BPASmartClient/BPASmartClient.AGV/AGVHelper.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Net;
using System.Web;
using Newtonsoft.Json;
using System.Net.Http;
using System.Configuration;
using System.Security.Cryptography;

namespace BPASmartClient.AGV
{
    public class AGVHelper
    {
        public static AGVHelper _Instance { get; set; }
        public static AGVHelper GetInstance => _Instance ?? (_Instance = new AGVHelper());

        public AGVHelper()
        {

        }
        /// <summary>
        /// 获取配置文件信息
        /// </summary>
        /// <param name="strKey"></param>
        /// <returns></returns>
        public string GetAppSettingValue(string strKey)
        {
            string file = System.Environment.CurrentDirectory;
            Configuration config = ConfigurationManager.OpenExeConfiguration(file);
            foreach (string key in config.AppSettings.Settings.AllKeys)
            {
                if (key == strKey)
                {
                    return config.AppSettings.Settings[strKey].Value.ToString();
                }
            }
            return null;
        }
        public string HttpRequest(string url, string head, string body)
        {
            return PostData(url, head, body);
        }
        public string PostData(string url, string head, string body)
        {
            HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);
            request.Method = "POST";
            request.Headers["header"] = head;
            request.Proxy = null;
            byte[] bytes = Encoding.UTF8.GetBytes(body);
            request.ContentType = "application/json; charset=UTF-8"; ;//窗体数据被编码为名称/值对形式
            //request.ContentType = "application/json";
            request.ContentLength = bytes.Length;
            Stream myResponseStream = request.GetRequestStream();
            myResponseStream.Write(bytes, 0, bytes.Length);
            HttpWebResponse response = (HttpWebResponse)request.GetResponse();
            StreamReader myStreamReader = new StreamReader(response.GetResponseStream(), Encoding.UTF8);//解码
            string retString = myStreamReader.ReadToEnd();
            myStreamReader.Close();
            myResponseStream.Close();

            if (response != null)
            {
                response.Close();
            }
            if (request != null)
            {
                request.Abort();
            }
            return retString;//返回响应报文
        }
        /// <summary>
        /// MD5哈希摘要转16进制
        /// </summary>
        /// <param name="body"></param>
        /// <returns></returns>
        public string MD5Deal(string body)
        {
            //如果启用签名 用MD5 哈希摘要 再转16进制
            MD5 md5 = MD5.Create();
            byte[] bte = md5.ComputeHash(Encoding.UTF8.GetBytes(body));
            StringBuilder build = new StringBuilder();
            for (int i = 0; i < bte.Length; i++)
            {
                build.Append(bte[i].ToString("X"));
            }
            
            return build.ToString();
        }
        /// <summary>
        /// AGV去1号线体装桶
        /// </summary>
        /// <returns></returns>
        public string AgvToLineOneLoadRoller(string robotJobId)
        {
            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            ////请求报文头
            //HttpRequestHeaderModel.GetInstance.appKey = "";
            //HttpRequestHeaderModel.GetInstance.appSecret = "";
            //HttpRequestHeaderModel.GetInstance.requestId = "";
            //HttpRequestHeaderModel.GetInstance.timestamp = "";
            //HttpRequestHeaderModel.GetInstance.version = "2.8";
            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            ////请求报文体
            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            ////详细任务数据
            ////点到点
            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
            //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            //// string newBody = String.Join(",\r\n", body.Split(','));//格式处理，看需求

