磁导航1.0内部交管和信号交互

2026-08-24 14:55:35 +08:00
parent cacc5fea5c
commit 244b0af6c8
60 changed files with 6395 additions and 294 deletions
@@ -79,7 +79,7 @@ namespace StandardScene.CarTypes
        [FieldMember] public bool EnableDetailLog = true;
        [FieldMember] public bool LogRawFrame = true;
        [FieldMember] public bool EnableFileLog = true;
-        [FieldMember] public string LogDirectory = "logs";
+        [FieldMember] public string LogDirectory = "log";
        [FieldMember] public float CarLength = 1200;
        [FieldMember] public float CarWidth = 800;

@@ -17,6 +17,7 @@ using System.Drawing.Drawing2D;
 using System.Globalization;
 using System.IO;
 using System.Linq;
+using System.Net;
 using System.Net.Sockets;
 using System.Threading;
 using System.Threading.Tasks;
@@ -101,6 +102,9 @@ namespace StandardScene.CarTypes
        /// </summary>
        private DateTime _lastPollTime = DateTime.MinValue;

+        /// <summary>最近一次与 AGV 通讯成功的时间；用于「断开超过 OfflineAfterMs → 离线」。</summary>
+        private DateTime _lastCommOkTime = DateTime.Now;
+
        /// <summary>
        /// AGV 服务端监听端口，默认 5000。
        /// </summary>
@@ -135,6 +139,12 @@ namespace StandardScene.CarTypes
        /// </summary>
        [FieldMember] public int PollIntervalMs = 1000;

+        /// <summary>
+        /// 连续通讯失败超过该毫秒数后，概况显示「离线」。
+        /// 默认 20000（20 秒）；期间失败会显示「连接中」。
+        /// </summary>
+        [FieldMember] public int OfflineAfterMs = 20000;
+
        /// <summary>
        /// 移动任务的预留超时时间，单位秒。
        /// 当前 MagCar 不下发脚本，保留该字段用于后续任务调度或界面配置兼容。
@@ -280,11 +290,28 @@ namespace StandardScene.CarTypes
            }
            catch (Exception ex)
            {
-                lstatus = IsBenignSocketFault(ex) ? lstatus : "离线";
-                if (!IsBenignSocketFault(ex))
-                {
-                    DetailLog($"keepAlive poll failed: {ex.Message}");
-                }
+                ApplyOfflineAfterDisconnect(ex);
+            }
+        }
+
+        /// <summary>
+        /// 通讯失败时：未满 <see cref="OfflineAfterMs"/> 显示「连接中」，满 20 秒（可配）后显示「离线」。
+        /// </summary>
+        private void ApplyOfflineAfterDisconnect(Exception ex)
+        {
+            var offlineAfter = OfflineAfterMs < 1000 ? 1000 : OfflineAfterMs;
+            if ((DateTime.Now - _lastCommOkTime).TotalMilliseconds >= offlineAfter)
+            {
+                lstatus = "离线";
+            }
+            else if (lstatus != "离线")
+            {
+                lstatus = "连接中";
+            }
+
+            if (!IsBenignSocketFault(ex))
+            {
+                DetailLog($"keepAlive poll failed: {ex.Message}");
            }
        }

@@ -590,6 +617,13 @@ namespace StandardScene.CarTypes
            try
            {
                ConnectWithTimeout(client);
+                if (IsLoopbackSelfConnect(client))
+                {
+                    AbortClientQuietly(client);
+                    throw new IOException(
+                        $"TCP self-connect {address}:{Port} (local ephemeral hit listen port); refuse and retry");
+                }
+
                client.SendTimeout = SendTimeoutMs;
                client.ReceiveTimeout = ReceiveTimeoutMs;
                _persistentClient = client;
@@ -619,7 +653,51 @@ namespace StandardScene.CarTypes
        {
            try
            {
-                return _persistentClient != null && _persistentClient.Connected;
+                if (_persistentClient == null || !_persistentClient.Connected)
+                {
+                    return false;
+                }
+
+                // 本机动态端口若从 1024 起，连 500x 且模拟器未监听时，Windows 可能自连成功且 Connected=true，
+                // 之后会一直把自身请求当响应（State=0 → 未准备），必须主动拆掉重连。
+                if (IsLoopbackSelfConnect(_persistentClient))
+                {
+                    ClosePersistentConnection("loopback self-connect");
+                    return false;
+                }
+
+                return true;
+            }
+            catch
+            {
+                return false;
+            }
+        }
+
+        /// <summary>
+        /// 检测 Windows/localhost 上「源端口=目标端口」的自连（无真实服务端）。
+        /// </summary>
+        private static bool IsLoopbackSelfConnect(TcpClient client)
+        {
+            try
+            {
+                if (client?.Client == null)
+                {
+                    return false;
+                }
+
+                if (!(client.Client.LocalEndPoint is IPEndPoint local) ||
+                    !(client.Client.RemoteEndPoint is IPEndPoint remote))
+                {
+                    return false;
+                }
+
+                if (local.Port != remote.Port)
+                {
+                    return false;
+                }
+
+                return IPAddress.IsLoopback(local.Address) && IPAddress.IsLoopback(remote.Address);
            }
            catch
            {
@@ -680,6 +758,13 @@ namespace StandardScene.CarTypes
            {
                DetailLog($"short connect begin {address}:{Port}, timeout={ConnectTimeoutMs}ms");
                ConnectWithTimeout(client);
+                if (IsLoopbackSelfConnect(client))
+                {
+                    AbortClientQuietly(client);
+                    throw new IOException(
+                        $"TCP self-connect {address}:{Port} (local ephemeral hit listen port); refuse and retry");
+                }
+
                DetailLog($"short connect ok {address}:{Port}");

