Initial commit
This commit is contained in:
lethanhsonvsp
71
Assets/Scripting/VDA5050/InstantActionData.cs
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71
Assets/Scripting/VDA5050/InstantActionData.cs
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@@ -0,0 +1,71 @@
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using Newtonsoft.Json;
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public class InstantActionData
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{
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[JsonProperty("headerId")]
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public int HeaderId { get; set; }
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[JsonProperty("timestamp")]
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public string Timestamp { get; set; }
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[JsonProperty("version")]
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public string Version { get; set; }
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[JsonProperty("manufacturer")]
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public string Manufacturer { get; set; }
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[JsonProperty("serialNumber")]
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public string SerialNumber { get; set; }
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[JsonProperty("orderId")]
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public string OrderId { get; set; }
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[JsonProperty("orderUpdateId")]
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public int OrderUpdateId { get; set; }
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[JsonProperty("zoneSetId")]
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public string ZoneSetId { get; set; }
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[JsonProperty("actions")]
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public ActionData[] Actions { get; set; }
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}
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public class ActionData
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{
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[JsonProperty("actionId")]
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public string ActionId { get; set; }
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[JsonProperty("actionType")]
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public string ActionType { get; set; }
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[JsonProperty("actionStatus")]
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public string ActionStatus { get; set; }
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[JsonProperty("blockingType")]
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public string BlockingType { get; set; }
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[JsonProperty("resultDescription")]
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public string ActionDescription { get; set; }
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[JsonProperty("actionParameters")]
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public Parameter[] Parameters { get; set; } // Sửa thành actionParameters
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}
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public class Parameter
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{
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[JsonProperty("key")]
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public string Key { get; set; }
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[JsonProperty("value")]
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public object Value { get; set; }
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}
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// Helper class for result passing
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public class ExecutionResult
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{
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public bool ActionResult { get; set; }
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public string ActionStatus { get; set; }
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public string ResultDescription { get; set; }
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}
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public class NodePosition
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{
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[JsonProperty("x")]
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public float X { get; set; }
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[JsonProperty("y")]
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public float Y { get; set; }
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[JsonProperty("theta")]
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public float Theta { get; set; }
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[JsonProperty("allowedDeviationXY")]
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public float AllowedDeviationXY { get; set; }
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[JsonProperty("allowedDeviationTheta")]
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public float AllowedDeviationTheta { get; set; }
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[JsonProperty("mapId")]
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public string MapId { get; set; }
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[JsonProperty("mapDescription")]
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public string MapDescription { get; set; }
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}
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2
Assets/Scripting/VDA5050/InstantActionData.cs.meta
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2
Assets/Scripting/VDA5050/InstantActionData.cs.meta
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@@ -0,0 +1,2 @@
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fileFormatVersion: 2
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guid: e2a442f6c19ccd84ea7c06ada19f8861
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73
Assets/Scripting/VDA5050/OrderData.cs
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73
Assets/Scripting/VDA5050/OrderData.cs
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@@ -0,0 +1,73 @@
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using Newtonsoft.Json;
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public class OrderData
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{
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public uint HeaderId { get; set; }
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public string Timestamp { get; set; }
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public string Version { get; set; }
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public string Manufacturer { get; set; }
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public string SerialNumber { get; set; }
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public string OrderId { get; set; }
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public int OrderUpdateId { get; set; }
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public string ZoneSetId { get; set; }
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[JsonProperty("nodes")]
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public Node[] Nodes { get; set; }
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[JsonProperty("edges")]
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public Edge[] Edges { get; set; }
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}
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public class Node
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{
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[JsonProperty("nodeId")]
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public string NodeId { get; set; }
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[JsonProperty("sequenceId")]
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public int SequenceId { get; set; }
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[JsonProperty("nodeDescription")]
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public string NodeDescription { get; set; }
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[JsonProperty("released")]
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public bool Released { get; set; }
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[JsonProperty("nodePosition")]
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public NodePosition NodePosition { get; set; }
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[JsonProperty("actions")]
