新增1.0和2.0两种协议车型车型
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ykkokluo
@@ -0,0 +1,351 @@
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using System;
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using System.Collections.Generic;
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namespace StandardScene.Fass2Simulator
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{
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/// <summary>
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/// 到站动作闭环：0xB1 登记期望 → 0xA1 或定时器补全字段 → 供调度 AtStation 判定完成。
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/// </summary>
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public sealed class Fass2SimActionEngine
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{
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private readonly Fass2SimVehicle _vehicle;
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private readonly Fass2SimConfig _config;
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private readonly Fass2SimNodeProfileStore _profiles;
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private readonly object _syncRoot = new object();
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private readonly List<PendingAction> _pendingActions = new List<PendingAction>();
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private Fass2SimNodeMessage _expectedStation;
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public Fass2SimActionEngine(Fass2SimVehicle vehicle, Fass2SimConfig config, Fass2SimNodeProfileStore profiles)
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{
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_vehicle = vehicle;
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_config = config;
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_profiles = profiles ?? new Fass2SimNodeProfileStore();
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}
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public event Action StationActionsCompleted;
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public void OnStationArrival(Fass2SimNodeMessage station)
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{
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if (station == null)
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{
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return;
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}
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lock (_syncRoot)
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{
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_pendingActions.Clear();
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_expectedStation = Clone(station);
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ApplyArrivalFields(station);
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_vehicle.State = 2;
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var pending = Fass2SimActionResolver.DescribePending(_expectedStation, _vehicle.CopySnapshotUnsafe());
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if (string.IsNullOrEmpty(pending))
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{
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Fass2SimLog.WriteLine($"[{Now()}] -> 站点 node={station.Node} 无待执行动作");
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NotifyStationCompleteIfReady();
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return;
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}
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Fass2SimLog.WriteLine($"[{Now()}] -> 站点 node={station.Node} 待动作: {pending}");
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if (_config.AutoCompleteStationActions)
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{
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SchedulePatch(Clone(station), 0, 0, ResolveActionDelayMs(station.Node));
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Fass2SimLog.WriteLine($"[{Now()}] -> AutoComplete 已排队，delay={ResolveActionDelayMs(station.Node)}ms");
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}
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}
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}
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public void OnActionCommand(ulong actionId, Fass2SimNodeMessage patch)
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{
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if (patch == null)
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{
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return;
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}
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lock (_syncRoot)
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{
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if (patch.Node != 0 && patch.Node != _vehicle.Node)
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{
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Fass2SimLog.WriteLine(
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$"[{Now()}] -> 0xA1 节点不匹配: patch={patch.Node}, current={_vehicle.Node}，仍尝试应用");
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}
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var delay = ResolveActionDelayMs(patch.Node != 0 ? patch.Node : _vehicle.Node);
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SchedulePatch(patch, actionId, 0, delay);
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Fass2SimLog.WriteLine(
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$"[{Now()}] -> 0xA1 actionId={actionId} 已排队，delay={delay}ms, pending={DescribePatch(patch)}");
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}
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}
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public void Tick(int deltaMs)
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{
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if (deltaMs <= 0)
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{
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return;
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}
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List<PendingAction> due = null;
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lock (_syncRoot)
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{
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for (var i = _pendingActions.Count - 1; i >= 0; i--)
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{
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_pendingActions[i].RemainingMs -= deltaMs;
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if (_pendingActions[i].RemainingMs <= 0)
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{
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due ??= new List<PendingAction>();
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due.Add(_pendingActions[i]);
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_pendingActions.RemoveAt(i);
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}
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}
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}
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if (due == null)
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{
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return;
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}
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foreach (var action in due)
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{
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lock (_syncRoot)
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{
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ApplyPatch(action.Patch);
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if (action.ActionId > 0)
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{
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Fass2SimLog.WriteLine(
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$"[{Now()}] -> 动作完成 actionId={action.ActionId}, node={_vehicle.Node}, fields={DescribePatch(action.Patch)}");
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}
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else
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{
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Fass2SimLog.WriteLine(
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$"[{Now()}] -> 自动动作完成 node={_vehicle.Node}, fields={DescribePatch(action.Patch)}");
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}
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var pending = Fass2SimActionResolver.DescribePending(_expectedStation, _vehicle.CopySnapshotUnsafe());
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if (!string.IsNullOrEmpty(pending))
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{
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Fass2SimLog.WriteLine($"[{Now()}] -> 仍有待动作: {pending}");
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}
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NotifyStationCompleteIfReady();
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}
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}
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}
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public bool IsStationComplete()
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{
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lock (_syncRoot)
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{
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return IsStationCompleteLocked();
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}
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}
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public bool CanLeaveStation()
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{
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lock (_syncRoot)
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{
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return IsStationCompleteLocked();
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}
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}
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public Fass2SimNodeMessage ExpectedStation
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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 _expectedStation;
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}
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}
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}
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private bool IsStationCompleteLocked()
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{
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if (_pendingActions.Count > 0)
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{
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return false;
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}
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if (_expectedStation == null)
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{
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return true;
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}
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return Fass2SimActionResolver.IsStationActionComplete(
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_expectedStation,
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_vehicle.CopySnapshotUnsafe(),
