新增1.0和2.0两种协议车型车型
This commit is contained in:
ykkokluo
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Load Diff
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Load Diff
@@ -0,0 +1,20 @@
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using Newtonsoft.Json;
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using SimpleLite.Props;
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using SimpleLite.RCS;
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using StandardScene.Chained;
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namespace StandardScene
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{
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/// <summary>
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/// 磁导航 FASS 2.0 环线任务进程。
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/// <para>任务分配/触发/流量逻辑完全继承 Core <see cref="LoopMission"/>，不修改 Core。</para>
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/// <para>导航执行由 <see cref="MagFass2Car"/> 拦截 Loop 编译脚本（含 <c>MagFass2Go</c> + <c>goalSite</c>），
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/// 改为单次全程 <c>0xB1</c> 状态机任务。</para>
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/// <para>场景内可继续使用原 <see cref="LoopMission"/>；本类型仅作磁导航 FASS2 场景标识。</para>
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/// </summary>
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[MissionType(Name = "磁导航FASS2环线", editor = typeof(MagFass2LoopMission))]
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public class MagFass2LoopMission : LoopMission
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{
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[JsonIgnore] public override MissionStatus status { get; set; } = new LoopMissionStatus();
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}
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}
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@@ -0,0 +1,351 @@
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[
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "3",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Stopping",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "NodeAllUnlockedNotCar",
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"ConditionMethodArgs": "3,53,21"
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}
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],
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"TaskEnable": true,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "16",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "WaitPass",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "NodeAllUnlockedNotCar",
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"ConditionMethodArgs": "16,3"
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}
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],
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"TaskEnable": true,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "21",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Stopping",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "NodeAllUnlockedNotCar",
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"ConditionMethodArgs": "21,1,4"
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},
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "requestStaion",
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"ConditionMethodArgs": "DB5524.0.0"
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}
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],
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"TaskEnable": true,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "1",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Stopping",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "InplaceStaion",
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"ConditionMethodArgs": "DB5524.2.0,DB5524.0.1"
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}
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],
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"TaskEnable": true,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "2",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Stopping",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "clearStaion",
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"ConditionMethodArgs": "DB5524.2.0"
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}
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],
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"TaskEnable": true,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "53",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Running",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "EmegerStop",
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"ConditionMethodArgs": "DB5524.0.2"
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}
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],
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"TaskEnable": true,
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"TaskType": "Stop"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "53",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Stopping",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "EmegerStart",
