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());

        Configuration config = System.Configuration.ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
        //根据Key读取<add>元素的Value
        //  string name = config.AppSettings.Settings["name"].Value;
        public List<string> resId = new List<string>();

        public AGVHelper()
        {

        }

        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(new Uri(url));
            request.Method = "POST";
            request.Headers["header"] = head;
            request.Proxy = null;
            byte[] bytes = Encoding.UTF8.GetBytes(body);
            request.ContentType = "application/json"; //窗体数据被编码为名称/值对形式
            //request.ContentType = "application/json";
            request.ContentLength = bytes.Length;
            request.ServicePoint.Expect100Continue = false;
            Stream myResponseStream = request.GetRequestStream();
            myResponseStream.Write(bytes, 0, bytes.Length);
            HttpWebResponse response = (HttpWebResponse)request.GetResponse();
            Stream stream = response.GetResponseStream();
            StreamReader myStreamReader = new StreamReader(stream);//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();
        }
        public string ResquestIdGenerate()
        {
        eq: string reqId = Guid.NewGuid().ToString("D");
            string Id = resId.FirstOrDefault(p => p == reqId);
            if (Id != null)
                goto eq;
            resId.Add(reqId);
            if (resId.Count > 15)
            {
                resId.RemoveRange(0,5);//定期清理请求Id
            }
            return Id;
        }
        /// <summary>
        /// AGV去1号线体装桶到炒锅1
        /// </summary>
        /// <returns></returns>
        public string AgvToLineOneLoadRoller(string robotJobId)
        {

            //bool b = Convert.ToBoolean(config.AppSettings.Settings["appKey"].Value);//配置文件信息读取
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();//时间戳
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value);//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value; //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["LineOnePoint"].Value;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["FryPotOnePoint"].Value; ;//目的点位

           
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value); //是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); ;//上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); ;//是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 1;
            httpJobData.unloadEquipmentId = 5;
            httpModel.jobData = httpJobData;
            string body = "["+JsonConvert.SerializeObject(httpModel)+"]";
            // string newBody = String.Join(",\r\n", body.Split(','));//格式处理，看需求

            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
       

            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }

        /// <summary>
        /// AGV去1号线体装桶到炒锅4
        /// </summary>
        /// <returns></returns>
        public string AgvFromLineOneToFryFourLoadRoller(string robotJobId)
        {

            //bool b = Convert.ToBoolean(config.AppSettings.Settings["appKey"].Value);//配置文件信息读取
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();//时间戳
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value);//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value; //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["LineOnePoint"].Value; ;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["FryPotFourPoint"].Value; ;//目的点位

            //httpJobData.startPoint = config.AppSettings.Settings["FryPotFivePoint"].Value;//起点点位
            //httpJobData.endPoint = config.AppSettings.Settings["FryPotFourPoint"].Value; ;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value); //是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); ;//上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); ;//是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 1;
            httpJobData.unloadEquipmentId = 8;
            httpModel.jobData = httpJobData;
            string body ="["+ JsonConvert.SerializeObject(httpModel)+"]";
            // string newBody = String.Join(",\r\n", body.Split(','));//格式处理，看需求

            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");

            var  objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
        /// <summary>
        /// AGV去2号线体装桶到炒锅2
        /// </summary>
        /// <returns></returns>
        public string AgvToLineTwoLoadRoller(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority =Convert.ToInt32( config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["LineTwoPoint"].Value;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["FryPotTwoPoint"].Value; ;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 2;
            httpJobData.unloadEquipmentId = 6;
            httpModel.jobData = httpJobData;
            string body ="["+ JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
        /// <summary>
        /// AGV去2号线体装桶到炒锅5
        /// </summary>
        /// <returns></returns>
        public string AgvFromLineTwoToFryFiveLoadRoller(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["LineTwoPoint"].Value; ;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["FryPotFivePoint"].Value; ;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 2;
            httpJobData.unloadEquipmentId = 9;
            httpModel.jobData = httpJobData;
            string body = "["+JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(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 httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["LineThreePoint"].Value;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["FryPotThreePoint"].Value;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 3;
            httpJobData.unloadEquipmentId = 7;
            httpModel.jobData = httpJobData;
            string body = "["+JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData=new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[","").Replace("]","");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
        /// <summary>
        /// AGV从清洗台到4号线体卸桶
        /// </summary>
        /// <returns></returns>
        public string AgvFromCleanToLineFourUnLoadRoller(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["CleanPoint"].Value; ;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["LineFourPoint"].Value; ;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 10;
            httpJobData.unloadEquipmentId = 44;
            httpModel.jobData = httpJobData;
            string body ="["+ JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(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 httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["FryPotOnePoint"].Value; ;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["LineFourPoint"].Value; ;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 5;
            httpJobData.unloadEquipmentId = 40;
            httpModel.jobData = httpJobData;
            string body = "["+JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(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 httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["FryPotTwoPoint"].Value; //起点点位
            httpJobData.endPoint = config.AppSettings.Settings["LineFourPoint"].Value;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 6;
            httpJobData.unloadEquipmentId = 41;
            httpModel.jobData = httpJobData;
            string body ="["+ JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(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 httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["FryPotThreePoint"].Value;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["LineFourPoint"].Value;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 7;
            httpJobData.unloadEquipmentId = 42;
            httpModel.jobData = httpJobData;
            string body ="["+ JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(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 httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["FryPotFourPoint"].Value;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["LineFourPoint"].Value;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 8;
            httpJobData.unloadEquipmentId = 40;
            httpModel.jobData = httpJobData;
            string body = "["+JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(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 httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["FryPotFivePoint"].Value;//起点点位
            httpJobData.endPoint = config.AppSettings.Settings["LineFourPoint"].Value;//目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 9;
            httpJobData.unloadEquipmentId = 41;
            httpModel.jobData = httpJobData;
            string body = "["+JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }

