新增 scene.signal 信号交互插件，落地 PLC 握手与扫车放行。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
ykkokluo
Cursor
@@ -0,0 +1,183 @@
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using System;
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using System.Linq;
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using SimpleCore.Library;
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using StandardScene.Signal.Model;
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namespace StandardScene.Signal.Plc
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{
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/// <summary>读写字节转换与四套自动离站，对齐反编译 PLCManager。</summary>
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public static class PlcStationLogic
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{
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public static SignalReadValue ConvertRead(byte val) => val switch
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{
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1 => SignalReadValue.允许进入,
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2 => SignalReadValue.允许离开,
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_ => SignalReadValue.无状态
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};
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public static SignalWriteValue ConvertWrite(byte val) => val switch
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{
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1 => SignalWriteValue.进入中,
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2 => SignalWriteValue.到位,
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3 => SignalWriteValue.离开中,
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4 => SignalWriteValue.已离开,
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_ => SignalWriteValue.无状态
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};
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public static bool ContainsSite(string csv, int siteId)
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{
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if (string.IsNullOrWhiteSpace(csv) || siteId <= 0)
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return false;
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return csv.Split(new[] { ',', ';', ' ' }, StringSplitOptions.RemoveEmptyEntries)
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.Any(s => int.TryParse(s.Trim(), out var n) && n == siteId);
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}
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public static void AutoLeave(PlcStationRuntime rt)
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{
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if (rt?.Config == null) return;
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switch (rt.Config.LineType)
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{
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case SignalLineType.上线机构:
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AutoLeaveUpLine(rt);
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break;
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case SignalLineType.单牵引下线机构:
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AutoLeaveDownLine(rt, pin2: false);
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break;
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case SignalLineType.双牵引下线机构:
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AutoLeaveDownLine(rt, pin2: true);
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break;
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case SignalLineType.等待通行机构:
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AutoLeaveWaitSit(rt);
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break;
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}
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}
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private static void ClearLeft(PlcStationRuntime rt, bool fromReadback)
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{
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rt.WriteSignal = SignalWriteValue.无状态;
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rt.InAgvNo = 0;
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if (rt.RequestInAgvNo > 0)
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{
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Diagnosis.Log(
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$"{rt.Config.JgName} {(fromReadback ? "回读已离开" : "写已离开成功")}，清空请求进入车 {rt.RequestInAgvNo}",
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"JGControl", true);
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rt.RequestInAgvNo = 0;
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}
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else
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Diagnosis.Log($"{rt.Config.JgName} 已离开，清空信号", "JGControl", true);
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}
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private static void AutoLeaveUpLine(PlcStationRuntime rt)
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{
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if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
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ClearLeft(rt, fromReadback: false);
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if (rt.ReadWriteSignal == SignalWriteValue.已离开)
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ClearLeft(rt, fromReadback: true);
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if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.进入中)
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{
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var car = SignalCarAdapter.Find(rt.RequestInAgvNo);
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if (car == null) return;
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if (!ContainsSite(rt.Config.JgInContains, SignalCarAdapter.PositionId(car)))
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{
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rt.WriteSignal = SignalWriteValue.到位;
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rt.InAgvNo = car.id;
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rt.RequestInAgvNo = 0;
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Diagnosis.Log($"AGV{car.id} 已到达机构 {rt.Config.JgName}", "JGControl", true);
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}
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}
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else if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.到位)
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{
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var car = SignalCarAdapter.Find(rt.InAgvNo);
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if (car == null || SignalCarAdapter.IsRunning(car))
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rt.WriteSignal = SignalWriteValue.离开中;
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}
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else if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.离开中)
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{
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var car = SignalCarAdapter.Find(rt.InAgvNo);
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if (car == null || !ContainsSite(rt.Config.JgContains, SignalCarAdapter.PositionId(car)))
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rt.WriteSignal = SignalWriteValue.已离开;
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}
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}
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private static void AutoLeaveDownLine(PlcStationRuntime rt, bool pin2)
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{
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if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
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{
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ClearLeft(rt, fromReadback: false);
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return;
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}
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if (rt.ReadWriteSignal == SignalWriteValue.已离开)
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ClearLeft(rt, fromReadback: true);
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if (rt.InAgvNo == 0) return;
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var car = SignalCarAdapter.Find(rt.InAgvNo);
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if (car == null) return;
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var pos = SignalCarAdapter.PositionId(car);
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if (rt.ReadSignal == SignalReadValue.允许离开 && pos == rt.Config.JgPointId)
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{
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if (rt.WriteSignal == SignalWriteValue.离开中) return;
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var pinOk = SignalCarAdapter.IsActionFinish(car, "SetPin1Up")
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&& (!pin2 || SignalCarAdapter.IsActionFinish(car, "SetPin2Up"))
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&& SignalCarAdapter.IsActionFinish(car, "StopCharge");
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if (pinOk)
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{
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SignalCarAdapter.StopCharge(car);
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SignalCarAdapter.Start(car);
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rt.WriteSignal = SignalWriteValue.离开中;
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Diagnosis.Log($"{rt.Config.JgName} 允许离开，通知 AGV{car.id} 启动，写离开中", "JGControl", true);
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}
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else
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{
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SignalCarAdapter.Control(car, "SetPin1Up");
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if (pin2) SignalCarAdapter.Control(car, "SetPin2Up");
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SignalCarAdapter.Control(car, "StopCharge");
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}
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}
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else if (!string.IsNullOrEmpty(rt.Config.JgContains)
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&& !ContainsSite(rt.Config.JgContains, pos)
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&& rt.ReadWriteSignal != SignalWriteValue.已离开)
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{
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rt.WriteSignal = SignalWriteValue.已离开;
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}
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}
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private static void AutoLeaveWaitSit(PlcStationRuntime rt)
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{
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if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
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{
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ClearLeft(rt, fromReadback: false);
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return;
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}
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if (rt.ReadWriteSignal == SignalWriteValue.已离开)
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ClearLeft(rt, fromReadback: true);
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if (rt.InAgvNo == 0) return;
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var car = SignalCarAdapter.Find(rt.InAgvNo);
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if (car == null) return;
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var pos = SignalCarAdapter.PositionId(car);
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if (rt.ReadSignal == SignalReadValue.允许离开 && pos == rt.Config.JgPointId)
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{
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if (rt.WriteSignal == SignalWriteValue.离开中) return;
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if (SignalCarAdapter.IsActionFinish(car, "StopCharge"))
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{
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SignalCarAdapter.Start(car);
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rt.WriteSignal = SignalWriteValue.离开中;
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Diagnosis.Log($"{rt.Config.JgName} 允许离开，通知 AGV{car.id} 启动，写离开中", "JGControl", true);
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}
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else
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SignalCarAdapter.Control(car, "StopCharge");
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}
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else if (!string.IsNullOrEmpty(rt.Config.JgContains)
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&& !ContainsSite(rt.Config.JgContains, pos)
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&& rt.ReadWriteSignal != SignalWriteValue.已离开)
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{
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rt.WriteSignal = SignalWriteValue.已离开;
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}
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}
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}
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}
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