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public ActionData[] Actions { get; set; }
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}
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public class Edge
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{
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[JsonProperty("edgeId")]
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public string EdgeId { get; set; }
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[JsonProperty("sequenceId")]
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public int SequenceId { get; set; }
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[JsonProperty("edgeDescription")]
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public string EdgeDescription { get; set; }
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[JsonProperty("released")]
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public bool Released { get; set; }
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[JsonProperty("startNodeId")]
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public string StartNodeId { get; set; }
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[JsonProperty("endNodeId")]
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public string EndNodeId { get; set; }
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[JsonProperty("maxSpeed")]
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public float MaxSpeed { get; set; }
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[JsonProperty("minSpeed")]
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public float MaxHeight { get; set; }
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[JsonProperty("minHeight")]
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public float MinHeight { get; set; }
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[JsonProperty("orientation")]
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public float Orientation { get; set; }
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[JsonProperty("orientationType")]
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public string OrientationType { get; set; }
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[JsonProperty("direction")]
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public string Direction { get; set; }
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[JsonProperty("rotationAllowed")]
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public bool RotationAllowed { get; set; }
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[JsonProperty("maxRotationSpeed")]
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public float MaxRotationSpeed { get; set; }
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[JsonProperty("length")]
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public float Length { get; set; }
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[JsonProperty("trajectory")]
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public Trajectory Trajectory { get; set; }
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[JsonProperty("actions")]
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public ActionData[] Actions { get; set; }
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}
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2
Assets/Scripting/VDA5050/OrderData.cs.meta
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2
Assets/Scripting/VDA5050/OrderData.cs.meta
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@@ -0,0 +1,2 @@
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fileFormatVersion: 2
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guid: 6e0c7846a41d5bc4092689d19463ff58
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288
Assets/Scripting/VDA5050/RobotVDA5050State.cs
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288
Assets/Scripting/VDA5050/RobotVDA5050State.cs
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@@ -0,0 +1,288 @@
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using Newtonsoft.Json;
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using System;
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public class SendState
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{
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[JsonProperty("headerId")]
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public uint HeaderId { get; set; }
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[JsonProperty("timestamp")]
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public string Timestamp { get; set; }
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[JsonProperty("version")]
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public string Version { get; set; }
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[JsonProperty("manufacturer")]
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public string Manufacturer { get; set; }
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[JsonProperty("serialNumber")]
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public string SerialNumber { get; set; }
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[JsonProperty("maps")]
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public Map[] Maps { get; set; }
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[JsonProperty("orderId")]
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public string OrderId { get; set; }
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[JsonProperty("orderUpdateId")]
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public int OrderUpdateId { get; set; }
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[JsonProperty("zoneSetId")]
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public string ZoneSetId { get; set; }
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[JsonProperty("lastNodeId")]
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public string LastNodeId { get; set; }
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[JsonProperty("lastNodeSequenceId")]
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public int LastNodeSequenceId { get; set; }
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[JsonProperty("nodeStates")]
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public NodeState[] NodeStates { get; set; }
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[JsonProperty("edgeStates")]
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public EdgeState[] EdgeStates { get; set; }
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[JsonProperty("driving")]
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public bool Driving { get; set; }
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[JsonProperty("paused")]
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public bool Paused { get; set; }
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[JsonProperty("newBaseRequest")]
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public bool NewBaseRequest { get; set; }
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[JsonProperty("distanceSinceLastNode")]
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public float DistanceSinceLastNode { get; set; }
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[JsonProperty("agvPosition")]
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public AgvPosition AgvPosition { get; set; }
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[JsonProperty("velocity")]
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public Velocity Velocity { get; set; }
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[JsonProperty("loads")]
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public Load[] Loads { get; set; }
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[JsonProperty("actionStates")]
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public ActionState[] ActionStates { get; set; }
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[JsonProperty("batteryState")]
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public BatteryState BatteryState { get; set; }
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[JsonProperty("operatingMode")]
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public string OperatingMode { get; set; }
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[JsonProperty("errors")]
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public Error[] Errors { get; set; }
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[JsonProperty("information")]
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public Information[] Information { get; set; }
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[JsonProperty("safetyState")]
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public SafetyState SafetyState { get; set; }
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}