            ////货位到货位
            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////启用签名
            ////url = url + "?sign=" + MD5Deal(body);
            //string data = HttpRequest(url, head, body);
            //object objData = JsonConvert.DeserializeObject(data);
            //if (objData != null && objData is HttpResponseBodyModel response)
            //{
            //    return response.code;
            //}
            return "Analysis Error";
        }
        /// <summary>
        /// AGV去2号线体装桶
        /// </summary>
        /// <returns></returns>
        public string AgvToLineTwoLoadRoller(string robotJobId)
        {
            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            ////请求报文头
            //HttpRequestHeaderModel.GetInstance.appKey = "";
            //HttpRequestHeaderModel.GetInstance.appSecret = "";
            //HttpRequestHeaderModel.GetInstance.requestId = "";
            //HttpRequestHeaderModel.GetInstance.timestamp = "";
            //HttpRequestHeaderModel.GetInstance.version = "2.8";
            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            ////请求报文体
            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            ////详细任务数据
            ////点到点
            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
            //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////货位到货位
            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////启用签名
            ////url = url + "?sign=" + MD5Deal(body);
            //string data= HttpRequest(url, head, body);
            //object objData = JsonConvert.DeserializeObject(data);
            //if (objData != null && objData is HttpResponseBodyModel response)
            //{
            //    return response.code;
            //}
            return "Analysis Error";
        }
        /// <summary>
        /// AGV去3号线体装桶
        /// </summary>
        /// <returns></returns>
        public string AgvToLineThreeLoadRoller(string robotJobId)
        {
            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            ////请求报文头
            //HttpRequestHeaderModel.GetInstance.appKey = "";
            //HttpRequestHeaderModel.GetInstance.appSecret = "";
            //HttpRequestHeaderModel.GetInstance.requestId = "";
            //HttpRequestHeaderModel.GetInstance.timestamp = "";
            //HttpRequestHeaderModel.GetInstance.version = "2.8";
            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            ////请求报文体
            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            ////详细任务数据
            ////点到点
            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
            //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////货位到货位
            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////启用签名
            ////url = url + "?sign=" + MD5Deal(body);
            //string data = HttpRequest(url, head, body);
            //object objData = JsonConvert.DeserializeObject(data);
            //if (objData != null && objData is HttpResponseBodyModel response)
            //{
            //    return response.code;
            //}
            return "Analysis Error";
        }
        /// <summary>
        /// AGV离开炒锅1
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveFryPotOne(string robotJobId)
        {
            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            ////请求报文头
            //HttpRequestHeaderModel.GetInstance.appKey = "";
            //HttpRequestHeaderModel.GetInstance.appSecret = "";
            //HttpRequestHeaderModel.GetInstance.requestId = "";
            //HttpRequestHeaderModel.GetInstance.timestamp = "";
            //HttpRequestHeaderModel.GetInstance.version = "2.8";
            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            ////请求报文体
            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            ////详细任务数据
            ////点到点
            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
            //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////货位到货位
            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////启用签名
            ////url = url + "?sign=" + MD5Deal(body);
            //string data = HttpRequest(url, head, body);
            //object objData = JsonConvert.DeserializeObject(data);
            //if (objData != null && objData is HttpResponseBodyModel response)
            //{
            //    return response.code;
            //}
            return "Analysis Error";
        }
        /// <summary>
        /// AGV离开炒锅2
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveFryPotTwo(string robotJobId)
        {
            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            ////请求报文头
            //HttpRequestHeaderModel.GetInstance.appKey = "";
            //HttpRequestHeaderModel.GetInstance.appSecret = "";
            //HttpRequestHeaderModel.GetInstance.requestId = "";
            //HttpRequestHeaderModel.GetInstance.timestamp = "";
            //HttpRequestHeaderModel.GetInstance.version = "2.8";
            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            ////请求报文体
            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            ////详细任务数据
            ////点到点
            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
            //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////货位到货位
            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////启用签名
            ////url = url + "?sign=" + MD5Deal(body);
            //string data = HttpRequest(url, head, body);
            //object objData = JsonConvert.DeserializeObject(data);
            //if (objData != null && objData is HttpResponseBodyModel response)
            //{
            //    return response.code;
            //}
            return "Analysis Error";
        }
        /// <summary>
        /// AGV离开炒锅3
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveFryPotThree(string robotJobId)
        {
            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            ////请求报文头
            //HttpRequestHeaderModel.GetInstance.appKey = "";
            //HttpRequestHeaderModel.GetInstance.appSecret = "";
            //HttpRequestHeaderModel.GetInstance.requestId = "";
            //HttpRequestHeaderModel.GetInstance.timestamp = "";
            //HttpRequestHeaderModel.GetInstance.version = "2.8";
            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            ////请求报文体
            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            ////详细任务数据
            ////点到点
