磁导航1.0内部交管和信号交互

StandardScene.MagCarSimulator/MainForm.cs

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+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.IO;
+using System.Text;
+using System.Windows.Forms;
+
+namespace StandardScene.MagCarSimulator
+{
+    public sealed class MainForm : Form
+    {
+        private const int MaxLogLines = 400;
+        private const int MaxPendingLogs = 300;
+
+        private readonly MagCarSimConfig _config;
+        private readonly MagCarSimHost _host;
+        private readonly StringBuilder _logBuffer = new StringBuilder();
+        private readonly Queue<string> _pendingLogs = new Queue<string>();
+        private readonly object _logLock = new object();
+        private readonly Timer _uiTimer;
+        private bool _logFlushScheduled;
+        private int _logLineCount;
+
+        private TextBox _mapPathBox;
+        private CheckBox _useTagValueBox;
+        private Label _mapInfoLabel;
+        private DataGridView _grid;
+        private ListBox _siteList;
+        private TextBox _logBox;
+        private Button _listenButton;
+        private Button _loopButton;
+        private Button _stopButton;
+        private Button _releaseButton;
+        private Button _addButton;
+        private Button _removeButton;
+        private Button _saveButton;
+
+        public MainForm()
+        {
+            _config = MagCarSimConfig.Load();
+            MagCarSimLog.Configure(_config);
+            _host = new MagCarSimHost(_config);
+
+            Text = "MagCar 模拟器（FASS 1.0 / SimpleLite 地图循环）";
+            Width = 1280;
+            Height = 820;
+            MinimumSize = new Size(980, 640);
+            StartPosition = FormStartPosition.CenterScreen;
+            Font = new Font("Microsoft YaHei UI", 9F);
+
+            BuildLayout();
+            LoadConfigToUi();
+
+            MagCarSimLog.MessageWritten += OnLogMessage;
+            _uiTimer = new Timer { Interval = 250 };
+            _uiTimer.Tick += (_, __) => RefreshGridStatus();
+            _uiTimer.Start();
+
+            FormClosed += (_, __) =>
+            {
+                MagCarSimLog.MessageWritten -= OnLogMessage;
+                _uiTimer.Stop();
+                _host.Dispose();
+                MagCarSimLog.Shutdown();
+            };
+
+            AppendLog($"就绪。文件日志目录: {MagCarSimLog.GetLogDirectory()}。加载 SimpleLite 地图后启动监听，再开始循环。普通站可叠车；停止点和交管点同时只允许一辆。");
+            TryLoadMap(_config.MapPath, silent: true);
+        }
+
+        private void BuildLayout()
+        {
+            var root = new TableLayoutPanel
+            {
+                Dock = DockStyle.Fill,
+                ColumnCount = 1,
+                RowCount = 4,
+                Padding = new Padding(8)
+            };
+            root.RowStyles.Add(new RowStyle(SizeType.AutoSize));
+            root.RowStyles.Add(new RowStyle(SizeType.Percent, 42));
+            root.RowStyles.Add(new RowStyle(SizeType.AutoSize));
+            root.RowStyles.Add(new RowStyle(SizeType.Percent, 58));
+            Controls.Add(root);
+
+            root.Controls.Add(BuildToolbar(), 0, 0);
+            _grid = BuildGrid();
+            root.Controls.Add(_grid, 0, 1);
+            root.Controls.Add(BuildVehicleButtons(), 0, 2);
+
+            var split = new SplitContainer
+            {
+                Dock = DockStyle.Fill,
+                Orientation = Orientation.Vertical,
+                SplitterDistance = 280
+            };
+            _siteList = new ListBox { Dock = DockStyle.Fill, IntegralHeight = false };
+            var sitePanel = new Panel { Dock = DockStyle.Fill, Padding = new Padding(0, 4, 4, 0) };
+            sitePanel.Controls.Add(_siteList);
+            sitePanel.Controls.Add(new Label
+            {
+                Text = "地图站点（带 [停止] 的为 Mag_NeedStop）",
+                Dock = DockStyle.Top,
+                Height = 22
+            });
+            split.Panel1.Controls.Add(sitePanel);
+
+            _logBox = new TextBox
+            {
+                Dock = DockStyle.Fill,
+                Multiline = true,
+                ReadOnly = true,
+                ScrollBars = ScrollBars.Both,
+                WordWrap = false,
+                Font = new Font("Consolas", 9F)
+            };
+            var logPanel = new Panel { Dock = DockStyle.Fill, Padding = new Padding(4, 4, 0, 0) };
+            logPanel.Controls.Add(_logBox);
+            logPanel.Controls.Add(new Label
+            {
+                Text = "协议 / 运动日志",
+                Dock = DockStyle.Top,
+                Height = 22
+            });
