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using Sln.Wcs.HikRoBotApi.Domain.Dto.CancelTask;
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using Sln.Wcs.HikRoBotApi.Domain.Dto.ContinueTask;
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using Sln.Wcs.HikRoBotApi.Domain.Dto.GbCancelTask;
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using Sln.Wcs.HikRoBotApi.Domain.Dto.GbContinueTask;
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using Sln.Wcs.HikRoBotApi.Domain.Dto.GbTaskSubmit;
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using Sln.Wcs.HikRoBotApi.Enum;
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using Sln.Wcs.HikRoBotApi.Util;
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using Sln.Wcs.HikRoBotSdk;
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using GenAgvSchedulingTaskDto = Sln.Wcs.HikRoBotApi.Domain.Dto.GenAgvSchedulingTask.GenAgvSchedulingTaskDto;
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using GenAgvSchedulingTaskResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.GenAgvSchedulingTask.GenAgvSchedulingTaskResultDto;
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using TaskGroupResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.TaskGroup.TaskGroupResultDto;
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using TaskPriorityResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.TaskPriority.TaskPriorityResultDto;
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using ZonePauseResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.ZonePause.ZonePauseResultDto;
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using ZoneHomingResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.ZoneHoming.ZoneHomingResultDto;
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using ZoneBanishResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.ZoneBanish.ZoneBanishResultDto;
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using ZoneBlockadeResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.ZoneBlockade.ZoneBlockadeResultDto;
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using CarrierBindResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.CarrierBind.CarrierBindResultDto;
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using CarrierUnbindResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.CarrierUnbind.CarrierUnbindResultDto;
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using SiteBindResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.SiteBind.SiteBindResultDto;
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using CarrierLockResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.CarrierLock.CarrierLockResultDto;
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using SiteLockResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.SiteLock.SiteLockResultDto;
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using PreTaskResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.PreTask.PreTaskResultDto;
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using QueryTaskResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.QueryTask.QueryTaskResultDto;
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using QueryRobotResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.QueryRobot.QueryRobotResultDto;
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using QueryCarrierResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.QueryCarrier.QueryCarrierResultDto;
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using MatLabelBindResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.MatLabelBind.MatLabelBindResultDto;
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using MatLabelUnbindResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.MatLabelUnbind.MatLabelUnbindResultDto;
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using EquipmentNotifyResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.EquipmentNotify.EquipmentNotifyResultDto;
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using CancelTaskResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.CancelTask.CancelTaskResultDto;
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using ContinueTaskResultDto = Sln.Wcs.HikRoBotApi.Domain.Dto.ContinueTask.ContinueTaskResultDto;
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#region << 版 本 注 释 >>
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/*--------------------------------------------------------------------
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* 版权所有 (c) 2026 WenJY 保留所有权利。
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* CLR版本：4.0.30319.42000
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* 机器名称：T14-GEN3-7895
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* 命名空间：Sln.Wcs.HikRoBotApi.Service.Impl
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* 唯一标识：05713c1e-50f3-48cf-8ac8-0dfd1f768856
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*
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* 创建者：WenJY
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* 电子邮箱：
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* 创建时间：2026-02-25 15:15:34
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* 版本：V1.0.0
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* 描述：
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*
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*--------------------------------------------------------------------
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* 修改人：
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* 时间：
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* 修改说明：
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*
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* 版本：V1.0.0
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*--------------------------------------------------------------------*/
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#endregion << 版 本 注 释 >>
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namespace Sln.Wcs.HikRoBotApi.Service.Impl
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{
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public class HikRoBotService : IHikRoBotService
