Log(_response.rtMsg);
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if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
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{
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if (_jobject != null)
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{
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CarbinList = _jobject["list"].ToObject<List<CabinClass>>();
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}
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}
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get_catrbin_list_done = true;
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}));
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}
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if (get_robot_list_done && get_catrbin_list_done && !get_data_after_init_robot)
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{
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get_data_after_init_robot = true;
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if (RobotList.Count < 1)
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{
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Debug.Log("机器人列表小于1！");
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return;
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}
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//获取定点任务-巡检点列表
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StartCoroutine(GetRequest(http_ip_address + get_robot_fixed_pointins, request_header, new Dictionary<string, string>() { { "roomId", RobotList[0].roomId }, { "pageSize", "200" } }, (_error, _data) =>
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{
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if (_error != null)
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{
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Debug.Log("请求【定点任务-巡检点列表】错误：" + _error);
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return;
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}
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var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
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Debug.Log(_response.rtMsg);
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if (_response.rtCode.Equals(rtCode))
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{
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RobotFixedPointsins = JsonConvert.DeserializeObject<List<RobotFixedPointins>>(_response.rtData.ToString());
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}
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get_catrbin_list_done = true;
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}));
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//获取机器人地图数据
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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) =>
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{
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if (_error != null)
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{
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Debug.Log("请求【机器人地图数据】错误：" + _error);
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return;
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}
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var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
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Debug.Log(_response.rtMsg);
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if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
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{
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if (_jobject != null)
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{
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RobotMap = _jobject.ToObject<RobotMap>();
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//实例化实体机器人的地图数据
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RobotObject.RobotMap = RobotMap;
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}
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}
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get_robot_map_done = true;
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}));
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//websocket
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WSRobotPos();
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//WSRobotInfo();
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}
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}
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#region WebSocket数据接收
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private ClientWebSocket ws_robot_pos;
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/// <summary>
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/// 【机器人位置状态信息】
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/// </summary>
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private async void WSRobotPos()
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{
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try
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{
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ws_robot_pos = new ClientWebSocket();
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CancellationToken ct = new CancellationToken();
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var url = ws_ip_address + ws_robot_html5 + RobotObject.RobotClass.id;
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Debug.Log(url);
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Uri uri = new Uri(url);
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await ws_robot_pos.ConnectAsync(uri, ct);
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while (true)
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{
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Debug.Log("111");
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var result = new byte[1024];
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await ws_robot_pos.ReceiveAsync(new ArraySegment<byte>(result), new CancellationToken());
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var str = Encoding.UTF8.GetString(result, 0, result.Length);
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//处理数据
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JObject _jobject = JObject.Parse(str);
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if (_jobject != null && _jobject["msg"] != null)
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{
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if (RobotObject != null)
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{
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RobotPos _robot_pos = JsonConvert.DeserializeObject<RobotPos>(_jobject["msg"].ToString());
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RobotObject.RobotPosQueue.Enqueue(_robot_pos);
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}
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}
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}
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}
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catch (Exception ex)
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{
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Debug.LogError(ex.ToString());
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}
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}
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/// <summary>
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/// 【机器人信息】
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/// </summary>
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private async void WSRobotInfo()
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{
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ClientWebSocket ws = new ClientWebSocket();
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CancellationToken ct = new CancellationToken();
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Uri uri = new Uri(ws_ip_address + ws_robot_info);
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await ws.ConnectAsync(uri, ct);
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while (true)
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{
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if (get_info_times == 0) continue;
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var result = new byte[1024];
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await ws.ReceiveAsync(new ArraySegment<byte>(result), new CancellationToken());
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var str = Encoding.UTF8.GetString(result, 0, result.Length);
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//处理数据
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RobotInfo[] _robot_info = JsonConvert.DeserializeObject<RobotInfo[]>(str.ToString());
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RobotInfosQueue.Enqueue(_robot_info);
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get_info_times++;
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}
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}
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#endregion
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#region 功能点2：下发巡检任务
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/*
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* 任务描述：
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* 功能：点击机柜，下发巡检任务。
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* 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）
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* 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
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* 3.下发后看【获取机器人任务队列】是否巡检完成
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* 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。
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*/
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/// <summary>
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/// 功能点2调用示例
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/// </summary>
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/// <param name="_point_no">点位编号</param>
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public void UsageExample(string _point_no)
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{
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//开始执行第一步：查询当前是否正在巡检
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GetTaskQueue((_error, _no_task) =>
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{
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if (_error != null)
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{
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Debug.Log(_error);
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return;
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}
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//判断当前是否正在巡检
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if (!_no_task)
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{
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//如果准备下发巡检任务时正在巡检，则执行如下操作
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Debug.Log("当前正在巡检中！请稍后再试！");
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//ToDo
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//...