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"ConditionMethodArgs": "DB5524.0.2"
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}
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],
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"TaskEnable": true,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "5",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Stopping,Charging",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "NodeAllUnlockedNotCar",
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"ConditionMethodArgs": "5,54"
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}
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],
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"TaskEnable": true,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "7",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Running",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "NodeAllUnlockedNotCar",
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"ConditionMethodArgs": "7,8"
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}
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],
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"TaskEnable": false,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "9",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Running",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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"ConditionEnable": true,
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"ConditionType": "Method",
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"ConditionAssemblyFile": null,
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"ConditionTypeName": null,
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"ConditionTypeArgs": null,
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"ConditionMethodName": "NodeAllUnlockedNotCar",
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"ConditionMethodArgs": "9"
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}
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],
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"TaskEnable": false,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "11",
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"TriggerCarNextNodeCode": null,
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"TriggerCarState": "Running",
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"TriggerCarAngle": null,
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"ConditionEvents": [
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{
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||||
"ConditionEnable": true,
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||||
"ConditionType": "Method",
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||||
"ConditionAssemblyFile": null,
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||||
"ConditionTypeName": null,
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||||
"ConditionTypeArgs": null,
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||||
"ConditionMethodName": "NodeAllUnlockedNotCar",
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||||
"ConditionMethodArgs": "11"
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||||
}
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||||
],
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"TaskEnable": false,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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"TriggerCarCode": null,
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||||
"TriggerCarPrevNodeCode": null,
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||||
"TriggerCarCurrentNodeCode": "14",
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||||
"TriggerCarNextNodeCode": null,
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||||
"TriggerCarState": "Running",
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"TriggerCarAngle": null,
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||||
"ConditionEvents": [
|
||||
{
|
||||
"ConditionEnable": true,
|
||||
"ConditionType": "Method",
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||||
"ConditionAssemblyFile": null,
|
||||
"ConditionTypeName": null,
|
||||
"ConditionTypeArgs": null,
|
||||
"ConditionMethodName": "NodeAllUnlockedNotCar",
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||||
"ConditionMethodArgs": "14"
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||||
}
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],
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"TaskEnable": false,
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"TaskType": "Start"
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},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
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"TriggerEvent": "TimerTick",
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||||
"TriggerCarCode": null,
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||||
"TriggerCarPrevNodeCode": null,
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||||
"TriggerCarCurrentNodeCode": "15",
|
||||
"TriggerCarNextNodeCode": null,
|
||||
"TriggerCarState": "Running",
|
||||
"TriggerCarAngle": null,
|
||||
"ConditionEvents": [
|
||||
{
|
||||
