磁导航1.0内部交管和信号交互
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ykkokluo
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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namespace StandardScene.MagCarSimulator
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{
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public sealed class MagCarSimHost : IDisposable
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{
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private readonly object _syncRoot = new object();
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private readonly List<MagCarSimVehicle> _vehicles = new List<MagCarSimVehicle>();
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private Timer _timer;
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private SimpleLiteMap _map;
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private int _tickBusy;
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public MagCarSimHost(MagCarSimConfig config)
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{
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Config = config ?? throw new ArgumentNullException(nameof(config));
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}
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public MagCarSimConfig Config { get; }
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public SimpleLiteMap Map => _map;
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public bool IsListening { get; private set; }
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public bool IsLooping { get; private set; }
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public IReadOnlyList<MagCarSimVehicle> Vehicles
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{
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get
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{
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lock (_syncRoot)
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{
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return _vehicles.ToList();
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}
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}
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}
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public SimpleLiteMap LoadMap(string path)
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{
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var map = SimpleLiteMap.Load(path, Config.UseTagValueAsNode);
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var controlPath = MagControlAreaFile.GuessPath(map.FilePath, Config.ControlAreasPath);
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var controlSites = MagControlAreaFile.LoadSiteIds(controlPath);
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map.AddSingleOccupancySites(controlSites);
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lock (_syncRoot)
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{
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_map = map;
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Config.MapPath = map.FilePath;
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if (!string.IsNullOrWhiteSpace(controlPath))
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{
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Config.ControlAreasPath = controlPath;
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}
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foreach (var vehicle in _vehicles)
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{
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vehicle.AttachMap(map);
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}
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}
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var exclusive = map.ListSingleOccupancySiteIds();
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MagCarSimLog.WriteLine(
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$"[{DateTime.Now:HH:mm:ss.fff}] 已加载地图 {map.FileName}，站点 {map.Sites.Count}，路径 {map.Tracks.Count}，停止/交管点 {(exclusive.Count == 0 ? "无" : string.Join(",", exclusive))}");
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return map;
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}
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public void RebuildVehicles(IEnumerable<MagCarSimVehicleConfig> configs)
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{
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if (IsListening)
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{
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throw new InvalidOperationException("请先停止模拟再改车辆列表");
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}
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lock (_syncRoot)
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{
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DisposeVehiclesUnlocked();
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foreach (var config in configs ?? Array.Empty<MagCarSimVehicleConfig>())
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{
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if (config == null)
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{
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continue;
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}
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var vehicle = new MagCarSimVehicle(Clone(config), Config);
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if (_map != null)
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{
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vehicle.AttachMap(_map);
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}
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_vehicles.Add(vehicle);
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}
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}
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}
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public void StartListen()
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{
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List<MagCarSimVehicle> vehicles;
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SimpleLiteMap map;
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lock (_syncRoot)
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{
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if (IsListening)
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{
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return;
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}
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if (_map == null)
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{
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throw new InvalidOperationException("请先加载 SimpleLite 地图");
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}
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if (_vehicles.Count == 0)
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{
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throw new InvalidOperationException("没有可启动的车辆");
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}
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EnsureUniquePortsUnlocked();
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vehicles = _vehicles.ToList();
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map = _map;
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EnsureTimerUnlocked();
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IsListening = true;
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}
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foreach (var vehicle in vehicles)
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{
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vehicle.AttachMap(map);
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vehicle.StartListen();
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}
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}
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public void StartLoops()
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{
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if (!IsListening)
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{
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StartListen();
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}
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List<MagCarSimVehicle> vehicles;
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lock (_syncRoot)
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{
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vehicles = _vehicles.ToList();
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IsLooping = true;
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}
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var now = DateTime.Now;
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foreach (var group in vehicles.GroupBy(RingKey).OrderBy(g => g.Key))
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{
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var members = group.OrderBy(v => v.VehicleCode).ToList();
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var dispatchAt = now;
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foreach (var vehicle in members)
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{
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vehicle.StartLoop(dispatchAt);
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dispatchAt = dispatchAt.AddMilliseconds(StaggerMs(vehicle));
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}
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MagCarSimLog.WriteLine(
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$"[{DateTime.Now:HH:mm:ss.fff}] 同环依次发车 {members[0].Name} 等 {members.Count} 台，间隔 {StaggerMs(members[0])}ms");
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}
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}
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public void StopAll()
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{
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Timer timer;
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List<MagCarSimVehicle> vehicles;
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lock (_syncRoot)
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{
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timer = _timer;
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_timer = null;
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IsListening = false;