+            split.Panel2.Controls.Add(logPanel);
+            root.Controls.Add(split, 0, 3);
+        }
+
+        private Control BuildToolbar()
+        {
+            var panel = new TableLayoutPanel
+            {
+                Dock = DockStyle.Top,
+                AutoSize = true,
+                ColumnCount = 8,
+                RowCount = 2,
+                Padding = new Padding(0, 0, 0, 6)
+            };
+            panel.ColumnStyles.Add(new ColumnStyle(SizeType.AutoSize));
+            panel.ColumnStyles.Add(new ColumnStyle(SizeType.Percent, 100));
+            panel.ColumnStyles.Add(new ColumnStyle(SizeType.AutoSize));
+            panel.ColumnStyles.Add(new ColumnStyle(SizeType.AutoSize));
+            panel.ColumnStyles.Add(new ColumnStyle(SizeType.AutoSize));
+            panel.ColumnStyles.Add(new ColumnStyle(SizeType.AutoSize));
+            panel.ColumnStyles.Add(new ColumnStyle(SizeType.AutoSize));
+            panel.ColumnStyles.Add(new ColumnStyle(SizeType.AutoSize));
+
+            panel.Controls.Add(new Label { Text = "地图", AutoSize = true, Anchor = AnchorStyles.Left }, 0, 0);
+            _mapPathBox = new TextBox { Dock = DockStyle.Fill, Width = 480 };
+            panel.Controls.Add(_mapPathBox, 1, 0);
+
+            var browse = new Button { Text = "浏览…", AutoSize = true };
+            browse.Click += (_, __) => BrowseMap();
+            panel.Controls.Add(browse, 2, 0);
+
+            var load = new Button { Text = "加载地图", AutoSize = true };
+            load.Click += (_, __) => TryLoadMap(_mapPathBox.Text, silent: false);
+            panel.Controls.Add(load, 3, 0);
+
+            _listenButton = new Button { Text = "启动监听", AutoSize = true };
+            _listenButton.Click += (_, __) => StartListen();
+            panel.Controls.Add(_listenButton, 4, 0);
+
+            _loopButton = new Button { Text = "开始循环", AutoSize = true };
+            _loopButton.Click += (_, __) => StartLoop();
+            panel.Controls.Add(_loopButton, 5, 0);
+
+            _stopButton = new Button { Text = "停止模拟", AutoSize = true, Enabled = false };
+            _stopButton.Click += (_, __) => StopSim();
+            panel.Controls.Add(_stopButton, 6, 0);
+
+            _saveButton = new Button { Text = "保存配置", AutoSize = true };
+            _saveButton.Click += (_, __) => SaveConfig();
+            panel.Controls.Add(_saveButton, 7, 0);
+
+            _useTagValueBox = new CheckBox { Text = "用 TagValue 作为节点号", AutoSize = true, Anchor = AnchorStyles.Left };
+            panel.SetColumnSpan(_useTagValueBox, 2);
+            panel.Controls.Add(_useTagValueBox, 0, 1);
+
+            _mapInfoLabel = new Label
+            {
+                Text = "未加载地图",
+                AutoSize = true,
+                Anchor = AnchorStyles.Left,
+                ForeColor = Color.DimGray
+            };
+            panel.SetColumnSpan(_mapInfoLabel, 6);
+            panel.Controls.Add(_mapInfoLabel, 2, 1);
+            return panel;
+        }
+
+        private Control BuildVehicleButtons()
+        {
+            var panel = new FlowLayoutPanel
+            {
+                Dock = DockStyle.Fill,
+                AutoSize = true,
+                WrapContents = false,
+                Padding = new Padding(0, 4, 0, 4)
+            };
+            _addButton = new Button { Text = "添加车辆", AutoSize = true };
+            _addButton.Click += (_, __) => AddVehicleRow();
+            _removeButton = new Button { Text = "删除选中", AutoSize = true };
+            _removeButton.Click += (_, __) => RemoveSelectedVehicle();
+            _releaseButton = new Button { Text = "放行选中车", AutoSize = true };
+            _releaseButton.Click += (_, __) => ReleaseSelected();
+            panel.Controls.Add(_addButton);
+            panel.Controls.Add(_removeButton);
+            panel.Controls.Add(_releaseButton);
+            panel.Controls.Add(new Label
+            {
+                Text = "普通站可叠车。停止点和交管点同时只允许一辆，后车停在上一站保持运行中。仅 Mag_NeedStop 停车等 0x01。",
+                AutoSize = true,
+                Padding = new Padding(12, 8, 0, 0),
+                ForeColor = Color.DimGray
+            });
+            return panel;
+        }
+
+        private DataGridView BuildGrid()
+        {
+            var grid = new DataGridView
+            {
+                Dock = DockStyle.Fill,
+                AllowUserToAddRows = false,
+                AllowUserToDeleteRows = false,
+                RowHeadersVisible = false,
+                SelectionMode = DataGridViewSelectionMode.FullRowSelect,
+                MultiSelect = false,
