82 lines
3.3 KiB
C#
82 lines
3.3 KiB
C#
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using System;
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using System.Net.Http;
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using System.Text;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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namespace MultiWheelC;
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/// <summary>
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/// Playground 仿真器 HTTP Web API 轻量客户端：查询小车位姿、瞬移小车。
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/// 服务端实现见 Playground/Web/PlaygroundWebApi.cs，默认监听 http://localhost:18090。
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/// 坐标单位 mm，朝向 yawDeg 单位为度，世界坐标系与场景 JSON 一致。
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/// </summary>
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public static class PlaygroundWebApi
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{
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// 禁用系统代理：本机 Playground 走 localhost，若经系统代理(如 127.0.0.1:7890)会连接失败。
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private static readonly HttpClient Http = new HttpClient(new HttpClientHandler { UseProxy = false })
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{
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Timeout = TimeSpan.FromSeconds(3)
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};
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public struct Pose
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{
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public float X;
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public float Y;
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public float YawDeg;
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}
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/// <summary>查询单台小车的世界位姿。GET /api/robots/{name}。</summary>
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public static Pose GetPose(string baseUrl, string robotName)
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{
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var url = $"{baseUrl.TrimEnd('/')}/api/robots/{Uri.EscapeDataString(robotName)}";
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var json = Http.GetStringAsync(url).GetAwaiter().GetResult();
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var o = JObject.Parse(json);
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return new Pose
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{
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X = o.Value<float>("x"),
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Y = o.Value<float>("y"),
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YawDeg = o.Value<float>("yawDeg")
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};
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}
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/// <summary>将小车瞬移到目标世界位姿。POST /api/robots/{name}/move。</summary>
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public static void Move(string baseUrl, string robotName, float x, float y, float yawDeg)
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{
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var url = $"{baseUrl.TrimEnd('/')}/api/robots/{Uri.EscapeDataString(robotName)}/move";
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var body = JsonConvert.SerializeObject(new { x, y, yaw = yawDeg, stop = true });
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using var content = new StringContent(body, Encoding.UTF8, "application/json");
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var resp = Http.PostAsync(url, content).GetAwaiter().GetResult();
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resp.EnsureSuccessStatusCode();
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}
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/// <summary>查询车辆运动是否启用（暂停时为 false）。GET /api/motion。</summary>
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public static bool MotionEnabled(string baseUrl)
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{
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var url = $"{baseUrl.TrimEnd('/')}/api/motion";
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var json = Http.GetStringAsync(url).GetAwaiter().GetResult();
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return JObject.Parse(json).Value<bool>("motionEnabled");
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}
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/// <summary>恢复车辆运动。POST /api/motion/resume。</summary>
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public static void ResumeMotion(string baseUrl)
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{
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var url = $"{baseUrl.TrimEnd('/')}/api/motion/resume";
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var resp = Http.PostAsync(url, null).GetAwaiter().GetResult();
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resp.EnsureSuccessStatusCode();
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}
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/// <summary>
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/// 暂停车辆运动（仅冻结运动，不停止仿真；传感器继续扫描）。POST /api/motion/pause。
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/// feedback: "zero"(默认,反馈归零) / "none"(不上报) / "hold"(保留暂停瞬间值)。
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/// </summary>
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public static void PauseMotion(string baseUrl, string feedback = "zero")
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{
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var url = $"{baseUrl.TrimEnd('/')}/api/motion/pause";
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var body = JsonConvert.SerializeObject(new { feedback });
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using var content = new StringContent(body, Encoding.UTF8, "application/json");
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var resp = Http.PostAsync(url, content).GetAwaiter().GetResult();
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resp.EnsureSuccessStatusCode();
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}
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}
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