"ConditionEnable": true,
|
||||
"ConditionType": "Method",
|
||||
"ConditionAssemblyFile": null,
|
||||
"ConditionTypeName": null,
|
||||
"ConditionTypeArgs": null,
|
||||
"ConditionMethodName": "NodeAllUnlockedNotCar",
|
||||
"ConditionMethodArgs": "15"
|
||||
}
|
||||
],
|
||||
"TaskEnable": false,
|
||||
"TaskType": "Start"
|
||||
},
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{
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"TriggerEnable": true,
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"TriggerSource": "Car",
|
||||
"TriggerEvent": "TimerTick",
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||||
"TriggerCarCode": null,
|
||||
"TriggerCarPrevNodeCode": null,
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"TriggerCarCurrentNodeCode": "27",
|
||||
"TriggerCarNextNodeCode": null,
|
||||
"TriggerCarState": "Stopping,Charging",
|
||||
"TriggerCarAngle": null,
|
||||
"ConditionEvents": [
|
||||
{
|
||||
"ConditionEnable": true,
|
||||
"ConditionType": "Method",
|
||||
"ConditionAssemblyFile": null,
|
||||
"ConditionTypeName": null,
|
||||
"ConditionTypeArgs": null,
|
||||
"ConditionMethodName": "ChargeStart",
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"ConditionMethodArgs": "95"
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||||
}
|
||||
|
||||
],
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"TaskEnable": true,
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"TaskType": "Start"
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}
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]
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@@ -7,8 +7,9 @@ namespace StandardScene.Magnetic
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{
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/// <summary>
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/// scene.mag 平台画像：磁导航场景插件。
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/// <para>车型为磁导航专用 <see cref="MagCar"/>（与下位机通过 UDP 协议交互）；路径由
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/// MagneticTrackCoder 生成 agv.MagGo / agv.NaiveMagGo 脚本（按 track.Magnet 触发）。</para>
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/// <para>车型：<see cref="MagCar"/>（FASS 1.0 TCP）、<see cref="MagFass2Car"/>（FASS 2.0 UDP/任务状态机）。
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/// Loop 导航：继续使用 Core <c>LoopMission</c> 或本插件 <c>MagFass2LoopMission</c> 分配 <c>goalSite</c>，
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/// <see cref="MagFass2Car"/> 拦截编译脚本后一次下发全程 <c>0xB1</c>。</para>
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/// 宿主（SimpleLite）加载本 dll 后反射实例化并 OnActivate / 注册。
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/// </summary>
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public sealed class MagneticSceneProfile : NavigationProfileBase
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@@ -22,11 +23,12 @@ namespace StandardScene.Magnetic
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public override IReadOnlyList<Type> CarTypes => new[]
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{
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typeof(MagCar),
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typeof(MagFass2Car),
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};
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||||
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||||
public override void OnActivate(ISceneContext context)
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{
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context.Log($"{DisplayName} 已激活（车型：磁导航车 MagCar）");
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||||
context.Log($"{DisplayName} 已激活（车型：MagCar / MagFass2Car）");
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}
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||||
}
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||||
}
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|
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@@ -0,0 +1,14 @@
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namespace StandardScene.Magnetic.Protocol
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{
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||||
/// <summary>
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/// FASS 2.0 通讯模式：PLC/TCP 主动查询，或 PCB/UDP 被动接收状态上报。
|
||||
/// </summary>
|
||||
public enum Fass2CommMode
|
||||
{
|
||||
/// <summary>PLC：TCP 同步收发，调度主动发 0x00 查询。</summary>
|
||||
Tcp = 0,
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||||
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||||
/// <summary>PCB：UDP 监听 AGV 上报，回 0x10，命令单向下发。</summary>
|
||||
Udp = 1
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,336 @@
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using System;
|
||||
using System.Linq;
|
||||
|
||||
namespace StandardScene.Magnetic.Protocol
|
||||
{
|
||||
/// <summary>
|
||||
/// FASS 2.0 通用控制接口（PLC）报文编解码，对齐
|
||||
/// <c>FASS.Extend.Car.Fairyland.Plc</c> 与调度器 <c>CarRequestService</c> 逻辑。
|
||||
/// </summary>
|
||||
internal static class Fass2Protocol
|
||||
{
|
||||
public const byte Begin = 0xBB;
|
||||
public const byte End = 0xEE;
|
||||
|
||||
public const byte CmdQuery = 0x00;
|
||||
public const byte CmdStart = 0x01;