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public class CancelConfirmationData
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{
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[JsonProperty("headerId")]
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public int HeaderId { get; set; }
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[JsonProperty("timestamp")]
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public string Timestamp { get; set; }
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[JsonProperty("version")]
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public string Version { get; set; }
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[JsonProperty("manufacturer")]
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public string Manufacturer { get; set; }
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[JsonProperty("serialNumber")]
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public string SerialNumber { get; set; }
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[JsonProperty("actionStates")]
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public ActionState[] ActionStates { get; set; }
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}
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public class Map
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{
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[JsonProperty("mapId")]
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public string MapId { get; set; }
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[JsonProperty("mapVersion")]
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public string MapVersion { get; set; }
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[JsonProperty("mapDescription")]
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public string MapDescription { get; set; }
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[JsonProperty("mapStatus")]
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public string MapStatus { get; set; }
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}
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public class NodeState
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{
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[JsonProperty("nodeId")]
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public string NodeId { get; set; }
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[JsonProperty("sequenceId")]
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public int SequenceId { get; set; }
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[JsonProperty("nodeDescription")]
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public string NodeDescription { get; set; }
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[JsonProperty("released")]
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public bool Released { get; set; }
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[JsonProperty("nodeStatus")]
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public NodePosition NodePosition { get; set; }
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}
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public class EdgeState
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{
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[JsonProperty("edgeId")]
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public string EdgeId { get; set; }
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[JsonProperty("sequenceId")]
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public int SequenceId { get; set; }
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[JsonProperty("edgeDescription")]
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public string EdgeDescription { get; set; }
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[JsonProperty("released")]
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public bool Released { get; set; }
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[JsonProperty("trajectory")]
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public Trajectory Trajectory { get; set; }
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}
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public class AgvPosition
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{
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[JsonProperty("x")]
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public float X { get; set; }
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[JsonProperty("y")]
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public float Y { get; set; }
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[JsonProperty("theta")]
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public float Theta { get; set; }
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[JsonProperty("mapId")]
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public string MapId { get; set; }
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[JsonProperty("mapDescription")]
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public string MapDescription { get; set; }
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[JsonProperty("positionInitialized")]
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public bool PositionInitialized { get; set; }
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[JsonProperty("positionStatus")]
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public float LocalizationScore { get; set; }
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[JsonProperty("deviationRange")]
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public float DeviationRange { get; set; }
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}
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public class Velocity
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{
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[JsonProperty("vx")]
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public float Vx { get; set; }
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[JsonProperty("vy")]
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public float Vy { get; set; }
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[JsonProperty("omega")]
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public float Omega { get; set; }
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}
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public class Load
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{
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[JsonProperty("loadId")]
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public string LoadId { get; set; }
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[JsonProperty("loadType")]
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public string LoadType { get; set; }
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[JsonProperty("loadPosition")]
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public string LoadPosition { get; set; }
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[JsonProperty("boundingBoxReference")]
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public BoundingBoxReference BoundingBoxReference { get; set; }
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[JsonProperty("loadDimensions")]
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public LoadDimensions LoadDimensions { get; set; }
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[JsonProperty("weight")]
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public float Weight { get; set; }
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}
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public class BoundingBoxReference
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{
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[JsonProperty("x")]
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public float X { get; set; }
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[JsonProperty("y")]
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public float Y { get; set; }
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[JsonProperty("z")]
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public float Z { get; set; }
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[JsonProperty("theta")]
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public float Theta { get; set; }
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}
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public class LoadDimensions
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{
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[JsonProperty("length")]
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public float Length { get; set; }
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[JsonProperty("width")]