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{
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private readonly IHIKRoBotSdk hikRoBotSdk;
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private readonly ApiResultCodeUtil codeUtil;
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public HikRoBotService(IHIKRoBotSdk hikRoBotSdk,ApiResultCodeUtil codeUtil)
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{
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this.hikRoBotSdk = hikRoBotSdk;
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this.codeUtil = codeUtil;
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}
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public GbContinueTaskResultDto GbContinueTask(GbContinueTaskDto gbContinueTask)
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{
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try
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{
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if (gbContinueTask == null)
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{
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throw new ArgumentException("输入参数为空。");
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}
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var sdkDto = new HikRoBotSdk.Dto.GbContinueTask.GbContinueTaskDto()
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{
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triggerType = gbContinueTask.TriggerType,
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triggerCode = gbContinueTask.TriggerCode,
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targetRoute = gbContinueTask.TargetRoute != null ? new HikRoBotSdk.Dto.Common.TargetRoute()
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{
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type = gbContinueTask.TargetRoute.Type,
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code = gbContinueTask.TargetRoute.Code,
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operation = gbContinueTask.TargetRoute.Operation,
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} : null,
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extra = gbContinueTask.Extra,
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};
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var resp = this.hikRoBotSdk.GbContinueTask(sdkDto);
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bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
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return new GbContinueTaskResultDto()
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{
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code = hikRoBotStatus,
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msg = resp.message,
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data = new Domain.Model.GbContinueTask.GbContinueTaskResultModel
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{
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RobotTaskCode = resp.data?.robotTaskCode,
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NextSeq = resp.data?.nextSeq,
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Extra = resp.data?.extra,
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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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return new GbContinueTaskResultDto()
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{
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code = HikRoBotStatusEnum.SDK调用异常,
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msg = ex.Message,
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};
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}
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}
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public GbCancelTaskResultDto GbCancelTask(GbCancelTaskDto gbCancelTask)
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{
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try
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{
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if (gbCancelTask == null)
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{
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throw new ArgumentException("输入参数为空。");
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}
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var sdkDto = new HikRoBotSdk.Dto.GbCancelTask.GbCancelTaskDto()
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{
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robotTaskCode = gbCancelTask.RobotTaskCode,
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cancelType = gbCancelTask.CancelType,
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carrierCode = gbCancelTask.CarrierCode,
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robotCode = gbCancelTask.RobotCode,
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reason = gbCancelTask.Reason,
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returnTaskType = gbCancelTask.ReturnTaskType,
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targetRoute = gbCancelTask.TargetRoute != null ? new HikRoBotSdk.Dto.Common.TargetRoute()
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{
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type = gbCancelTask.TargetRoute.Type,
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code = gbCancelTask.TargetRoute.Code,
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} : null,
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extra = gbCancelTask.Extra,
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};
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var resp = this.hikRoBotSdk.GbCancelTask(sdkDto);
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bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
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return new GbCancelTaskResultDto()
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{
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code = hikRoBotStatus,
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msg = resp.message,