+                AutoSizeColumnsMode = DataGridViewAutoSizeColumnsMode.Fill,
+                BackgroundColor = Color.White
+            };
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Name", HeaderText = "名称", FillWeight = 80 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Code", HeaderText = "车号", FillWeight = 50 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Port", HeaderText = "端口", FillWeight = 55 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Start", HeaderText = "起点", FillWeight = 50 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "End", HeaderText = "终点", FillWeight = 50 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Interval", HeaderText = "间隔ms", FillWeight = 60 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Site", HeaderText = "当前站", ReadOnly = true, FillWeight = 55 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Node", HeaderText = "节点", ReadOnly = true, FillWeight = 50 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "State", HeaderText = "状态", ReadOnly = true, FillWeight = 70 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Wait", HeaderText = "等待", ReadOnly = true, FillWeight = 55 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Clients", HeaderText = "连接", ReadOnly = true, FillWeight = 45 });
+            grid.Columns.Add(new DataGridViewTextBoxColumn { Name = "Path", HeaderText = "循环路径", ReadOnly = true, FillWeight = 160 });
+            return grid;
+        }
+
+        private void LoadConfigToUi()
+        {
+            _mapPathBox.Text = _config.MapPath ?? "";
+            _useTagValueBox.Checked = _config.UseTagValueAsNode;
+            _grid.Rows.Clear();
+            foreach (var vehicle in _config.Vehicles)
+            {
+                _grid.Rows.Add(
+                    vehicle.Name,
+                    vehicle.VehicleCode,
+                    vehicle.ListenPort,
+                    vehicle.StartSiteId,
+                    vehicle.EndSiteId,
+                    vehicle.IntervalMs,
+                    "",
+                    "",
+                    "",
+                    "",
+                    "",
+                    "");
+            }
+        }
+
+        private List<MagCarSimVehicleConfig> ReadVehiclesFromGrid()
+        {
+            var list = new List<MagCarSimVehicleConfig>();
+            foreach (DataGridViewRow row in _grid.Rows)
+            {
+                if (row.IsNewRow)
+                {
+                    continue;
+                }
+
+                var code = ToUShort(row.Cells["Code"].Value, 1);
+                list.Add(new MagCarSimVehicleConfig
+                {
+                    Name = Convert.ToString(row.Cells["Name"].Value),
+                    VehicleCode = code,
+                    ListenPort = ToInt(row.Cells["Port"].Value, 5001),
+                    StartSiteId = ToInt(row.Cells["Start"].Value, 1),
+                    EndSiteId = ToInt(row.Cells["End"].Value, 2),
+                    IntervalMs = ToInt(row.Cells["Interval"].Value, _config.DefaultIntervalMs),
+                    LoopSiteIds = PreserveLoop(code)
+                });
+            }
+
+            return list;
+        }
+
+        private List<int> PreserveLoop(ushort vehicleCode)
+        {
+            var existing = _config.Vehicles?.Find(v => v.VehicleCode == vehicleCode);
+            if (existing?.LoopSiteIds == null || existing.LoopSiteIds.Count == 0)
+            {
+                return null;
+            }
+
+            return new List<int>(existing.LoopSiteIds);
+        }
+
+        private void BrowseMap()
+        {
+            using var dialog = new OpenFileDialog
+            {
+                Filter = "SimpleLite 地图 (*.json)|*.json|所有文件 (*.*)|*.*",
+                Title = "选择 SimpleLite 地图"
+            };
+            if (!string.IsNullOrWhiteSpace(_mapPathBox.Text) && File.Exists(_mapPathBox.Text))
+            {
+                dialog.InitialDirectory = Path.GetDirectoryName(_mapPathBox.Text);
+                dialog.FileName = Path.GetFileName(_mapPathBox.Text);
+            }
+
+            if (dialog.ShowDialog(this) == DialogResult.OK)
+            {
+                _mapPathBox.Text = dialog.FileName;
+                TryLoadMap(dialog.FileName, silent: false);
+            }
+        }
+
+        private void TryLoadMap(string path, bool silent)
+        {
+            if (string.IsNullOrWhiteSpace(path))
+            {
+                if (!silent)
+                {
+                    MessageBox.Show(this, "请先选择 SimpleLite 地图文件。", "加载地图", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                }
