LanYinWsMessage.cs
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using System.Text.Json.Serialization;
namespace Rcs.Cyaninetech.Models
{
/// <summary>
/// WebSocket 订阅请求
/// @author zzy
/// </summary>
public class LanYinWsSubscribeRequest
{
[JsonPropertyName("action")]
public string Action { get; set; } = "subscribe";
[JsonPropertyName("data")]
public List<string> Data { get; set; } = new();
}
/// <summary>
/// WebSocket 消息基类
/// @author zzy
/// </summary>
public class LanYinWsMessage
{
[JsonPropertyName("type")]
public string Type { get; set; } = string.Empty;
[JsonPropertyName("name")]
public string Name { get; set; } = string.Empty;
}
/// <summary>
/// WebSocket 消息（泛型）
/// @author zzy
/// </summary>
public class LanYinWsMessage<T> : LanYinWsMessage
{
[JsonPropertyName("data")]
public T? Data { get; set; }
}
/// <summary>
/// 机器人状态数据
/// @author zzy
/// </summary>
public class LanYinRobotStatus
{
[JsonPropertyName("headerId")]
public int HeaderId { get; set; }
[JsonPropertyName("timestamp")]
public long Timestamp { get; set; }
[JsonPropertyName("version")]
public string Version { get; set; } = string.Empty;
[JsonPropertyName("manufacturer")]
public string Manufacturer { get; set; } = string.Empty;
[JsonPropertyName("serialNumber")]
public string SerialNumber { get; set; } = string.Empty;
[JsonPropertyName("orderId")]
public string OrderId { get; set; } = string.Empty;
[JsonPropertyName("driving")]
public bool Driving { get; set; }
[JsonPropertyName("paused")]
public bool Paused { get; set; }
[JsonPropertyName("batteryState")]
public LanYinBatteryState? BatteryState { get; set; }
[JsonPropertyName("operatingMode")]
public string OperatingMode { get; set; } = string.Empty;
[JsonPropertyName("errors")]
public List<LanYinError> Errors { get; set; } = new();
[JsonPropertyName("position")]
public LanYinPosition? Position { get; set; }
[JsonPropertyName("agvStatus")]
public string AgvStatus { get; set; } = string.Empty;
}
public class LanYinBatteryState
{
[JsonPropertyName("batteryCharge")]
public int BatteryCharge { get; set; }
[JsonPropertyName("charging")]
public bool Charging { get; set; }
}
public class LanYinError
{
[JsonPropertyName("errorType")]
public string ErrorType { get; set; } = string.Empty;
[JsonPropertyName("errorLevel")]
public string ErrorLevel { get; set; } = string.Empty;
[JsonPropertyName("errorDescription")]
public string ErrorDescription { get; set; } = string.Empty;
}
public class LanYinPosition
{
[JsonPropertyName("x")]
public double X { get; set; }
[JsonPropertyName("y")]
public double Y { get; set; }
[JsonPropertyName("rad")]
public double Rad { get; set; }
}
/// <summary>
/// 机器人信息数据
/// @author zzy
/// </summary>
public class LanYinRobotInfo
{
[JsonPropertyName("id")]
public string Id { get; set; } = string.Empty;
[JsonPropertyName("ip")]
public string Ip { get; set; } = string.Empty;
[JsonPropertyName("alias")]
public string Alias { get; set; } = string.Empty;
[JsonPropertyName("map_id")]
public string MapId { get; set; } = string.Empty;
[JsonPropertyName("robot_type")]
public string RobotType { get; set; } = string.Empty;
[JsonPropertyName("scheduling_status")]
public string SchedulingStatus { get; set; } = string.Empty;
[JsonPropertyName("operation_status")]
public string OperationStatus { get; set; } = string.Empty;
[JsonPropertyName("task_status")]
public string TaskStatus { get; set; } = string.Empty;
[JsonPropertyName("running_status")]
public string RunningStatus { get; set; } = string.Empty;
[JsonPropertyName("current_battery")]
public int CurrentBattery { get; set; }
[JsonPropertyName("auto_charging")]
public bool AutoCharging { get; set; } = false;
[JsonPropertyName("current_task")]
public string CurrentTask { get; set; } = string.Empty;
[JsonPropertyName("error_code")]
public List<int> ErrorCode { get; set; } = new();
}
/// <summary>
/// 机器人实时路径数据
/// @author zzy
/// </summary>
public class LanYinRobotRealtimePath : Dictionary<string, List<List<double>>>
{
}
}