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SecondConfirmPanel.DeleteConform(null, "当前正在巡检中！请稍后再试！");
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return;
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}
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//若未在巡检，执行第二步：下发任务
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PostRobotTask(_point_no, (_error, _post_success) =>
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{
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//判断是否下发成功
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if (_error != null)
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{
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Debug.Log(_error);
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return;
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}
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//下发成功后开始执行第三步：循环查询直至结束任务
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StartCoroutine(Cyclic_GetTaskQuery((_error) =>
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{
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if (_error != null)
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{
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Debug.Log(_error);
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return;
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}
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//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
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GetInsReport((_error, _success) =>
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{
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if (_error != null)
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{
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Debug.Log(_error);
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return;
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}
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Dictionary<string, List<string>> _pics = new Dictionary<string, List<string>>();
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for (int i = 0; i < InsReport.thermal.Count; i++)
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{
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var _ps = new List<string>();
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var pic1 = InsReport.thermal[i].pic1.Split("thermal")[1];
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var pic2 = InsReport.thermal[i].pic2.Split("thermal")[1];
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var pic3 = InsReport.thermal[i].pic3.Split("thermal")[1];
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var pic4 = InsReport.thermal[i].pic4.Split("thermal")[1];
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var pic5 = InsReport.thermal[i].pic5.Split("thermal")[1];
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var pic6 = InsReport.thermal[i].pic6.Split("thermal")[1];
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var pic7 = InsReport.thermal[i].pic7.Split("thermal")[1];
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_ps.Add(pic1);
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_ps.Add(pic2);
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_ps.Add(pic3);
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_ps.Add(pic4);
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_ps.Add(pic5);
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_ps.Add(pic6);
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_ps.Add(pic7);
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_pics.Add(InsReport.thermal[i].id, _ps);
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}
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//ToDo
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//将处理好的数据发送给后台
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//...
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Debug.Log("图片路径处理完成！");
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});
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}));
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});
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});
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}
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/// <summary>
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/// 获取机器人任务列队
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/// </summary>
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/// <param name="_callback">参数1：异常信息；参数2：true->当前未在巡检</param>
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public void GetTaskQueue(Action<string, bool> _callback = null)
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{
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Debug.Log("查询当前巡检状态中...");
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//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
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StartCoroutine(GetRequest(http_ip_address + get_task_queue + RobotObject.RobotClass.robot_id, request_header, null, (_error, _data) =>
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{
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if (_error != null)
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{
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_callback?.Invoke(_error, false);
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return;
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}
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var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
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if (_response.rtCode.Equals(rtCode) && _response.rtData is JObject _jobject)
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{
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Debug.Log(_response.rtMsg);
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if (_jobject != null)
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{
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RobotTask = _jobject.ToObject<RobotTask>();
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//实例化实体机器人的任务数据，注意机器人id是否匹配
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RobotObject.RobotTask = RobotTask;
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//判断每条 RobotTask.data[].Task_type是否为fixed
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//...如果没有返回True，表示未在巡检，否则返回False
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_callback?.Invoke(null, RobotTask.data == null || RobotTask.data.Count == 0);
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}
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}
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else
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{
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_callback?.Invoke(_response.rtMsg, false);
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}
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}));
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}
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/// <summary>
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/// 机器人任务下发
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/// </summary>
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public void PostRobotTask(string _point_no, Action<string, bool> _callback = null)
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{
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var p = new PointList();
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p.pointList.Add(new PointNo("2"));
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string _json_data = "{\r\n \"robotIp\": \"192.168.8.198\",\r\n \"pointList\": [" + p.pointList + " ]\r\n}";
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//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}";
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StartCoroutine(PostRequest(http_ip_address + post_robot_fixed_point, _json_data, request_header, (_error, _data) =>
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{
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if (_error != null)
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{
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Debug.Log(_error);
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_callback?.Invoke(_error, false);
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return;
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}
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var _response = JsonConvert.DeserializeObject<ResponseData>(_data);
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Debug.Log(_response.rtMsg);
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if (_response.rtCode.Equals(rtCode))//返回值匹配表示下发成功
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{
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//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
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_callback?.Invoke(null, true);
|
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}
|
||
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();
|
||
}
|
||
}
|
||
}
|