        /// <summary>
        /// AGV从1号线运空桶洗桶
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveLOneToClean(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["LineOnePoint"].Value; //起点点位
            httpJobData.endPoint = config.AppSettings.Settings["CleanPoint"].Value; //目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 11;
            httpJobData.unloadEquipmentId = 10;
            httpModel.jobData = httpJobData;
            string body = "["+JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
        /// <summary>
        /// AGV从2号线运空桶洗桶
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveLTwoToClean(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["LineTwoPoint"].Value; //起点点位
            httpJobData.endPoint = config.AppSettings.Settings["CleanPoint"].Value; //目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 22;
            httpJobData.unloadEquipmentId = 20;
            httpModel.jobData = httpJobData;
            string body ="["+ JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
        /// <summary>
        /// AGV从3号线运空桶洗桶
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveLThreeToClean(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; ;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["LineThreePoint"].Value; //起点点位
            httpJobData.endPoint = config.AppSettings.Settings["CleanPoint"].Value; //目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 33;
            httpJobData.unloadEquipmentId = 30;
            httpModel.jobData = httpJobData;
            string body ="["+ JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
        /// <summary>
        /// AGV从洗桶处运桶到4号洗桶线
        /// </summary>
        /// <returns></returns>
        public string AgvLeaveCleanToLFour(string robotJobId)
        {
            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value; 
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVModel httpModel = new AGVModel();
            httpModel.robotJobId = robotJobId;//上游提供
            httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
            httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
            httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
            //详细任务数据
            //点到点
            AGV_PointRollerJobData httpJobData = new AGV_PointRollerJobData();
            httpJobData.startPoint = config.AppSettings.Settings["CleanPoint"].Value; //起点点位
            httpJobData.endPoint = config.AppSettings.Settings["LineFourPoint"].Value; //目的点位
            httpJobData.autoLoad = Convert.ToBoolean(config.AppSettings.Settings["autoLoad"].Value);//是否自动上料 true:自动上料  false:人工上料
            httpJobData.enableIOLoad = Convert.ToBoolean(config.AppSettings.Settings["enableIOLoad"].Value); //上料交互方式 false:接口交互  true:光电交互
            httpJobData.autoUnload = Convert.ToBoolean(config.AppSettings.Settings["autoUnload"].Value); //是否自动下料 true:自动下料  false:人工下料
            httpJobData.enableIOUnload = Convert.ToBoolean(config.AppSettings.Settings["enableIOUnload"].Value); ;//下料交互方式 false:接口交互  true:光电交互
            httpJobData.loadEquipmentId = 10;
            httpJobData.unloadEquipmentId = 44;
            httpModel.jobData = httpJobData;
            string body = "["+JsonConvert.SerializeObject(httpModel)+"]";
            //货位到货位
            //AGV_SlotRollerJobData httpSlotJobData = new AGV_SlotRollerJobData();
            //httpSlotJobData.startSlotCode = "";//起点槽位编号
            //httpSlotJobData.endSlotCode = "";//目的槽位编号
            //httpSlotJobData.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
            //httpSlotJobData.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
            //httpSlotJobData.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
            //httpSlotJobData.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
            //httpModel.jobData = httpSlotJobData;
            //string body = JsonConvert.SerializeObject(httpModel);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(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 httpHeader = new HttpRequestHeaderModel();
        //    httpHeader.appKey = config.AppSettings.Settings["appKey"].Value;
        //    httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
        //    httpHeader.requestId = ResquestIdGenerate();
        //    httpHeader.timestamp = DateTime.Now.ToString();
        //    httpHeader.version = config.AppSettings.Settings["version"].Value; 
        //    string head = JsonConvert.SerializeObject(httpHeader);
        //    //请求报文体
        //    AGVTaskCancelModel cancel = new AGVTaskCancelModel();
        //    cancel.robotJobId = robotJobId;
        //    cancel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value);//仓库编号
        //    string body = JsonConvert.SerializeObject(cancel);
        //    //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 httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVTaskCompleteNotifyModel notify = new AGVTaskCompleteNotifyModel();
            notify.robotJobId = robotJobId;
            notify.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value);//仓库编号
            string body = JsonConvert.SerializeObject(notify);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body).Replace("[", "").Replace("]", "");
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(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,bool complete=true)
        {
            string url = AGVRequestUrl.GetInstance.AGVInteracteUrl;
            //请求报文头
            HttpRequestHeaderModel httpHeader = new HttpRequestHeaderModel();
            httpHeader.appKey = config.AppSettings.Settings["appKey"].Value;
            httpHeader.appSecret = config.AppSettings.Settings["appSecret"].Value;
            httpHeader.requestId = ResquestIdGenerate();
            httpHeader.timestamp = DateTime.Now.ToString();
            httpHeader.version = config.AppSettings.Settings["version"].Value;
            string head = JsonConvert.SerializeObject(httpHeader);
            //请求报文体
            AGVLoadInteracteModel load = new AGVLoadInteracteModel();
            load.agvCode = agvCode;
            load.jobId = jobId;
            load.msgId = msgId;
            load.complete = true;
            string body = JsonConvert.SerializeObject(load);
            //启用签名
            //url = url + "?sign=" + MD5Deal(body);
            string data = HttpRequest(url, head, body);
            object objData = JsonConvert.DeserializeObject<HttpResponseBodyModel>(data);
            if (objData != null && objData is HttpResponseBodyModel response)
            {
                return response.code;
            }
            return "Analysis Error";
        }
    }
}