|
||||
public const byte CmdStop = 0x02;
|
||||
public const byte CmdEmergencyStop = 0x03;
|
||||
public const byte CmdReset = 0x04;
|
||||
public const byte CmdRest = 0x05;
|
||||
public const byte CmdShutdown = 0x06;
|
||||
public const byte CmdAction = 0xA1;
|
||||
public const byte CmdNodes = 0xB1;
|
||||
public const byte CmdStateResponse = 0x10;
|
||||
|
||||
public const int ControlFrameLength = 50;
|
||||
public const int StateFrameLength = 100;
|
||||
public const int ActionFrameLength = 100;
|
||||
public const int NodesFrameLength = 300;
|
||||
|
||||
public static byte Xor(byte[] data, int start, int length)
|
||||
{
|
||||
byte xor = 0;
|
||||
for (var i = 0; i < length; i++)
|
||||
{
|
||||
xor ^= data[start + i];
|
||||
}
|
||||
return xor;
|
||||
}
|
||||
|
||||
public static byte[] BuildControl(byte command, ushort car, ushort param)
|
||||
{
|
||||
var frame = new byte[ControlFrameLength];
|
||||
frame[0] = Begin;
|
||||
frame[1] = command;
|
||||
WriteUInt16(frame, 2, car);
|
||||
WriteUInt16(frame, 4, param);
|
||||
frame[48] = Xor(frame, 1, 47);
|
||||
frame[49] = End;
|
||||
return frame;
|
||||
}
|
||||
|
||||
public static byte[] BuildNodes(ushort car, ulong taskId, Fass2NodeMessage[] nodes)
|
||||
{
|
||||
if (nodes == null || nodes.Length == 0)
|
||||
{
|
||||
throw new ArgumentException("nodes required");
|
||||
}
|
||||
if (nodes.Length > 10)
|
||||
{
|
||||
throw new ArgumentException("FASS2 nodes count must be <= 10");
|
||||
}
|
||||
|
||||
var frame = new byte[NodesFrameLength];
|
||||
frame[0] = Begin;
|
||||
frame[1] = CmdNodes;
|
||||
WriteUInt16(frame, 2, car);
|
||||
WriteUInt64(frame, 4, taskId);
|
||||
WriteUInt16(frame, 12, (ushort)nodes.Length);
|
||||
for (var i = 0; i < nodes.Length; i++)
|
||||
{
|
||||
Buffer.BlockCopy(nodes[i].ToBytes(), 0, frame, 14 + i * 25, 25);
|
||||
}
|
||||
frame[298] = Xor(frame, 1, 297);
|
||||
frame[299] = End;
|
||||
return frame;
|
||||
}
|
||||
|
||||
public static byte[] BuildAction(ushort car, ulong actionId, Fass2NodeMessage node)
|
||||
{
|
||||
if (node == null)
|
||||
{
|
||||
throw new ArgumentException("node required");
|
||||
}
|
||||
|
||||
var frame = new byte[ActionFrameLength];
|
||||
frame[0] = Begin;
|
||||
frame[1] = CmdAction;
|
||||
WriteUInt16(frame, 2, car);
|
||||
WriteUInt64(frame, 4, actionId);
|
||||
Buffer.BlockCopy(node.ToBytes(), 0, frame, 14, 25);
|
||||
frame[98] = Xor(frame, 1, 97);
|
||||
frame[99] = End;
|
||||
return frame;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// PCB/UDP 模式：收到 AGV 主动上报的 100B 状态后，回 0x10（50B）时间戳应答。
|
||||
/// </summary>
|
||||
public static byte[] BuildStateResponse(ushort car, ulong timestampMs)
|
||||
{
|
||||
var frame = new byte[ControlFrameLength];
|
||||
frame[0] = Begin;
|
||||
frame[1] = CmdStateResponse;
|
||||
WriteUInt16(frame, 2, car);
|
||||
WriteUInt64(frame, 4, timestampMs);
|
||||
|
||||
var epoch = new DateTime(1970, 1, 1, 8, 0, 0, DateTimeKind.Unspecified);
|
||||
var date = epoch.AddMilliseconds(timestampMs > long.MaxValue ? long.MaxValue : (long)timestampMs);
|
||||
frame[12] = (byte)(date.Year - 1970);
|
||||
frame[13] = (byte)date.Month;
|
||||
frame[14] = (byte)date.Day;
|
||||
frame[15] = (byte)date.Hour;
|
||||
frame[16] = (byte)date.Minute;
|
||||
frame[17] = (byte)date.Second;
|
||||
WriteUInt16(frame, 18, (ushort)date.Millisecond);
|
||||
|
||||
frame[48] = Xor(frame, 1, 47);
|
||||
frame[49] = End;
|
||||
return frame;
|
||||
}
|
||||
|
||||
public static ulong BeijingUnixTimeMs()
|
||||
{
|
||||
var epoch = new DateTime(1970, 1, 1, 8, 0, 0, DateTimeKind.Unspecified);
|
||||
return (ulong)(DateTime.Now - epoch).TotalMilliseconds;
|
||||
}
|
||||
|
||||
public static bool TryExtractStateFrame(byte[] buffer, int length, out byte[] frame)
|
||||
{
|
||||
frame = null;
|
||||
if (buffer == null || length < StateFrameLength)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
for (var i = 0; i <= length - StateFrameLength; i++)
|
||||
{
|
||||
if (buffer[i] != Begin || buffer[i + StateFrameLength - 1] != End)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
frame = new byte[StateFrameLength];
|
||||
Buffer.BlockCopy(buffer, i, frame, 0, StateFrameLength);
|
||||
return true;
|
||||
}
|
||||
|
||||
if (length == StateFrameLength && buffer[0] == Begin && buffer[StateFrameLength - 1] == End)
|
||||
{
|
||||
frame = new byte[StateFrameLength];
|
||||
Buffer.BlockCopy(buffer, 0, frame, 0, StateFrameLength);
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
public static Fass2StateReport ParseState(byte[] bytes)
|
||||
{
|
||||
if (bytes == null || bytes.Length < StateFrameLength)
|
||||
{
|
||||
throw new ArgumentException("FASS2 state frame must be 100 bytes");
|
||||
}
|
||||
if (bytes[0] != Begin || bytes[99] != End)
|
||||
{
|
||||
throw new ArgumentException($"invalid FASS2 state frame: begin=0x{bytes[0]:X2}, end=0x{bytes[99]:X2}");
|
||||
}
|
||||
|
||||
var nodeBytes = new byte[25];
|
||||
Buffer.BlockCopy(bytes, 53, nodeBytes, 0, 25);
|
||||
return new Fass2StateReport
|
||||
{
|
||||
Command = bytes[1],
|
||||
Car = ReadUInt16(bytes, 2),
|
||||
Length = ReadUInt16(bytes, 4),
|
||||
Width = ReadUInt16(bytes, 6),
|
||||
BatteryCharge = bytes[28],
|
||||
BatteryHealth = bytes[29],
|
||||
BatteryCurrent = ReadUInt16(bytes, 30),