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data = new Domain.Model.GbCancelTask.GbCancelTaskResultModel
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{
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RobotTaskCode = resp.data?.robotTaskCode,
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Extra = resp.data?.extra,
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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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return new GbCancelTaskResultDto()
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{
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code = HikRoBotStatusEnum.SDK调用异常,
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msg = ex.Message,
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};
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}
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}
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public GbTaskSubmitResultDto GbTaskSubmit(GbTaskSubmitDto gbTaskSubmit)
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{
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try
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{
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if (gbTaskSubmit == null)
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{
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throw new ArgumentException("输入参数为空。");
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}
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var sdkDto = new HikRoBotSdk.Dto.GbTaskSubmit.GbTaskSubmitDto()
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{
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taskType = gbTaskSubmit.TaskType,
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initPriority = gbTaskSubmit.InitPriority,
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deadline = gbTaskSubmit.Deadline,
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expectedStartTime = gbTaskSubmit.ExpectedStartTime,
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robotType = gbTaskSubmit.RobotType,
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robotCode = gbTaskSubmit.RobotCode,
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interrupt = gbTaskSubmit.Interrupt,
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robotTaskCode = gbTaskSubmit.RobotTaskCode,
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groupCode = gbTaskSubmit.GroupCode,
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extra = gbTaskSubmit.Extra != null ? new HikRoBotSdk.Dto.Common.ExtraInfo() : null,
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targetRoute = gbTaskSubmit.TargetRoute != null ? gbTaskSubmit.TargetRoute.ConvertAll(r => new HikRoBotSdk.Dto.Common.TargetRoute()
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{
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type = r.Type,
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code = r.Code,
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operation = r.Operation,
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robotType = r.RobotType,
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robotCode = r.RobotCode,
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}) : null,
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};
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var resp = this.hikRoBotSdk.GbTaskSubmit(sdkDto);
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bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
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return new GbTaskSubmitResultDto()
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{
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code = hikRoBotStatus,
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msg = resp.message,
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data = new Domain.Model.GbTaskSubmit.GbTaskSubmitResultModel
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{
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code = resp.code,
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message = resp.message,
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data = new Domain.Model.GbTaskSubmit.GbTaskSubmitResultData()
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{
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robotTaskCode = resp.data?.robotTaskCode,
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extra = resp.data?.extra?.ToString(),
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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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return new GbTaskSubmitResultDto()
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{
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code = HikRoBotStatusEnum.SDK调用异常,
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msg = ex.Message,
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};
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}
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}
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public TaskGroupResultDto TaskGroup(Domain.Dto.TaskGroup.TaskGroupDto taskGroup)
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{
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try
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{
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if (taskGroup == null)
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{
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throw new ArgumentException("输入参数为空。");
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}
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var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.TaskGroup.TaskGroupDto()
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{
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groupCode = taskGroup.GroupCode,
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strategy = taskGroup.Strategy,
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strategyValue = taskGroup.StrategyValue,
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groupSeq = !string.IsNullOrEmpty(taskGroup.GroupSeq) ? int.Parse(taskGroup.GroupSeq) : (int?)null,