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public float Width { get; set; }
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[JsonProperty("height")]
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public float Height { get; set; }
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}
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public class ActionState
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{
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[JsonProperty("actionId")]
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public string ActionId { get; set; }
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[JsonProperty("actionType")]
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public string ActionType { get; set; }
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[JsonProperty("actionDescription")]
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public string ActionDescription { get; set; }
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[JsonProperty("actionStatus")]
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public string ActionStatus { get; set; }
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[JsonProperty("resultDescription")]
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public string ResultDescription { get; set; }
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}
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public class BatteryState
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{
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[JsonProperty("batteryCharge")]
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public float BatteryCharge { get; set; }
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[JsonProperty("batteryVoltage")]
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public float BatteryVoltage { get; set; }
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[JsonProperty("batteryHealth")]
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public float BatteryHealth { get; set; }
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[JsonProperty("charging")]
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public bool Charging { get; set; }
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[JsonProperty("reach")]
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public float Reach { get; set; }
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}
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public class Error
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{
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[JsonProperty("errorType")]
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public string ErrorType { get; set; }
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[JsonProperty("errorReferences")]
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public ErrorReference[] ErrorReferences { get; set; }
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[JsonProperty("errorDescription")]
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public string ErrorDescription { get; set; }
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[JsonProperty("errorHint")]
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public string ErrorHint { get; set; }
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[JsonProperty("errorLevel")]
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public string ErrorLevel { get; set; }
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}
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public class ErrorReference
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{
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[JsonProperty("referenceKey")]
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public string ReferenceKey { get; set; }
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[JsonProperty("referenceValue")]
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public string ReferenceValue { get; set; }
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}
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public class Information
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{
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[JsonProperty("infoType")]
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public string InfoType { get; set; }
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[JsonProperty("infoReferences")]
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public InfoReference[] InfoReferences { get; set; }
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[JsonProperty("infoDescription")]
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public string InfoDescription { get; set; }
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[JsonProperty("infoLevel")]
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public string InfoLevel { get; set; }
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}
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public class InfoReference
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{
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[JsonProperty("referenceKey")]
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public string ReferenceKey { get; set; }
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[JsonProperty("referenceValue")]
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public string ReferenceValue { get; set; }
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}
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public class SafetyState
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{
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[JsonProperty("eStop")]
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public string EStop { get; set; }
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[JsonProperty("fieldViolation")]
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public bool FieldViolation { get; set; }
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}
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public class Trajectory
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{
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[JsonProperty("degree")]
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public int Degree { get; set; }
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[JsonProperty("knotVector")]
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public float[] KnotVector { get; set; }
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[JsonProperty("controlPoints")]
|
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public ControlPoint[] ControlPoints { get; set; }
|
||||
}
|
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|
||||
public class ControlPoint
|
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{
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[JsonProperty("x")]
|
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public float X { get; set; }
|
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[JsonProperty("y")]
|
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public float Y { get; set; }
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[JsonProperty("weight")]
|
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public float Weight { get; set; }
|
||||
}
|
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2
Assets/Scripting/VDA5050/RobotVDA5050State.cs.meta
Normal file
2
Assets/Scripting/VDA5050/RobotVDA5050State.cs.meta
Normal file
@@ -0,0 +1,2 @@
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||||
fileFormatVersion: 2
|
||||
guid: f0c532063e68c354f81c477aaedb7155
|
||||
23
Assets/Scripting/VDA5050/VisualizationData.cs
Normal file
23
Assets/Scripting/VDA5050/VisualizationData.cs
Normal file
@@ -0,0 +1,23 @@
|
||||
using Newtonsoft.Json;
|
||||
|
||||
public class VisualizationData
|
||||
{
|
||||
[JsonProperty("headerId")]
|
||||
public uint HeaderId { get; set; }
|
||||
[JsonProperty("timestamp")]
|
||||
public string Timestamp { get; set; }
|
||||
[JsonProperty("version")]
|
||||
public string Version { get; set; }
|
||||
[JsonProperty("manufacturer")]
|
||||
public string Manufacturer { get; set; }
|
||||
[JsonProperty("serialNumber")]
|
||||
public string SerialNumber { get; set; }
|
||||
[JsonProperty("mapId")]
|
||||
public string MapId { get; set; }
|
||||
[JsonProperty("mapDescription")]
|
||||
public string MapDescription { get; set; }
|
||||
[JsonProperty("agvPosition")]
|
||||
public AgvPosition AgvPosition { get; set; }
|
||||
[JsonProperty("velocity")]
|
||||
public Velocity Velocity { get; set; }
|
||||
}
|
||||
2
Assets/Scripting/VDA5050/VisualizationData.cs.meta
Normal file
2
Assets/Scripting/VDA5050/VisualizationData.cs.meta
Normal file
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: e53ab94bcee9ea449a2d99fa130300c6
|
||||
Reference in New Issue
Block a user