+
+                return;
+            }
+
+            try
+            {
+                _config.UseTagValueAsNode = _useTagValueBox.Checked;
+                var map = _host.LoadMap(path);
+                _mapPathBox.Text = map.FilePath;
+                RefreshSiteList(map);
+                var stops = map.ListNeedStopSiteIds();
+                _mapInfoLabel.Text = $"站点 {map.Sites.Count}，路径 {map.Tracks.Count}，停止点 {(stops.Count == 0 ? "无（循环将一直过站）" : string.Join(",", stops))}";
+            }
+            catch (Exception ex)
+            {
+                _mapInfoLabel.Text = "地图加载失败";
+                if (!silent)
+                {
+                    MessageBox.Show(this, ex.Message, "加载地图失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                }
+                else
+                {
+                    AppendLog("地图未加载：" + ex.Message);
+                }
+            }
+        }
+
+        private void RefreshSiteList(SimpleLiteMap map)
+        {
+            _siteList.Items.Clear();
+            foreach (var site in map.Sites.Values)
+            {
+                var tag = site.NeedStop ? "  [停止]" : "";
+                var node = map.ResolveNode(site.Id);
+                _siteList.Items.Add($"站 {site.Id}  node={node}{tag}");
+            }
+        }
+
+        private void StartListen()
+        {
+            try
+            {
+                ApplyGridToHost();
+                _host.StartListen();
+                SetRunningUi(true, looping: false);
+                AppendLog("TCP 监听已启动。请在 SimpleLite 中把 MagCar 的 address/Port/VehicleCode 配成与上表一致。");
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(this, ex.Message, "启动监听失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
+            }
+        }
+
+        private void StartLoop()
+        {
+            try
+            {
+                if (!_host.IsListening)
+                {
+                    ApplyGridToHost();
+                }
+
+                _host.StartLoops();
+                SetRunningUi(true, looping: true);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(this, ex.Message, "开始循环失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
+            }
+        }
+
+        private void StopSim()
+        {
+            _host.StopAll();
+            SetRunningUi(false, looping: false);
+            AppendLog("模拟已停止。");
+            RefreshGridStatus();
+        }
+
+        private void ApplyGridToHost()
+        {
+            _config.MapPath = _mapPathBox.Text;
+            _config.UseTagValueAsNode = _useTagValueBox.Checked;
+            _config.Vehicles = ReadVehiclesFromGrid();
+            if (!string.IsNullOrWhiteSpace(_config.MapPath))
+            {
+                TryLoadMap(_config.MapPath, silent: false);
+            }
+
+            _host.RebuildVehicles(_config.Vehicles);
+        }
+
+        private void AddVehicleRow()
+        {
+            if (_host.IsListening)
+            {
+                MessageBox.Show(this, "运行中不能改车辆列表，请先停止模拟。", "添加车辆", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                return;
+            }
+
+            var nextCode = _grid.Rows.Count + 1;
+            _grid.Rows.Add($"AGV-{nextCode}", nextCode, 5000 + nextCode, 1, 6, _config.DefaultIntervalMs, "", "", "", "", "", "");
+        }
+
+        private void RemoveSelectedVehicle()
+        {
+            if (_host.IsListening)
+            {
+                MessageBox.Show(this, "运行中不能改车辆列表，请先停止模拟。", "删除车辆", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                return;
+            }
+
+            if (_grid.CurrentRow == null)
+            {
+                return;
+            }
+
+            _grid.Rows.Remove(_grid.CurrentRow);
+        }
+
+        private void ReleaseSelected()
+        {
+            if (_grid.CurrentRow == null)
+            {
+                MessageBox.Show(this, "请先选中一辆车。", "放行", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                return;
+            }
+
+            var code = ToUShort(_grid.CurrentRow.Cells["Code"].Value, 0);
+            if (!_host.TryRelease(code))
+            {
+                MessageBox.Show(this, $"未找到车号 {code}，请先启动监听。", "放行", MessageBoxButtons.OK, MessageBoxIcon.Information);
+            }
+        }
+
+        private void SaveConfig()
+        {
+            try
+            {
+                _config.MapPath = _mapPathBox.Text;
+                _config.UseTagValueAsNode = _useTagValueBox.Checked;
+                _config.Vehicles = ReadVehiclesFromGrid();
+                _config.Save();