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targetRoute = taskGroup.TargetRoute != null ? new Sln.Wcs.HikRoBotSdk.Dto.Common.TargetRoute()
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{
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type = taskGroup.TargetRoute.Type,
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code = taskGroup.TargetRoute.Code,
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} : null,
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};
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var resp = this.hikRoBotSdk.TaskGroup(sdkDto);
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bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
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return new TaskGroupResultDto()
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{
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code = hikRoBotStatus,
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msg = resp.message,
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};
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}
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catch (Exception ex)
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{
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return new TaskGroupResultDto()
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{
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code = HikRoBotStatusEnum.SDK调用异常,
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msg = ex.Message,
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};
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}
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}
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public TaskPriorityResultDto SetTaskPriority(Domain.Dto.TaskPriority.TaskPriorityDto taskPriority)
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{
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try
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{
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if (taskPriority == null)
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{
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throw new ArgumentException("输入参数为空。");
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}
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var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.TaskPriority.TaskPriorityDto()
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{
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robotTaskCode = taskPriority.RobotTaskCode,
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initPriority = taskPriority.InitPriority ?? 0,
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deadline = taskPriority.Deadline,
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extra = taskPriority.Extra,
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};
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var resp = this.hikRoBotSdk.SetTaskPriority(sdkDto);
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bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
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return new TaskPriorityResultDto()
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{
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code = hikRoBotStatus,
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msg = resp.message,
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data = new Domain.Model.TaskPriority.TaskPriorityResultModel
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{
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RobotTaskCode = resp.data?.robotTaskCode,
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Extra = resp.data?.extra?.ToString(),
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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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return new TaskPriorityResultDto()
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{
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code = HikRoBotStatusEnum.SDK调用异常,
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msg = ex.Message,
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};
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}
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}
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public ZonePauseResultDto ZonePause(Domain.Dto.ZonePause.ZonePauseDto zonePause)
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{
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try
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{
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if (zonePause == null)
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{
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throw new ArgumentException("输入参数为空。");
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}
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var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.ZonePause.ZonePauseDto()
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{
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zoneCode = zonePause.ZoneCode,
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mapCode = zonePause.MapCode,
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invoke = zonePause.Invoke,
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};
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var resp = this.hikRoBotSdk.ZonePause(sdkDto);
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bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
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return new ZonePauseResultDto()
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{
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code = hikRoBotStatus,
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msg = resp.message,
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data = new Domain.Model.ZonePause.ZonePauseResultModel
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{
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Extra = resp.extra?.ToString(),