|
||||
BatteryVoltage = ReadUInt16(bytes, 32),
|
||||
HeadingAngle = ReadUInt16(bytes, 34),
|
||||
State = bytes[36],
|
||||
Alarm = ReadUInt64(bytes, 37),
|
||||
Task = ReadUInt64(bytes, 45),
|
||||
Node = Fass2NodeMessage.FromBytes(nodeBytes)
|
||||
};
|
||||
}
|
||||
|
||||
public static string ToHex(byte[] bytes)
|
||||
{
|
||||
return bytes == null ? string.Empty : string.Join(" ", bytes.Select(b => b.ToString("X2")));
|
||||
}
|
||||
|
||||
public static string StateText(byte state)
|
||||
{
|
||||
switch (state)
|
||||
{
|
||||
case 0: return "未准备";
|
||||
case 1: return "运行中";
|
||||
case 2: return "停止中";
|
||||
case 3: return "急停中";
|
||||
case 4: return "故障中";
|
||||
case 5: return "任务中";
|
||||
case 6: return "休眠中";
|
||||
case 7: return "关机中";
|
||||
case 8: return "充电中";
|
||||
default: return $"未知({state})";
|
||||
}
|
||||
}
|
||||
|
||||
private static void WriteUInt16(byte[] buffer, int offset, ushort value)
|
||||
{
|
||||
var bytes = BitConverter.GetBytes(value);
|
||||
buffer[offset] = bytes[0];
|
||||
buffer[offset + 1] = bytes[1];
|
||||
}
|
||||
|
||||
private static void WriteUInt64(byte[] buffer, int offset, ulong value)
|
||||
{
|
||||
var bytes = BitConverter.GetBytes(value);
|
||||
Buffer.BlockCopy(bytes, 0, buffer, offset, 8);
|
||||
}
|
||||
|
||||
private static ushort ReadUInt16(byte[] bytes, int offset)
|
||||
{
|
||||
return BitConverter.ToUInt16(bytes, offset);
|
||||
}
|
||||
|
||||
private static ulong ReadUInt64(byte[] bytes, int offset)
|
||||
{
|
||||
return BitConverter.ToUInt64(bytes, offset);
|
||||
}
|
||||
}
|
||||
|
||||
public sealed class Fass2NodeMessage
|
||||
{
|
||||
public ushort Node { get; set; }
|
||||
public ushort Distance { get; set; }
|
||||
public byte StartStop { get; set; }
|
||||
public byte Direction { get; set; }
|
||||
public byte Orientation { get; set; }
|
||||
public byte Byroad { get; set; }
|
||||
public ushort Speed { get; set; }
|
||||
public byte Obstacle { get; set; }
|
||||
public byte Audio { get; set; }
|
||||
public byte Light { get; set; }
|
||||
public byte Charge { get; set; }
|
||||
public byte Rest { get; set; }
|
||||
public byte Lift { get; set; }
|
||||
public byte Clamp { get; set; }
|
||||
public byte Tray { get; set; }
|
||||
public byte Roll { get; set; }
|
||||
public byte Shutdown { get; set; }
|
||||
|
||||
public byte[] ToBytes()
|
||||
{
|
||||
var bytes = new byte[25];
|
||||
WriteUInt16(bytes, 0, Node);
|
||||
WriteUInt16(bytes, 2, Distance);
|
||||
bytes[4] = StartStop;
|
||||
bytes[5] = Direction;
|
||||
bytes[6] = Orientation;
|
||||
bytes[7] = Byroad;
|
||||
WriteUInt16(bytes, 8, Speed);
|
||||
bytes[10] = Obstacle;
|
||||
bytes[11] = Audio;
|
||||
bytes[12] = Light;
|
||||
bytes[13] = Charge;
|
||||
bytes[14] = Rest;
|
||||
bytes[15] = Lift;
|
||||
bytes[16] = Clamp;
|
||||
bytes[17] = Tray;
|
||||
bytes[18] = Roll;
|
||||
bytes[19] = Shutdown;
|
||||
return bytes;
|
||||
}
|
||||
|
||||
public static Fass2NodeMessage FromBytes(byte[] bytes)
|
||||
{
|
||||
if (bytes == null || bytes.Length < 25)
|
||||
{
|
||||
throw new ArgumentException("node frame must be 25 bytes");
|
||||
}
|
||||
return new Fass2NodeMessage
|
||||
{
|
||||
Node = ReadUInt16(bytes, 0),
|
||||
Distance = ReadUInt16(bytes, 2),
|
||||
StartStop = bytes[4],
|
||||
Direction = bytes[5],
|
||||
Orientation = bytes[6],
|
||||
Byroad = bytes[7],
|
||||
Speed = ReadUInt16(bytes, 8),
|
||||
Obstacle = bytes[10],
|
||||
Audio = bytes[11],
|
||||
Light = bytes[12],
|
||||
Charge = bytes[13],
|
||||
Rest = bytes[14],
|
||||
Lift = bytes[15],
|
||||
Clamp = bytes[16],
|
||||
Tray = bytes[17],
|
||||
Roll = bytes[18],
|
||||
Shutdown = bytes[19]
|
||||
};
|
||||
}
|
||||
|
||||
private static void WriteUInt16(byte[] buffer, int offset, ushort value)
|
||||
{
|
||||
var bytes = BitConverter.GetBytes(value);
|
||||
buffer[offset] = bytes[0];
|
||||
buffer[offset + 1] = bytes[1];
|
||||
}
|
||||
|
||||
private static ushort ReadUInt16(byte[] bytes, int offset)
|
||||
{
|
||||
return BitConverter.ToUInt16(bytes, offset);
|
||||
}
|
||||
}
|
||||
|
||||
public sealed class Fass2StateReport
|
||||
{
|
||||
public byte Command { get; set; }
|
||||
public ushort Car { get; set; }
|
||||
public ushort Length { get; set; }
|
||||
public ushort Width { get; set; }
|
||||
public byte BatteryCharge { get; set; }
|
||||
public byte BatteryHealth { get; set; }
|
||||
public ushort BatteryCurrent { get; set; }
|
||||
public ushort BatteryVoltage { get; set; }
|
||||
public ushort HeadingAngle { get; set; }
|
||||
public byte State { get; set; }
|
||||
public ulong Alarm { get; set; }
|
||||
public ulong Task { get; set; }
|
||||
public Fass2NodeMessage Node { get; set; } = new Fass2NodeMessage();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,59 @@
|
||||
using System;
|
||||
using System.Text;
|
||||
using StandardScene.Magnetic.Protocol;
|
||||
|
||||
namespace StandardScene.Magnetic.Protocol
|
||||
{
|
||||
/// <summary>
|
||||
/// 100B 状态帧编码，供模拟器或测试工具复用，字段布局与 <see cref="Fass2Protocol.ParseState"/> 一致。
|
||||
/// </summary>
|
||||
public static class Fass2StateCodec
|
||||
{
|
||||
public static byte[] BuildState(Fass2StateReport report, string carType = "MagFass2")
|
||||
{
|
||||
if (report == null)
|
||||
{
|
||||