+                AppendLog("配置已保存到 " + MagCarSimConfig.SettingsPath);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(this, ex.Message, "保存失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
+            }
+        }
+
+        private void SetRunningUi(bool listening, bool looping)
+        {
+            _listenButton.Enabled = !listening;
+            _loopButton.Enabled = !looping;
+            _stopButton.Enabled = listening;
+            _addButton.Enabled = !listening;
+            _removeButton.Enabled = !listening;
+            _grid.ReadOnly = listening;
+            _useTagValueBox.Enabled = !listening;
+        }
+
+        private void RefreshGridStatus()
+        {
+            var snapshots = _host.Snapshots();
+            if (snapshots.Count == 0)
+            {
+                return;
+            }
+
+            for (var i = 0; i < _grid.Rows.Count && i < snapshots.Count; i++)
+            {
+                var snap = snapshots[i];
+                var row = _grid.Rows[i];
+                row.Cells["Site"].Value = snap.CurrentSiteId;
+                row.Cells["Node"].Value = snap.Node;
+                row.Cells["State"].Value = snap.StateText;
+                row.Cells["Wait"].Value = snap.WaitingRelease ? "等放行" : (snap.HoldingForStop ? "让行" : "");
+                row.Cells["Clients"].Value = snap.ClientCount;
+                row.Cells["Path"].Value = snap.PathText;
+                row.DefaultCellStyle.BackColor = snap.WaitingRelease
+                    ? Color.FromArgb(255, 236, 179)
+                    : snap.HoldingForStop
+                        ? Color.FromArgb(207, 232, 255)
+                        : Color.White;
+            }
+        }
+
+        private void OnLogMessage(string message)
+        {
+            lock (_logLock)
+            {
+                while (_pendingLogs.Count >= MaxPendingLogs)
+                {
+                    _pendingLogs.Dequeue();
+                }
+
+                _pendingLogs.Enqueue(message);
+            }
+
+            if (_logFlushScheduled || !IsHandleCreated)
+            {
+                return;
+            }
+
+            _logFlushScheduled = true;
+            try
+            {
+                BeginInvoke(new Action(FlushLogs));
+            }
+            catch
+            {
+                _logFlushScheduled = false;
+            }
+        }
+
+        private void FlushLogs()
+        {
+            _logFlushScheduled = false;
+            List<string> batch;
+            lock (_logLock)
+            {
+                if (_pendingLogs.Count == 0)
+                {
+                    return;
+                }
+
+                batch = new List<string>(_pendingLogs.Count);
+                while (_pendingLogs.Count > 0)
+                {
+                    batch.Add(_pendingLogs.Dequeue());
+                }
+            }
+
+            foreach (var line in batch)
+            {
+                _logLineCount++;
+                _logBuffer.AppendLine(line);
+            }
+
+            while (_logLineCount > MaxLogLines)
+            {
+                var text = _logBuffer.ToString();
+                var firstBreak = text.IndexOf('\n');
+                if (firstBreak < 0)
+                {
+                    break;
+                }
+
+                _logBuffer.Remove(0, firstBreak + 1);
+                _logLineCount--;
+            }
+
+            _logBox.Text = _logBuffer.ToString();
+            _logBox.SelectionStart = _logBox.TextLength;
+            _logBox.ScrollToCaret();
+        }
+
+        private void AppendLog(string message)
+        {
+            lock (_logLock)
+            {
+                while (_pendingLogs.Count >= MaxPendingLogs)
+                {
+                    _pendingLogs.Dequeue();
+                }
+
+                _pendingLogs.Enqueue(message);
+            }
+
+            if (IsHandleCreated)
+            {
+                if (!_logFlushScheduled)
+                {
+                    _logFlushScheduled = true;
+                    BeginInvoke(new Action(FlushLogs));
+                }
+            }
+            else
+            {
+                FlushLogs();
+            }
+        }
+
+        private static int ToInt(object value, int fallback)
+        {
+            return int.TryParse(Convert.ToString(value), out var n) ? n : fallback;
+        }
+
+        private static ushort ToUShort(object value, ushort fallback)
+        {
+            return ushort.TryParse(Convert.ToString(value), out var n) ? n : fallback;
+        }
+    }
+}