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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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return new ZonePauseResultDto()
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{
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code = HikRoBotStatusEnum.SDK调用异常,
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msg = ex.Message,
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};
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}
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}
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public ZoneHomingResultDto ZoneHoming(Domain.Dto.ZoneHoming.ZoneHomingDto zoneHoming)
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{
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try
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{
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if (zoneHoming == null)
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{
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throw new ArgumentException("输入参数为空。");
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}
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var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.ZoneHoming.ZoneHomingDto()
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{
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mapCode = zoneHoming.MapCode,
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zoneCode = zoneHoming.ZoneCode,
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zoneCodes = zoneHoming.ZoneCodes,
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autoShutdown = zoneHoming.AutoShutdown.ToString().ToLower(),
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bootTime = zoneHoming.BootTime,
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expireTime = zoneHoming.ExpireTime,
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extra = zoneHoming.Extra,
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};
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var resp = this.hikRoBotSdk.ZoneHoming(sdkDto);
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bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
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return new ZoneHomingResultDto()
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{
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code = hikRoBotStatus,
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msg = resp.message,
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data = new Domain.Model.ZoneHoming.ZoneHomingResultModel
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{
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HomingCode = resp.data?.homingCode,
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RobotCount = resp.data?.robotCount ?? 0,
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Extra = resp.data?.extra?.ToString(),
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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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return new ZoneHomingResultDto()
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{
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code = HikRoBotStatusEnum.SDK调用异常,
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msg = ex.Message,
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};
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}
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}
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public ZoneBanishResultDto ZoneBanish(Domain.Dto.ZoneBanish.ZoneBanishDto zoneBanish)
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{
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try
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|
{
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if (zoneBanish == null)
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{
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throw new ArgumentException("输入参数为空。");
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}
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|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.ZoneBanish.ZoneBanishDto()
|
|
|
{
|
|
|
zoneCode = zoneBanish.ZoneCode,
|
|
|
zoneCodes = zoneBanish.ZoneCodes,
|
|
|
targetZoneCode = zoneBanish.TargetZoneCode,
|
|
|
pause = zoneBanish.Pause.ToString().ToLower(),
|
|
|
report = zoneBanish.Report.ToString().ToLower(),
|
|
|
controlMode = zoneBanish.ControlMode,
|
|
|
expireTime = zoneBanish.ExpireTime,
|
|
|
invoke = zoneBanish.Invoke,
|
|
|
extra = zoneBanish.Extra,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.ZoneBanish(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new ZoneBanishResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.ZoneBanish.ZoneBanishResultModel
|
|
|
{
|
|
|
BanishCode = resp.data?.banishCode,
|
|
|
Extra = resp.data?.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new ZoneBanishResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public ZoneBlockadeResultDto ZoneBlockade(Domain.Dto.ZoneBlockade.ZoneBlockadeDto zoneBlockade)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (zoneBlockade == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.ZoneBlockade.ZoneBlockadeDto()
|
|
|
{
|
|
|
zoneCode = zoneBlockade.ZoneCode,
|
|
|
mapCode = zoneBlockade.MapCode,
|
|
|
invoke = zoneBlockade.Invoke,
|
|
|
pause = zoneBlockade.Pause.ToString().ToLower(),
|
|
|
report = zoneBlockade.Report.ToString().ToLower(),
|
|
|
disableSite = zoneBlockade.DisableSite,
|
|
|
enableSite = zoneBlockade.EnableSite,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.ZoneBlockade(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new ZoneBlockadeResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.ZoneBlockade.ZoneBlockadeResultModel
|
|
|
{
|
|
|
Extra = resp.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new ZoneBlockadeResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public CarrierBindResultDto CarrierBind(Domain.Dto.CarrierBind.CarrierBindDto carrierBind)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (carrierBind == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.CarrierBind.CarrierBindDto()