                client.SendTimeout = SendTimeoutMs;
@@ -785,11 +870,17 @@ namespace StandardScene.CarTypes
                    if (!string.IsNullOrEmpty(message) &&
                        (message.Contains("已中止 I/O", StringComparison.Ordinal) ||
                         message.Contains("I/O operation", StringComparison.OrdinalIgnoreCase) ||
-                         message.Contains("operation was aborted", StringComparison.OrdinalIgnoreCase)))
+                         message.Contains("operation was aborted", StringComparison.OrdinalIgnoreCase) ||
+                         message.Contains("self-connect", StringComparison.OrdinalIgnoreCase)))
                    {
                        return true;
                    }
                }
+
+                if (current is TimeoutException)
+                {
+                    return true;
+                }
            }

            return false;
@@ -899,6 +990,7 @@ namespace StandardScene.CarTypes
        private void ApplyReport(MagCarReport report)
        {
            LastReport = report;
+            _lastCommOkTime = DateTime.Now;
            lstatus = report.Alarm != 0 ? "报警" : report.State == 0 ? "未准备" : "上线";
            th = report.Angle;

@@ -925,12 +1017,108 @@ namespace StandardScene.CarTypes

            haveCoordination = true;
            siteID = site.id;
-            x = site.x;
-            y = site.y;
+            ApplyStackedSitePose(site);
            SyncTrafficFromReport(site, report);
            DetailLog($"report applied, node={report.Node}, site={siteID}, x={x:0.###}, y={y:0.###}, th={th:0.###}, state={StateText(report.State)}, soc={report.Charge}, current={report.Current:0.###}, voltage={report.Voltage:0.###}, speed={report.Speed}, task={report.Task}, lift={report.Lift}, roll={report.Roll}, alarm=0x{report.Alarm:X}");
        }

+        /// <summary>
+        /// 同一普通站多车时，沿路网方向按车号依次错开坐标，避免 SimpleLite 地图上完全重叠。
+        /// 站点逻辑仍用 <see cref="Car.siteID"/>，不改变交管占用。
+        /// </summary>
+        private void ApplyStackedSitePose(Site site)
+        {
+            if (site == null)
+            {
+                return;
+            }
+
+            var ids = SameSiteCarIds(site.id);
+            var index = Math.Max(0, ids.IndexOf(id));
+            var (ux, uy) = SiteSpreadAxis(site);
+            var step = Math.Max(CarLength * 0.9f, 900f);
+            var centered = index - (ids.Count - 1) * 0.5;
+            x = (float)(site.x + ux * step * centered);
+            y = (float)(site.y + uy * step * centered);
+        }
+
+        private List<int> SameSiteCarIds(int siteId)
+        {
+            var ids = new List<int>();
+            try
+            {
+                foreach (var car in SimpleLib.GetAllCars().OfType<Car>())
+                {
+                    if (car != null && car.siteID == siteId && !ids.Contains(car.id))
+                    {
+                        ids.Add(car.id);
+                    }
+                }
+            }
+            catch
+            {
+            }
+
+            if (!ids.Contains(id))
+            {
+                ids.Add(id);
+            }
+
+            ids.Sort();
+            return ids;
+        }
+
+        private static (double ux, double uy) SiteSpreadAxis(Site site)
+        {
+            double bestDx = 0;
+            double bestDy = 0;
+            double bestLen = 0;
+            try
+            {
+                foreach (var track in SimpleLib.GetAllTracks())
+                {
+                    if (track == null)
+                    {
+                        continue;
+                    }
+
+                    var otherId = track.siteA == site.id ? track.siteB
+                        : track.siteB == site.id ? track.siteA
+                        : 0;
+                    if (otherId <= 0)
+                    {
+                        continue;
+                    }
+
+                    var other = SimpleLib.GetSite(otherId);
+                    if (other == null)
+                    {
+                        continue;
+                    }
+
+                    var dx = other.x - site.x;
+                    var dy = other.y - site.y;
+                    var len = Math.Sqrt(dx * dx + dy * dy);
+                    if (len > bestLen)
+                    {
+                        bestLen = len;
+                        bestDx = dx;
+                        bestDy = dy;
+                    }
+                }
+            }
+            catch
+            {
+            }
+
+            if (bestLen < 1)
+            {
+                return (1, 0);
+            }
+
+            return (bestDx / bestLen, bestDy / bestLen);
+        }
+
        /// <summary>
        /// 将 AGV 上报的当前地标同步到交通锁（holdingLocks）。
        /// GhostCar 调度依赖 holdingLocks/GetLastSite，仅改 x/y/siteID 会导致“画面在动、初始化占点不动”。
@@ -954,6 +1142,25 @@ namespace StandardScene.CarTypes
                return;
            }