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_vehicle.State);
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}
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private void NotifyStationCompleteIfReady()
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{
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if (!IsStationCompleteLocked())
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{
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return;
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}
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if (_expectedStation != null)
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{
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Fass2SimLog.WriteLine($"[{Now()}] -> 站点 node={_expectedStation.Node} 动作已全部完成");
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}
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StationActionsCompleted?.Invoke();
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}
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private void ApplyArrivalFields(Fass2SimNodeMessage station)
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{
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if (station.StartStop > 0)
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{
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_vehicle.StartStop = station.StartStop;
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}
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if (station.Orientation > 0)
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{
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_vehicle.Orientation = station.Orientation;
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}
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if (station.Direction > 0)
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{
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_vehicle.Direction = station.Direction;
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}
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if (station.Byroad > 0)
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{
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_vehicle.Byroad = station.Byroad;
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}
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}
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private void SchedulePatch(Fass2SimNodeMessage patch, ulong actionId, int source, int delayMs)
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{
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_pendingActions.Add(new PendingAction
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{
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Patch = Clone(patch),
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ActionId = actionId,
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RemainingMs = Math.Max(0, delayMs)
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});
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}
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private void ApplyPatch(Fass2SimNodeMessage patch)
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{
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if (patch.Node != 0)
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{
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_vehicle.Node = patch.Node;
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}
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if (patch.StartStop > 0)
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{
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_vehicle.StartStop = patch.StartStop;
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}
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if (patch.Speed > 0)
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{
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_vehicle.Speed = patch.Speed;
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}
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if (patch.Direction > 0)
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{
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_vehicle.Direction = patch.Direction;
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}
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if (patch.Orientation > 0)
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{
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_vehicle.Orientation = patch.Orientation;
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}
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if (patch.Byroad > 0)
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{
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_vehicle.Byroad = patch.Byroad;
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}
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if (patch.Obstacle > 0)
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{
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_vehicle.Obstacle = patch.Obstacle;
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}
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if (patch.Audio > 0)
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{
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_vehicle.Audio = patch.Audio;
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}
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if (patch.Light > 0)
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{
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_vehicle.Light = patch.Light;
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}
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if (patch.Charge > 0)
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{
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_vehicle.Charge = patch.Charge;
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}
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if (patch.Rest > 0)
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{
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_vehicle.Rest = patch.Rest;
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}
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if (patch.Lift > 0)
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{
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_vehicle.Lift = patch.Lift;
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}
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if (patch.Clamp > 0)
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{
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_vehicle.Clamp = patch.Clamp;
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}
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if (patch.Tray > 0)
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{
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_vehicle.Tray = patch.Tray;
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}
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if (patch.Roll > 0)
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{
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_vehicle.Roll = patch.Roll;
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}
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if (patch.Shutdown > 0)
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{
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_vehicle.Shutdown = patch.Shutdown;
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}
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}
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private int ResolveActionDelayMs(ushort nodeId)
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{
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return _profiles.ResolveActionDelayMs(nodeId, _config.ActionDelayMs);
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}
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private static Fass2SimNodeMessage Clone(Fass2SimNodeMessage source)
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{
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return new Fass2SimNodeMessage
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{
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Node = source.Node,
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Distance = source.Distance,
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StartStop = source.StartStop,
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Direction = source.Direction,
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Orientation = source.Orientation,
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Byroad = source.Byroad,
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Speed = source.Speed,
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Obstacle = source.Obstacle,
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Audio = source.Audio,
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Light = source.Light,
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Charge = source.Charge,
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Rest = source.Rest,
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Lift = source.Lift,
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Clamp = source.Clamp,
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Tray = source.Tray,
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Roll = source.Roll,
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Shutdown = source.Shutdown
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};
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}
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private static string DescribePatch(Fass2SimNodeMessage patch)
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{
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var parts = new List<string>();
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if (patch.StartStop > 0) parts.Add($"StartStop={patch.StartStop}");
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if (patch.Lift > 0) parts.Add($"Lift={patch.Lift}");
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if (patch.Charge > 0) parts.Add($"Charge={patch.Charge}");
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if (patch.Roll > 0) parts.Add($"Roll={patch.Roll}");
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if (patch.Speed > 0) parts.Add($"Speed={patch.Speed}");
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return parts.Count == 0 ? "(empty)" : string.Join(",", parts);
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}
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private static string Now()
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{
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return DateTime.Now.ToString("HH:mm:ss.fff");
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}
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private sealed class PendingAction
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{
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public Fass2SimNodeMessage Patch { get; set; }
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public ulong ActionId { get; set; }
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public int RemainingMs { get; set; }
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}
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}
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}
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