throw new ArgumentNullException(nameof(report));
|
||||
}
|
||||
|
||||
var frame = new byte[Fass2Protocol.StateFrameLength];
|
||||
frame[0] = Fass2Protocol.Begin;
|
||||
frame[1] = report.Command;
|
||||
WriteUInt16(frame, 2, report.Car);
|
||||
WriteUInt16(frame, 4, report.Length);
|
||||
WriteUInt16(frame, 6, report.Width);
|
||||
|
||||
var typeBytes = Encoding.ASCII.GetBytes((carType ?? string.Empty).PadRight(16, '\0'));
|
||||
Buffer.BlockCopy(typeBytes, 0, frame, 12, Math.Min(16, typeBytes.Length));
|
||||
|
||||
frame[28] = report.BatteryCharge;
|
||||
frame[29] = report.BatteryHealth;
|
||||
WriteUInt16(frame, 30, report.BatteryCurrent);
|
||||
WriteUInt16(frame, 32, report.BatteryVoltage);
|
||||
WriteUInt16(frame, 34, report.HeadingAngle);
|
||||
frame[36] = report.State;
|
||||
WriteUInt64(frame, 37, report.Alarm);
|
||||
WriteUInt64(frame, 45, report.Task);
|
||||
|
||||
var node = report.Node ?? new Fass2NodeMessage();
|
||||
Buffer.BlockCopy(node.ToBytes(), 0, frame, 53, 25);
|
||||
|
||||
frame[98] = Fass2Protocol.Xor(frame, 1, 97);
|
||||
frame[99] = Fass2Protocol.End;
|
||||
return frame;
|
||||
}
|
||||
|
||||
private static void WriteUInt16(byte[] buffer, int offset, ushort value)
|
||||
{
|
||||
var bytes = BitConverter.GetBytes(value);
|
||||
buffer[offset] = bytes[0];
|
||||
buffer[offset + 1] = bytes[1];
|
||||
}
|
||||
|
||||
private static void WriteUInt64(byte[] buffer, int offset, ulong value)
|
||||
{
|
||||
var bytes = BitConverter.GetBytes(value);
|
||||
Buffer.BlockCopy(bytes, 0, buffer, offset, 8);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,235 @@
|
||||
using SimpleCore.Library;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Net;
|
||||
using System.Net.Sockets;
|
||||
using System.Threading;
|
||||
|
||||
namespace StandardScene.Magnetic.Protocol
|
||||
{
|
||||
/// <summary>
|
||||
/// FASS 2.0 PCB/UDP 共享监听枢纽。
|
||||
/// AGV 主动上报 100B 状态 → 解析并分发给对应车辆 → 回 0x10 时间戳应答到车辆 address:Port。
|
||||
/// 下发 0xB1/0xA1/0x01 等命令亦通过本枢纽单播到车辆 address:Port。
|
||||
/// </summary>
|
||||
internal static class Fass2UdpHub
|
||||
{
|
||||
private static readonly object SyncRoot = new object();
|
||||
private static readonly Dictionary<ushort, IFass2UdpCar> CarsByCode = new Dictionary<ushort, IFass2UdpCar>();
|
||||
|
||||
private static UdpClient _listener;
|
||||
private static Thread _receiveThread;
|
||||
private static volatile bool _running;
|
||||
private static int _listenPort = 20103;
|
||||
private static readonly Dictionary<ushort, long> _lastUnknownCarLogUtcTicks = new Dictionary<ushort, long>();
|
||||
|
||||
public static void Register(IFass2UdpCar car)
|
||||
{
|
||||
if (car == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
lock (SyncRoot)
|
||||
{
|
||||
CarsByCode[car.VehicleCode] = car;
|
||||
}
|
||||
}
|
||||
|
||||
public static void Unregister(IFass2UdpCar car)
|
||||
{
|
||||
if (car == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Unregister(car.VehicleCode, car);
|
||||
}
|
||||
|
||||
public static void Unregister(ushort vehicleCode, IFass2UdpCar car)
|
||||
{
|
||||
if (car == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
lock (SyncRoot)
|
||||
{
|
||||
if (CarsByCode.TryGetValue(vehicleCode, out var existing) && ReferenceEquals(existing, car))
|
||||
{
|
||||
CarsByCode.Remove(vehicleCode);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static void EnsureStarted(int listenPort)
|
||||
{
|
||||
if (listenPort > 0)
|
||||
{
|
||||
_listenPort = listenPort;
|
||||
}
|
||||
|
||||
lock (SyncRoot)
|
||||
{
|
||||
if (_running)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
_listener = new UdpClient(_listenPort);
|
||||
_running = true;
|
||||
_receiveThread = new Thread(ReceiveLoop)
|
||||
{
|
||||
IsBackground = true,
|
||||
Name = $"Fass2UdpHub:{_listenPort}"
|
||||
};
|
||||
_receiveThread.Start();
|
||||
Diagnosis.Post($"Fass2UdpHub 已启动，监听 UDP {_listenPort}", "Fass2UdpHub", true);
|
||||
}
|
||||
}
|
||||
|
||||
public static void Stop()
|
||||
{
|
||||
lock (SyncRoot)
|
||||
{
|
||||
_running = false;
|
||||
try
|
||||
{
|
||||
_listener?.Close();
|
||||
}
|
||||
catch
|
||||
{
|
||||
}
|
||||
|
||||
_listener = null;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
_receiveThread?.Join(1000);
|
||||
}
|
||||
catch
|
||||
{
|
||||
}
|
||||
|
||||
_receiveThread = null;
|
||||
}
|
||||
|
||||
public static void SendToCar(IFass2UdpCar car, byte[] payload)
|
||||
{
|
||||
if (car == null || payload == null || payload.Length == 0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
if (string.IsNullOrWhiteSpace(car.RemoteAddress) || car.RemotePort <= 0)
|
||||
{
|
||||
throw new InvalidOperationException(
|
||||
$"Fass2UdpHub send failed: car VehicleCode={car.VehicleCode} remote endpoint not configured");
|
||||
}
|
||||
|
||||
using var sender = new UdpClient();
|
||||
var remote = new IPEndPoint(IPAddress.Parse(car.RemoteAddress), car.RemotePort);
|
||||
sender.Send(payload, payload.Length, remote);
|
||||
}
|
||||
|
||||
private static void ReceiveLoop()
|
||||
{
|
||||
while (_running)
|
||||
{
|
||||
try
|
||||
{
|
||||
var remote = new IPEndPoint(IPAddress.Any, 0);
|
||||
var packet = _listener.Receive(ref remote);
|
||||
ProcessPacket(packet, remote);
|
||||
}
|
||||
catch (SocketException) when (!_running)