|
|
|
{
|
|
|
carrierCode = carrierBind.CarrierCode,
|
|
|
siteCode = carrierBind.SiteCode,
|
|
|
carrierDir = carrierBind.CarrierDir,
|
|
|
extra = carrierBind.Extra,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.CarrierBind(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new CarrierBindResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.CarrierBind.CarrierBindResultModel
|
|
|
{
|
|
|
Extra = resp.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new CarrierBindResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public CarrierUnbindResultDto CarrierUnbind(Domain.Dto.CarrierUnbind.CarrierUnbindDto carrierUnbind)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (carrierUnbind == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.CarrierUnbind.CarrierUnbindDto()
|
|
|
{
|
|
|
carrierCode = carrierUnbind.CarrierCode,
|
|
|
siteCode = carrierUnbind.SiteCode,
|
|
|
extra = carrierUnbind.Extra,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.CarrierUnbind(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new CarrierUnbindResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.CarrierUnbind.CarrierUnbindResultModel
|
|
|
{
|
|
|
Extra = resp.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new CarrierUnbindResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public SiteBindResultDto SiteBind(Domain.Dto.SiteBind.SiteBindDto siteBind)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (siteBind == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.SiteBind.SiteBindDto()
|
|
|
{
|
|
|
slotCategory = siteBind.SlotCategory,
|
|
|
slotCode = siteBind.SlotCode,
|
|
|
carrierCategory = siteBind.CarrierCategory,
|
|
|
carrierType = siteBind.CarrierType,
|
|
|
carrierCode = siteBind.CarrierCode,
|
|
|
carrierDir = siteBind.CarrierDir,
|
|
|
invoke = siteBind.Invoke,
|
|
|
stackLabel = siteBind.StackLabel,
|
|
|
colCount = siteBind.ColCount,
|
|
|
extra = siteBind.Extra,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.SiteBind(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new SiteBindResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.SiteBind.SiteBindResultModel
|
|
|
{
|
|
|
Extra = resp.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new SiteBindResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public CarrierLockResultDto CarrierLock(Domain.Dto.CarrierLock.CarrierLockDto carrierLock)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (carrierLock == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.CarrierLock.CarrierLockDto()
|
|
|
{
|
|
|
carrierCode = carrierLock.CarrierCode,
|
|
|
invoke = carrierLock.Invoke,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.CarrierLock(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new CarrierLockResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new CarrierLockResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public SiteLockResultDto SiteLock(Domain.Dto.SiteLock.SiteLockDto siteLock)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (siteLock == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.SiteLock.SiteLockDto()
|
|
|
{
|
|
|
siteCode = siteLock.SiteCode,
|
|
|
invoke = siteLock.Invoke,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.SiteLock(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new SiteLockResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new SiteLockResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public PreTaskResultDto PreTask(Domain.Dto.PreTask.PreTaskDto preTask)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (preTask == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.PreTask.PreTaskDto()
|
|
|
{
|
|
|
siteCode = preTask.SiteCode,
|
|
|
nextTaskTime = preTask.NextTaskTime,
|
|
|
robotType = preTask.RobotType,
|
|
|
priority = preTask.Priority,
|
|
|
taskCount = preTask.TaskCount,
|
|
|
capacityCount = preTask.CapacityCount,
|
|
|
amrDir = preTask.AmrDir,
|
|
|
extra = preTask.Extra,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.PreTask(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new PreTaskResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.PreTask.PreTaskResultModel
|
|
|
{
|
|
|
RobotTaskCode = resp.data?.robotTaskCode,
|
|
|
Extra = resp.data?.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new PreTaskResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public QueryTaskResultDto QueryTaskStatus(Domain.Dto.QueryTask.QueryTaskDto queryTask)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (queryTask == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.QueryTask.QueryTaskDto()
|
|
|
{
|
|
|
robotTaskCode = queryTask.RobotTaskCode,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.QueryTaskStatus(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
var model = new Domain.Model.QueryTask.QueryTaskResultModel
|
|
|
{
|
|
|
RobotTaskCode = resp.data?.robotTaskCode,
|
|
|
TaskType = resp.data?.taskType,
|
|
|
TaskStatus = resp.data?.taskStatus,
|
|
|
InitPriority = resp.data?.initPriority,
|
|
|
Deadline = resp.data?.deadline,
|
|
|
SingleRobotCode = resp.data?.singleRobotCode,
|
|
|
CurrentSeq = resp.data?.currentSeq,
|
|
|
Extra = resp.data?.extra?.ToString(),
|
|
|
};
|
|
|
|
|
|
if (resp.data?.targetRoute != null)
|
|
|
{
|
|
|
model.TargetRoute = resp.data.targetRoute.Select(r => new Domain.Model.QueryTask.TargetRoute
|
|
|
{
|
|
|
Type = r.type,
|
|
|
Code = r.code,
|
|
|
}).ToList();
|
|
|
}
|
|
|
|
|
|
if (resp.data?.waring != null)
|
|
|
{
|
|
|
model.Waring = new Domain.Model.QueryTask.Waring
|
|
|
{
|
|
|
Code = resp.data.waring.taskWarnCode,
|
|
|
Desc = resp.data.waring.errorMsg,
|
|
|
};
|
|
|
}
|
|
|
|
|
|
return new QueryTaskResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = model,
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new QueryTaskResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public QueryRobotResultDto QueryRobotStatus(Domain.Dto.QueryRobot.QueryRobotDto queryRobot)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (queryRobot == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.QueryRobot.QueryRobotDto()
|
|
|
{
|
|
|
singleRobotCode = queryRobot.SingleRobotCode,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.QueryRobotStatus(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
