Initial commit from MyParking project

2026-08-04 10:29:21 +08:00
commit d9432bd529
138 changed files with 16957 additions and 0 deletions
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+//using CommonUsage.Protocols.VDA5050.Messages;
+//using System;
+//using System.Collections.Generic;
+//using System.Net.Http.Headers;
+//using System.Runtime.CompilerServices;
+//using System.Text;
+//using System.Threading;
+//using System.Threading.Tasks;
+//using CommonUsage.Protocols.VDA5050.Objects;
+//using ClumsyCore.Utilities;
+//using System.Linq;
+//using ClumsyCore.Pilot;
+//using System.Numerics;
+
+//namespace CommonUsage.Protocols.VDA5050
+//{
+//    public abstract class VDA5050Basic
+//    {
+//        protected static IVDACommunicationProtocol _communicationProtocol;
+
+//        public void Enable(IVDACommunicationProtocol protocol)
+//        {
+//            _communicationProtocol = protocol;
+//            Task.Run(() => ManageConnection());
+//            StartVisualizationLoop();
+//        }
+//        private void StartVisualizationLoop()
+//        {
+//            Console.WriteLine("Visualization in CommonUsage");
+//            new Thread(async () =>
+//                {
+//                    while (true)
+//                    {
+//                        var position = GetAGVPosition();
+//                        if (position != null)
+//                        {
+//                            var msg = new stateMessage()
+//                            {
+//                                serialNumber = "test-01",
+//                                agvPosition = new()
+//                                {
+//                                    x = position.Value.X,
+//                                    y = position.Value.Y,
+//                                    theta = position.Value.Theta,
+//                                    positionInitialized = true
+//                                }
+
+//                            };
+//                            await _communicationProtocol.SendMessageAsync(msg, "vda5050/frldAGV/visualization");
+//                        }
+
+//                        Thread.Sleep(100);
+//                    }
+//                })
+//            { Name = "VDA5050TopicVisualization" }.Start();
+//        }
+
+//        private void ManageConnection()
+//        {
+//            while (true)
+//            {
+//                var status = CheckConnectionStatus() ? "ONLINE" : "OFFLINE";
+//                _communicationProtocol.PublishConnectionStatus(status);
+//                Thread.Sleep(1000);
+//            }
+//        }
+
+//        protected List<sequenceItem> OrganizeReceivedSequence(orderMessage order)
+//        {
+//            List<sequenceItem> receivedSequence = new();
+
+//            int ii = 0, jj = 0;
+//            while (true)
+//            {
+//                var edge = order.edges[ii];
+//                var node = order.nodes[jj];
+//                var takeEdge = edge.sequenceId < node.sequenceId;
+
+//                if (takeEdge)
+//                {
+//                    receivedSequence.Add(edge);
+//                    ii++;
+//                    if (ii == order.edges.Length) break;
+//                }
+//                else
+//                {
+//                    receivedSequence.Add(node);
+//                    jj++;
+//                    if (jj == order.nodes.Length) break;
+//                }
+//            }
+//            for (var i = ii; i < order.edges.Length; ++i) receivedSequence.Add(order.edges[i]);
+//            for (var j = jj; j < order.nodes.Length; ++j) receivedSequence.Add(order.nodes[j]);
+
+//            for (var i = 1; i < receivedSequence.Count; i++)
+//            {
+//                if (receivedSequence[i - 1].sequenceId + 1 != receivedSequence[i].sequenceId)
+//                    throw new Exception("stateMessage not continuous!");
+//            }
+
+//            return receivedSequence;
+//        }
+
+//        public virtual bool CheckConnectionStatus()
+//        {
+//            return false;
+//        }
+
+//        protected abstract Vector3? GetAGVPosition();
+//        public struct Vector3
+//        {
+//            public double X;
+//            public double Y;
+//            public double Theta;
+//        }
+//    }
+
+//}