ILanYinService.cs
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using Rcs.Application.Common;
using Rcs.Cyaninetech.Models;
namespace Rcs.Cyaninetech.Services;
/// <summary>
/// LanYin外挂服务接口
/// </summary>
public interface ILanYinService
{
/// <summary>
/// 用户登录获取token
/// </summary>
/// <param name="request">登录请求</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>登录响应</returns>
Task<bool> LoginAsync(LanYinLoginRequest request, CancellationToken cancellationToken = default);
/// <summary>
/// 获取库位信息
/// </summary>
/// <param name="request">库位查询请求</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>库位信息响应</returns>
Task<List<LanYinLocationData>> GetLocationsAsync(string url, CancellationToken cancellationToken = default);
/// <summary>
/// 任务下发 - 将搬运任务信息下发给车体控制系统进行执行
/// </summary>
/// <param name="request">任务下发请求</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>是否下发成功</returns>
Task<ApiResponse<LanYinTaskData>> DispatchTaskAsync(LanYinDispatchTaskRequest request, CancellationToken cancellationToken = default);
/// <summary>
/// 同步地图
/// </summary>
Task<LanYinMapInfoData> SyncMapResource(string url, CancellationToken cancellationToken = default);
/// <summary>
/// 确认工况异常
/// @author zzy
/// </summary>
Task<ApiResponse> ConfirmExceptionAsync(string robotId, CancellationToken cancellationToken = default);
/// <summary>
/// 取消任务
/// @author zzy
/// </summary>
Task<ApiResponse> CancelTaskAsync(CancellationToken cancellationToken = default);
/// <summary>
/// 取消指定机器人的任务
/// @author zzy
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
Task<ApiResponse> CancelTaskByRobotAsync(string robotId, CancellationToken cancellationToken = default);
/// <summary>
/// 复位指定机器人
/// @author zzy
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
Task<ApiResponse> ResetRobotAsync(string robotId, CancellationToken cancellationToken = default);
/// <summary>
/// 机器人暂停
/// @author zzy
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
Task<ApiResponse> PauseRobotAsync(string robotId, CancellationToken cancellationToken = default);
/// <summary>
/// 机器人取消暂停
/// @author zzy
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
Task<ApiResponse> UnPauseRobotAsync(string robotId, CancellationToken cancellationToken = default);
/// <summary>
/// 新增或修改库位类型
/// @author zzy
/// </summary>
/// <param name="request">新增库位类型请求</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
Task<ApiResponse> AddOrEditLocationTypeAsync(LanYinAddLocationTypeRequest request, CancellationToken cancellationToken = default);
/// <summary>
/// 查询库位类型列表
/// @author zzy
/// </summary>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>库位类型列表</returns>
Task<List<LanYinLocationTypeData>> GetLocationTypesAsync(CancellationToken cancellationToken = default);
/// <summary>
/// 重定位机器人
/// @author zzy
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="x">X坐标</param>
/// <param name="y">Y坐标</param>
/// <param name="theta">角度（弧度）</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
Task<ApiResponse> RelocateRobotAsync(string robotId,int scene_id, double x, double y, double theta, CancellationToken cancellationToken = default);
}