+            // 他车仍占本站锁但物理站已离开 → 回收陈旧锁，否则 TrafficReset 失败，画面占点不跟着走。
+            var holder = FindOtherCarHoldingSite(site.id);
+            if (holder != null)
+            {
+                if (!TryReleaseStaleHolder(holder, site.id))
+                {
+                    if (_lastSyncedTrafficSiteId != -site.id)
+                    {
+                        DetailLog(
+                            $"traffic sync skip, site={site.id} held by car={holder.id}, selfLock={lockedSite}, node={report.Node}");
+                        _lastSyncedTrafficSiteId = -site.id;
+                    }
+
+                    return;
+                }
+
+                DetailLog($"traffic sync released stale holder car={holder.id}, site={site.id}");
+            }
+
            try
            {
                DetailLog($"traffic sync TrafficReset, lock={lockedSite}, targetSite={site.id}, node={report.Node}, state={StateText(report.State)}");
@@ -966,6 +1173,52 @@ namespace StandardScene.CarTypes
            }
        }

+        private Car FindOtherCarHoldingSite(int siteId)
+        {
+            foreach (var other in SimpleLib.GetAllCars().OfType<Car>())
+            {
+                if (other == null || other.id == id)
+                {
+                    continue;
+                }
+
+                if (other.status?.holdingLocks != null &&
+                    Array.IndexOf(other.status.holdingLocks, siteId) >= 0)
+                {
+                    return other;
+                }
+            }
+
+            return null;
+        }
+
+        private bool TryReleaseStaleHolder(Car other, int siteId)
+        {
+            if (other == null)
+            {
+                return false;
+            }
+
+            var online = other.tags?.Contains("Online") == true;
+            var physicalSiteId = other.siteID > 0 ? other.siteID : other.GetLastSite();
+            var stale = !online || (physicalSiteId > 0 && physicalSiteId != siteId);
+            if (!stale)
+            {
+                return false;
+            }
+
+            try
+            {
+                TrafficControl.Leave(other, siteId);
+                return Array.IndexOf(other.status.holdingLocks ?? Array.Empty<int>(), siteId) < 0;
+            }
+            catch (Exception ex)
+            {
+                DetailLog($"traffic sync release stale holder failed: car={other.id}, site={siteId}, {ex.Message}");
+                return false;
+            }
+        }
+
        /// <summary>
        /// 将 AGV 返回的节点号解析为场景站点。
        /// 根据 <see cref="UseTagValueAsNode"/> 决定优先匹配站点 TagValue 还是直接匹配站点 id。
@@ -9,6 +9,7 @@ namespace StandardScene.Magnetic.Tasking
 {
    /// <summary>
    /// 按 holdingLocks + 物理 siteID 统计管控站点列表上的他车占用。
+    /// Mag2 仍读地图 Fass2_ControlArea 字段；磁条交管进程只放行 MagCar，不介入本路径。
    /// </summary>
    internal static class Fass2ControlAreaOccupancy
    {
@@ -6,17 +6,17 @@ using System.Text;
 namespace StandardScene.Magnetic.Tasking
 {
    /// <summary>
-    /// Mag2Car 本地文件日志，按协议车号分目录：logs/car{VehicleCode}/mag2_yyyyMMdd.log
+    /// Mag2Car 本地文件日志，按协议车号分目录：log/car{VehicleCode}/mag2_yyyyMMdd.log
    /// </summary>
    public static class Mag2CarFileLogger
    {
        private static readonly ConcurrentDictionary<ushort, object> CarLocks = new ConcurrentDictionary<ushort, object>();
-        private static string _baseDirectory = "logs";
+        private static string _baseDirectory = "log";
        private static bool _enabled = true;

        public static void Configure(string baseDirectory, bool enabled)
        {
-            _baseDirectory = string.IsNullOrWhiteSpace(baseDirectory) ? "logs" : baseDirectory.Trim();
+            _baseDirectory = string.IsNullOrWhiteSpace(baseDirectory) ? "log" : baseDirectory.Trim();
            _enabled = enabled;
        }