添加单车底盘仿真平台并完善运动控制与夹臂功能

Simulation/Commands/SimulationCommandDispatcher.cs

@@ -0,0 +1,150 @@
+using System.Reflection;
+using MyParking.Simulation.Core;
+
+namespace MyParking.Simulation.Commands;
+
+/// <summary>
+/// 自动发现带SimulationAction特性的测试方法并分发网页命令。
+/// </summary>
+public sealed class SimulationCommandDispatcher
+{
+    private readonly SimulationWorld _world;
+    private readonly IReadOnlyDictionary<string, RegisteredAction> _actions;
+
+    public SimulationCommandDispatcher(
+        SimulationWorld world)
+    {
+        _world = world;
+        _actions = DiscoverActions();
+    }
+
+    /// <summary>
+    /// 返回网页动态生成按钮所需的全部命令。
+    /// </summary>
+    public IReadOnlyList<SimulationActionDescriptor> GetActions()
+    {
+        return _actions.Values
+            .Select(action => action.Descriptor)
+            .OrderBy(action => action.Group)
+            .ThenBy(action => action.Order)
+            .ToArray();
+    }
+
+    /// <summary>
+    /// 对指定车辆执行一个已注册的测试方法。
+    /// </summary>
+    public CommandResult Execute(
+        int vehicleId,
+        string command)
+    {
+        if (!_actions.TryGetValue(
+                command,
+                out var registeredAction))
+        {
+            return new CommandResult(
+                false,
+                $"未注册仿真命令：{command}。");
+        }
+
+        try
+        {
+            return _world.WithVehicle(vehicleId, vehicle =>
+            {
+                var success = registeredAction.Handler(vehicle);
+                var message = success
+                    ? $"车辆{vehicleId}已执行：{registeredAction.Descriptor.DisplayName}。"
+                    : $"车辆{vehicleId}暂时无法执行：{registeredAction.Descriptor.DisplayName}。";
+
+                return new CommandResult(success, message);
+            });
+        }
+        catch (KeyNotFoundException exception)
+        {
+            return new CommandResult(
+                false,
+                exception.Message);
+        }
+    }
+
+    private static IReadOnlyDictionary<string, RegisteredAction>
+        DiscoverActions()
+    {
+        var actions = new Dictionary<string, RegisteredAction>(
+            StringComparer.OrdinalIgnoreCase);
+
+        var methods = Assembly.GetExecutingAssembly()
+            .GetTypes()
+            .SelectMany(type => type.GetMethods(
+                BindingFlags.Public |
+                BindingFlags.NonPublic |
+                BindingFlags.Static));
+
+        foreach (var method in methods)
+        {
+            var attribute =
+                method.GetCustomAttribute<SimulationActionAttribute>();
+
+            if (attribute == null)
+                continue;
+
+            ValidateMethod(method, attribute);
+
+            var handler =
+                (Func<SimulationVehicle, bool>)method.CreateDelegate(
+                    typeof(Func<SimulationVehicle, bool>));
+
+            var descriptor = new SimulationActionDescriptor(
+                attribute.Key,
+                attribute.DisplayName,
+                attribute.Group,
+                attribute.Order);
+
+            if (!actions.TryAdd(
+                    attribute.Key,
+                    new RegisteredAction(descriptor, handler)))
+            {
+                throw new InvalidOperationException(
+                    $"仿真命令Key重复：{attribute.Key}。");
+            }
+        }
+
+        return actions;
+    }
+
+    private static void ValidateMethod(
+        MethodInfo method,
+        SimulationActionAttribute attribute)
+    {
+        var parameters = method.GetParameters();
+
+        if (method.ReturnType != typeof(bool) ||
+            parameters.Length != 1 ||
+            parameters[0].ParameterType !=
+            typeof(SimulationVehicle))
+        {
+            throw new InvalidOperationException(
+                $"[{nameof(SimulationActionAttribute)}]方法" +
+                $"{method.DeclaringType?.FullName}.{method.Name}" +
+                "必须是static bool Xxx(SimulationVehicle vehicle)。");
+        }
+
+        if (string.IsNullOrWhiteSpace(attribute.Key) ||
+            string.IsNullOrWhiteSpace(attribute.DisplayName) ||
+            string.IsNullOrWhiteSpace(attribute.Group))
+        {
+            throw new InvalidOperationException(
+                $"仿真命令{method.Name}的特性参数不能为空。");
+        }
+    }
+
+    private sealed record RegisteredAction(
+        SimulationActionDescriptor Descriptor,
+        Func<SimulationVehicle, bool> Handler);
+}
+
+/// <summary>
+/// 网页测试命令的执行结果。
+/// </summary>
+public sealed record CommandResult(
+    bool Success,
+    string Message);