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IsLooping = false;
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vehicles = _vehicles.ToList();
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}
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try
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{
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timer?.Dispose();
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}
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catch
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{
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}
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foreach (var vehicle in vehicles)
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{
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vehicle.StopLoop();
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vehicle.StopListen();
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}
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}
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public bool TryRelease(ushort vehicleCode)
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{
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lock (_syncRoot)
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{
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var vehicle = _vehicles.FirstOrDefault(v => v.VehicleCode == vehicleCode);
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if (vehicle == null)
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{
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return false;
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}
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vehicle.Release();
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return true;
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}
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}
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public List<MagCarSimVehicleSnapshot> Snapshots()
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{
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lock (_syncRoot)
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{
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return _vehicles.Select(v => v.Snapshot()).ToList();
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}
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}
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public void Dispose()
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{
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StopAll();
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lock (_syncRoot)
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{
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DisposeVehiclesUnlocked();
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}
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}
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private void EnsureTimerUnlocked()
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{
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_timer ??= new Timer(_ => OnTick(), null, 50, 50);
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}
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private void OnTick()
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{
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if (Interlocked.Exchange(ref _tickBusy, 1) != 0)
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{
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return;
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}
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try
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{
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List<MagCarSimVehicle> vehicles;
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SimpleLiteMap map;
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lock (_syncRoot)
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{
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vehicles = _vehicles.ToList();
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map = _map;
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}
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var occupancy = SnapshotExclusiveOccupancy(map, vehicles);
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var now = DateTime.Now;
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foreach (var vehicle in vehicles)
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{
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vehicle.Tick(now, occupancy);
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}
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}
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finally
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{
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Interlocked.Exchange(ref _tickBusy, 0);
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}
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}
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private void EnsureUniquePortsUnlocked()
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{
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var seen = new HashSet<int>();
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foreach (var vehicle in _vehicles)
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{
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if (!seen.Add(vehicle.ListenPort))
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{
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throw new InvalidOperationException($"端口 {vehicle.ListenPort} 被多辆车占用");
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}
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}
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}
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private static Dictionary<int, ushort> SnapshotExclusiveOccupancy(
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SimpleLiteMap map,
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IEnumerable<MagCarSimVehicle> vehicles)
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{
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var occupancy = new Dictionary<int, ushort>();
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if (map == null)
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{
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return occupancy;
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}
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foreach (var vehicle in vehicles)
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{
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if (vehicle.CurrentSiteId <= 0 ||
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!map.SingleOccupancy(vehicle.CurrentSiteId) ||
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occupancy.ContainsKey(vehicle.CurrentSiteId))
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{
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continue;
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}
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occupancy[vehicle.CurrentSiteId] = vehicle.VehicleCode;
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}
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return occupancy;
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}
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private int StaggerMs(MagCarSimVehicle vehicle)
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{
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if (Config.LaunchStaggerMs > 0)
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{
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return Math.Max(200, Config.LaunchStaggerMs);
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}
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var interval = vehicle.Config.IntervalMs > 0 ? vehicle.Config.IntervalMs : Config.DefaultIntervalMs;
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return Math.Max(200, interval);
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}
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private static string RingKey(MagCarSimVehicle vehicle)
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{
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var ids = vehicle.Config.LoopSiteIds;
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if (ids != null && ids.Count > 0)
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{
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return string.Join("-", ids);
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}
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return $"s{vehicle.Config.StartSiteId}-e{vehicle.Config.EndSiteId}";
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}
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private void DisposeVehiclesUnlocked()
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{
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foreach (var vehicle in _vehicles)
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{
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vehicle.Dispose();
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}
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_vehicles.Clear();
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}
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private static MagCarSimVehicleConfig Clone(MagCarSimVehicleConfig source)
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{
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return new MagCarSimVehicleConfig
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{
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Name = source.Name,
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VehicleCode = source.VehicleCode,
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ListenPort = source.ListenPort,
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StartSiteId = source.StartSiteId,
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EndSiteId = source.EndSiteId,
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IntervalMs = source.IntervalMs,
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LoopSiteIds = source.LoopSiteIds == null ? null : new List<int>(source.LoopSiteIds)
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};
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}
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}
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}
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