var model = new Domain.Model.QueryRobot.QueryRobotResultModel
|
|
|
{
|
|
|
SingleRobotCode = resp.data?.singleRobotCode,
|
|
|
RobotDir = resp.data?.robotDir ?? 0,
|
|
|
RobotIp = resp.data?.robotIp,
|
|
|
Battery = resp.data?.battery ?? 0,
|
|
|
Speed = resp.data?.speed ?? 0,
|
|
|
CarrierCode = resp.data?.carrierCode,
|
|
|
Extra = resp.data?.extra?.ToString(),
|
|
|
};
|
|
|
|
|
|
if (double.TryParse(resp.data?.x, out double xVal))
|
|
|
{
|
|
|
model.X = xVal;
|
|
|
}
|
|
|
|
|
|
if (double.TryParse(resp.data?.y, out double yVal))
|
|
|
{
|
|
|
model.Y = yVal;
|
|
|
}
|
|
|
|
|
|
if (resp.data?.robotStatus != null)
|
|
|
{
|
|
|
model.RobotStatus = resp.data.robotStatus.taskable;
|
|
|
}
|
|
|
|
|
|
if (resp.data?.warnings != null)
|
|
|
{
|
|
|
model.Warnings = resp.data.warnings.Select(w => new Domain.Model.QueryRobot.Waring
|
|
|
{
|
|
|
Code = w.taskWarnCode,
|
|
|
Desc = w.errorMsg,
|
|
|
}).ToList();
|
|
|
}
|
|
|
|
|
|
return new QueryRobotResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = model,
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new QueryRobotResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public QueryCarrierResultDto QueryCarrierStatus(Domain.Dto.QueryCarrier.QueryCarrierDto queryCarrier)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (queryCarrier == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.QueryCarrier.QueryCarrierDto()
|
|
|
{
|
|
|
carrierCode = queryCarrier.CarrierCode,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.QueryCarrierStatus(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
var model = new Domain.Model.QueryCarrier.QueryCarrierResultModel
|
|
|
{
|
|
|
CarrierCode = resp.data?.carrierCode,
|
|
|
RobotTaskCode = resp.data?.robotTaskCode,
|
|
|
SiteCode = resp.data?.siteCode,
|
|
|
CarrierDir = resp.data?.carrierDir,
|
|
|
CarrierStatus = resp.data?.carrierStatus,
|
|
|
BinCode = resp.data?.binCode,
|
|
|
BinName = resp.data?.binName,
|
|
|
RobotCode = resp.data?.robotCode,
|
|
|
Extra = resp.data?.extra?.ToString(),
|
|
|
};
|
|
|
|
|
|
if (double.TryParse(resp.data?.x, out double xVal))
|
|
|
{
|
|
|
model.X = xVal;
|
|
|
}
|
|
|
|
|
|
if (double.TryParse(resp.data?.y, out double yVal))
|
|
|
{
|
|
|
model.Y = yVal;
|
|
|
}
|
|
|
|
|
|
return new QueryCarrierResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = model,
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new QueryCarrierResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public MatLabelBindResultDto MatLabelBind(Domain.Dto.MatLabelBind.MatLabelBindDto matLabelBind)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (matLabelBind == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.MatLabelBind.MatLabelBindDto()
|
|
|
{
|
|
|
carrierCode = matLabelBind.CarrierCode,
|
|
|
matLabel = matLabelBind.MatLabel,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.MatLabelBind(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new MatLabelBindResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.MatLabelBind.MatLabelBindResultModel
|
|
|
{
|
|
|
Extra = resp.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new MatLabelBindResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public MatLabelUnbindResultDto MatLabelUnbind(Domain.Dto.MatLabelUnbind.MatLabelUnbindDto matLabelUnbind)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (matLabelUnbind == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.MatLabelUnbind.MatLabelUnbindDto()
|
|
|
{
|
|
|
carrierCode = matLabelUnbind.CarrierCode,
|
|
|
matLabel = matLabelUnbind.MatLabel,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.MatLabelUnbind(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new MatLabelUnbindResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new MatLabelUnbindResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public EquipmentNotifyResultDto EquipmentNotify(Domain.Dto.EquipmentNotify.EquipmentNotifyDto equipmentNotify)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (equipmentNotify == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.EquipmentNotify.EquipmentNotifyDto()
|
|
|
{
|
|
|
eqptCode = equipmentNotify.EqptCode,
|
|
|
taskCode = equipmentNotify.TaskCode,
|
|
|
actionStatus = equipmentNotify.ActionStatus,
|
|
|
siteCode = equipmentNotify.SiteCode,
|
|
|
extra = equipmentNotify.Extra,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.EquipmentNotify(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new EquipmentNotifyResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.EquipmentNotify.EquipmentNotifyResultModel
|
|
|
{
|
|
|
RobotTaskCode = resp.data?.robotTaskCode,
|
|
|
NextSeq = resp.data?.nextSeq,
|
|
|
Extra = resp.data?.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new EquipmentNotifyResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public EquipmentNotifyResultDto EquipmentNotifyGbt(Domain.Dto.EquipmentNotify.EquipmentNotifyDto equipmentNotify)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
if (equipmentNotify == null)
|
|
|
{
|
|
|
throw new ArgumentException("输入参数为空。");
|
|
|
}
|
|
|
|
|
|
var sdkDto = new Sln.Wcs.HikRoBotSdk.Dto.EquipmentNotify.EquipmentNotifyDto()
|
|
|
{
|
|
|
eqptCode = equipmentNotify.EqptCode,
|
|
|
taskCode = equipmentNotify.TaskCode,
|
|
|
actionStatus = equipmentNotify.ActionStatus,
|
|
|
siteCode = equipmentNotify.SiteCode,
|
|
|
extra = equipmentNotify.Extra,
|
|
|
};
|
|
|
|
|
|
var resp = this.hikRoBotSdk.EquipmentNotifyGbt(sdkDto);
|
|
|
|
|
|
bool parseRes = this.codeUtil.parse(resp.code, resp.message, out HikRoBotStatusEnum hikRoBotStatus);
|
|
|
|
|
|
return new EquipmentNotifyResultDto()
|
|
|
{
|
|
|
code = hikRoBotStatus,
|
|
|
msg = resp.message,
|
|
|
data = new Domain.Model.EquipmentNotify.EquipmentNotifyResultModel
|
|
|
{
|
|
|
RobotTaskCode = resp.data?.robotTaskCode,
|
|
|
NextSeq = resp.data?.nextSeq,
|
|
|
Extra = resp.data?.extra?.ToString(),
|
|
|
},
|
|
|
};
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
return new EquipmentNotifyResultDto()
|
|
|
{
|
|
|
code = HikRoBotStatusEnum.SDK调用异常,
|
|
|
msg = ex.Message,
|
|
|
};
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|