|
||||
{
|
||||
break;
|
||||
}
|
||||
catch (ObjectDisposedException) when (!_running)
|
||||
{
|
||||
break;
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Diagnosis.Post($"Fass2UdpHub receive error: {ex.Message}", "Fass2UdpHub", true);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private static void ProcessPacket(byte[] packet, IPEndPoint remote)
|
||||
{
|
||||
if (!Fass2Protocol.TryExtractStateFrame(packet, packet.Length, out var frame))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Fass2StateReport report;
|
||||
try
|
||||
{
|
||||
report = Fass2Protocol.ParseState(frame);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Diagnosis.Post($"Fass2UdpHub parse error from {remote}: {ex.Message}", "Fass2UdpHub", true);
|
||||
return;
|
||||
}
|
||||
|
||||
IFass2UdpCar car;
|
||||
lock (SyncRoot)
|
||||
{
|
||||
if (!CarsByCode.TryGetValue(report.Car, out car))
|
||||
{
|
||||
LogUnknownCar(report.Car);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
car.OnUdpStateReceived(report);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Diagnosis.Post($"Fass2UdpHub dispatch error car={report.Car}: {ex.Message}", "Fass2UdpHub", true);
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
var ack = Fass2Protocol.BuildStateResponse(report.Car, Fass2Protocol.BeijingUnixTimeMs());
|
||||
SendToCar(car, ack);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Diagnosis.Post($"Fass2UdpHub 0x10 reply failed car={report.Car}: {ex.Message}", "Fass2UdpHub", true);
|
||||
}
|
||||
}
|
||||
|
||||
private static void LogUnknownCar(ushort carCode)
|
||||
{
|
||||
var nowTicks = DateTime.UtcNow.Ticks;
|
||||
lock (SyncRoot)
|
||||
{
|
||||
if (_lastUnknownCarLogUtcTicks.TryGetValue(carCode, out var lastTicks)
|
||||
&& nowTicks - lastTicks < TimeSpan.FromSeconds(5).Ticks)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
_lastUnknownCarLogUtcTicks[carCode] = nowTicks;
|
||||
}
|
||||
|
||||
var registered = string.Join(",", CarsByCode.Keys);
|
||||
if (string.IsNullOrEmpty(registered))
|
||||
{
|
||||
registered = "(无)";
|
||||
}
|
||||
|
||||
Diagnosis.Post(
|
||||
$"Fass2UdpHub 收到 Car={carCode} 的状态，但未注册该编号（已注册: {registered}）。请检查 MagFass2Car.VehicleCode 与模拟器车号是否一致，并重新启动场景。",
|
||||
"Fass2UdpHub",
|
||||
true);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
namespace StandardScene.Magnetic.Protocol
|
||||
{
|
||||
/// <summary>
|
||||
/// 由 <see cref="Fass2UdpHub"/> 回调的 UDP/PCB 车型处理接口。
|
||||
/// </summary>
|
||||
internal interface IFass2UdpCar
|
||||
{
|
||||
ushort VehicleCode { get; }
|
||||
|
||||
string RemoteAddress { get; }
|
||||
|
||||
int RemotePort { get; }
|
||||
|
||||
void OnUdpStateReceived(Fass2StateReport report);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,251 @@
|
||||
using LessokajiWeaverUtilities.Utilities;
|
||||
using Newtonsoft.Json;
|
||||
using SimpleLite.RCS;
|
||||
using SimpleLite.Props;
|
||||
using SimpleCore;
|
||||
using SimpleCore.Library;
|
||||
using SimpleCore.PropType;
|
||||
using StandardScene;
|
||||
using StandardScene.Scheduler.FassEvent;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.IO;
|
||||
using System.Linq;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
using SimpleLite.RCS.CarTypes;
|
||||
|
||||
|
||||
namespace StandardScene.Scheduler
|
||||
{
|
||||
/// <summary>
|
||||
/// FASS 车辆事件调度进程。
|
||||
/// <para>
|
||||
/// 移植自 <c>fass/FASS.Scheduler/Services/Events/EventCarService.cs</c>：
|
||||
/// 按 JSON 配置定时轮询全场车辆，匹配触发条件后执行交管/PLC/电量等条件判断，
|
||||
/// 最终对 MagCar 下发 Start（放行）或 Stop（停车）。
|
||||
/// </para>
|
||||
/// <para>
|
||||
/// 使用方式：在场景中添加本 Mission →「启动进程」→ 默认加载 <c>Configs\EventCar\FG2512073.json</c>。
|
||||
/// </para>
|
||||
/// </summary>
|
||||
[MissionType(Name = "FASS车辆事件进程", editor = typeof(EventCarMission))]
|
||||
[I18N.DocumentTranslation(Name = "FASS Event Car Mission", locale = "en")]
|
||||
public class EventCarMission : Mission
|
||||
{
|
||||
/// <summary>EventCar JSON 配置文件路径（相对程序目录或绝对路径）。</summary>
|
||||
[FieldMember] public string EventConfigPath = "Config\\EventCar\\traffic.json";
|
||||
|
||||
/// <summary>主循环轮询间隔（毫秒），对应 FASS TimerTick 频率，默认 500ms。</summary>
|
||||
[FieldMember] public int TickIntervalMs = 500;
|
||||
|
||||
/// <summary>与下料站/安全信号交互用的西门子 PLC IP。</summary>
|
||||
[FieldMember] public string PlcIpAddress = "127.0.0.1";
|
||||
|
||||
/// <summary>PLC 端口，S7 默认 102。</summary>
|
||||
[FieldMember] public int PlcPort = 102;
|
||||
|
||||
/// <summary>PLC 型号字符串，如 S7_1500、S7_300，传给 IoTClient SiemensClient。</summary>
|
||||
[FieldMember] public string PlcVersion = "S7_1500";
|
||||
|
||||
/// <summary>是否启用 ME11 下料站 PLC 信号交互（false 时 requestStaion/InplaceStaion 等直接返回 true）。</summary>
|
||||
[FieldMember] public bool IsEnableMEll = true;
|
||||
|
||||
|
||||
/// <summary>充电完成放行默认电量阈值（%），可被事件内 ChargeStart 参数覆盖。</summary>
|
||||
[FieldMember] public double ChargeStartThreshold = 93;
|
||||
|
||||
|
||||
[JsonIgnore] private bool _started;
|
||||
|
||||
[JsonIgnore] private Thread _workerThread;
|
||||
|
||||
[JsonIgnore] private FassEventCarHandler _handler;
|
||||
|
||||
/// <summary>当前生效的车辆事件配置列表（TriggerSource=Car 且 TriggerEnable=true）。</summary>
|
||||
[JsonIgnore] private List<FassEventCarConfig> _eventCars = new List<FassEventCarConfig>();
|
||||
|
||||