            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
            //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////货位到货位
            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////启用签名
            ////url = url + "?sign=" + MD5Deal(body);
            //string data = HttpRequest(url, head, body);
            //object objData = JsonConvert.DeserializeObject(data);
            //if (objData != null && objData is HttpResponseBodyModel response)
            //{
            //    return response.code;
            //}
            return "Analysis Error";
        }
        /// <summary>
        /// AGV离开炒锅4
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveFryPotFour(string robotJobId)
        {
            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            ////请求报文头
            //HttpRequestHeaderModel.GetInstance.appKey = "";
            //HttpRequestHeaderModel.GetInstance.appSecret = "";
            //HttpRequestHeaderModel.GetInstance.requestId = "";
            //HttpRequestHeaderModel.GetInstance.timestamp = "";
            //HttpRequestHeaderModel.GetInstance.version = "2.8";
            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            ////请求报文体
            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            ////详细任务数据
            ////点到点
            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
            //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////货位到货位
            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////启用签名
            ////url = url + "?sign=" + MD5Deal(body);
            //string data = HttpRequest(url, head, body);
            //object objData = JsonConvert.DeserializeObject(data);
            //if (objData != null && objData is HttpResponseBodyModel response)
            //{
            //    return response.code;
            //}
            return "Analysis Error";
        }
        /// <summary>
        /// AGV离开炒锅5
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveFryPotFive(string robotJobId)
        {
            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            ////请求报文头
            //HttpRequestHeaderModel.GetInstance.appKey = "";
            //HttpRequestHeaderModel.GetInstance.appSecret = "";
            //HttpRequestHeaderModel.GetInstance.requestId = "";
            //HttpRequestHeaderModel.GetInstance.timestamp = "";
            //HttpRequestHeaderModel.GetInstance.version = "2.8";
            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            ////请求报文体
            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            ////详细任务数据
            ////点到点
            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
            //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////货位到货位
            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
            ////启用签名
            ////url = url + "?sign=" + MD5Deal(body);
            //string data = HttpRequest(url, head, body);
            //object objData = JsonConvert.DeserializeObject(data);
            //if (objData != null && objData is HttpResponseBodyModel response)
            //{
            //    return response.code;
            //}
            return "Analysis Error";
        }
        /// <summary>
        /// 任务取消
        /// </summary>
        /// <param name="robotJobId">上游系统任务号，全局唯一</param>
        public string CancelJobTask(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskCancelUrl;
            //请求报文头
            HttpRequestHeaderModel.GetInstance.appKey = "";
            HttpRequestHeaderModel.GetInstance.appSecret = "";
            HttpRequestHeaderModel.GetInstance.requestId = "";
            HttpRequestHeaderModel.GetInstance.timestamp = "";
            HttpRequestHeaderModel.GetInstance.version = "2.8";
            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            //请求报文体
            AGVTaskCancelModel.GetInstance.robotJobId = robotJobId;
            AGVTaskCancelModel.GetInstance.warehouseId = 123;//仓库编号
            string body = JsonConvert.SerializeObject(AGVTaskCancelModel.GetInstance);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body);
            object objData = JsonConvert.DeserializeObject(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
        /// <summary>
        /// 实操任务完成通知
        /// </summary>
        /// <returns></returns>
        public string TaskCompleteNotify(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskCompleteUrl;
            //请求报文头
            HttpRequestHeaderModel.GetInstance.appKey = "";
            HttpRequestHeaderModel.GetInstance.appSecret = "";
            HttpRequestHeaderModel.GetInstance.requestId = "";
            HttpRequestHeaderModel.GetInstance.timestamp = "";
            HttpRequestHeaderModel.GetInstance.version = "2.8";
            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            //请求报文体
            AGVTaskCompleteNotifyModel.GetInstance.robotJobId = robotJobId;
            AGVTaskCompleteNotifyModel.GetInstance.warehouseId = 123;//仓库编号
            string body = JsonConvert.SerializeObject(AGVTaskCompleteNotifyModel.GetInstance);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body);
            object objData = JsonConvert.DeserializeObject(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
        /// <summary>
        /// AGV上下料交互反馈
        /// </summary>
        /// <param name="agvCode">AGV编号</param>
        /// <param name="jobId">任务编号</param>
        /// <param name="msgId">消息编号</param>
        /// <returns></returns>
        public string UpDownFeedBack(string agvCode, string jobId, string msgId)
        {
            string url = AGVRequestUrl.GetInstance.TaskCompleteUrl;
            //请求报文头
            HttpRequestHeaderModel.GetInstance.appKey = "";
            HttpRequestHeaderModel.GetInstance.appSecret = "";
            HttpRequestHeaderModel.GetInstance.requestId = "";
            HttpRequestHeaderModel.GetInstance.timestamp = "";
            HttpRequestHeaderModel.GetInstance.version = "2.8";
            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
            //请求报文体
            AGVLoadInteracteModel.GetInstance.agvCode = agvCode;
            AGVLoadInteracteModel.GetInstance.jobId = jobId;
            AGVLoadInteracteModel.GetInstance.msgId = msgId;
            string body = JsonConvert.SerializeObject(AGVLoadInteracteModel.GetInstance);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body);
            object objData = JsonConvert.DeserializeObject(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
    }
}