/// <summary>记录每辆车上一周期的 CurrentNode，用于 PrevNode 触发与地标变化时清除任务防重复标记。</summary>
|
||||
[JsonIgnore] private readonly Dictionary<int, string> _prevNodeByCarId = new Dictionary<int, string>();
|
||||
|
||||
/// <summary>进程运行状态扩展字段。</summary>
|
||||
public class EventCarMissionStatus : MissionStatus
|
||||
{
|
||||
/// <summary>主循环已执行次数。</summary>
|
||||
public int TickCount { get; set; }
|
||||
|
||||
/// <summary>已加载的事件规则条数。</summary>
|
||||
public int LoadedEventCount { get; set; }
|
||||
|
||||
/// <summary>实际加载的配置文件绝对/解析路径。</summary>
|
||||
public string ConfigPath { get; set; }
|
||||
}
|
||||
|
||||
public override MissionStatus status { get; set; } = new EventCarMissionStatus();
|
||||
|
||||
public static Mission Create()
|
||||
{
|
||||
return new EventCarMission();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 启动后台轮询线程：加载配置 → 创建 Handler → 周期性 ProcessAllCars。
|
||||
/// </summary>
|
||||
[MethodMember(Name = "启动进程", Description = "加载 FASS EventCar 配置并开始轮询车辆事件")]
|
||||
public override void Execute()
|
||||
{
|
||||
if (_started)
|
||||
{
|
||||
status.status = "已在运行";
|
||||
return;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
ReloadConfig();
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
status.status = "配置加载失败";
|
||||
Diagnosis.Post($"FASS车辆事件进程配置加载失败：{ExceptionFormatter.FormatEx(ex)}", "FassEventCar", true);
|
||||
throw;
|
||||
}
|
||||
|
||||
_handler = new FassEventCarHandler(this);
|
||||
_started = true;
|
||||
status.status = "运行中";
|
||||
|
||||
_workerThread = new Thread(WorkerLoop)
|
||||
{
|
||||
IsBackground = true,
|
||||
Name = "EventCarMission"
|
||||
};
|
||||
_workerThread.Start();
|
||||
Diagnosis.Post($"FASS车辆事件进程已启动，配置数={_eventCars.Count}", "FassEventCar", true);
|
||||
}
|
||||
|
||||
/// <summary>热加载 JSON 配置，运行中也可调用。</summary>
|
||||
[MethodMember(Name = "重新加载配置", Description = "重新读取 EventCar JSON 配置")]
|
||||
public void ReloadConfig()
|
||||
{
|
||||
var path = ResolveConfigPath();
|
||||
_eventCars = FassEventConfigLoader.Load(path)
|
||||
.Where(item => item.TriggerEnable && string.Equals(item.TriggerSource, "Car", StringComparison.OrdinalIgnoreCase))
|
||||
.ToList();
|
||||
|
||||
var missionStatus = (EventCarMissionStatus)status;
|
||||
missionStatus.LoadedEventCount = _eventCars.Count;
|
||||
missionStatus.ConfigPath = path;
|
||||
status.status = _started ? "运行中" : "配置已加载";
|
||||
Diagnosis.Post($"FASS EventCar 配置已加载：{path}，事件数={_eventCars.Count}", "FassEventCar", true);
|
||||
}
|
||||
|
||||
/// <summary>停止轮询并等待工作线程结束（最多 2 秒）。</summary>
|
||||
[MethodMember(Name = "停止进程", Description = "停止 FASS 车辆事件轮询")]
|
||||
public void Stop()
|
||||
{
|
||||
_started = false;
|
||||
try
|
||||
{
|
||||
_workerThread?.Join(2000);
|
||||
}
|
||||
catch
|
||||
{
|
||||
}
|
||||
|
||||
status.status = "已停止";
|
||||
Diagnosis.Post("FASS车辆事件进程已停止", "FassEventCar", true);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 后台主循环：每 TickIntervalMs 扫描一次全场车辆。
|
||||
/// 单轮异常不会终止进程，仅写诊断日志。
|
||||
/// </summary>
|
||||
private void WorkerLoop()
|
||||
{
|
||||
while (_started)
|
||||
{
|
||||
try
|
||||
{
|
||||
ProcessAllCars();
|
||||
var missionStatus = (EventCarMissionStatus)status;
|
||||
missionStatus.TickCount++;
|
||||
status.status = $"运行中:{missionStatus.TickCount}";
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Diagnosis.Post($"FASS车辆事件进程循环异常：{ExceptionFormatter.FormatEx(ex)}", "FassEventCar", true);
|
||||
}
|
||||
|
||||
Thread.Sleep(Math.Max(100, TickIntervalMs));
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 遍历所有 Car，构建快照并异步调用 Handler（与 FASS Task.Run 行为一致）。
|
||||
/// <para>
|
||||
/// 跳过 status 为空或 usage.refreshing=false 的车辆（未参与调度刷新的车不处理）。
|
||||
/// 当地标变化时清除 <see cref="FassEventCarHandler.ActiveTaskTag"/>，允许在新地标重新触发事件。
|
||||
/// </para>
|
||||
/// </summary>
|
||||
private void ProcessAllCars()
|
||||
{
|
||||
foreach (var car in SimpleLib.GetAllCars().OfType<Car>())
|
||||
{
|
||||
if (car.status == null)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var usage = car.status.usage?.Get();
|
||||
if (usage != null && usage.refreshing == false)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var currentNode = FassEventCarSnapshotFactory.GetCurrentNodeCode(car);
|
||||
_prevNodeByCarId.TryGetValue(car.id, out var prevNode);
|
||||
var snapshot = FassEventCarSnapshotFactory.Create(car, prevNode, FassEventCarSnapshotFactory.GetNextNodeCode(car));
|
||||
|
||||
Task.Run(() => _handler.HandleCarTimerTick(car, snapshot, _eventCars));
|
||||
|
||||
if (!string.Equals(prevNode, currentNode, StringComparison.OrdinalIgnoreCase))
|
||||
{
|
||||
_prevNodeByCarId[car.id] = currentNode;
|
||||
ClearTaskTags(car);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>车辆换地标后删除防重复执行标签，使同一规则可在新站点再次触发。</summary>
|
||||
private static void ClearTaskTags(Car car)
|
||||
{
|
||||
if (car.tags == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Commons.DeleteTag(car.tags, FassEventCarHandler.ActiveTaskTag);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 解析配置文件路径：绝对路径直接用；相对路径依次尝试 BaseDirectory、CurrentDirectory、上级目录。
|
||||
/// </summary>
|
||||
private string ResolveConfigPath()
|
||||
{
|
||||
if (Path.IsPathRooted(EventConfigPath))
|
||||
{
|
||||
return EventConfigPath;
|
||||
}
|
||||
|
||||
var candidates = new[]
|
||||
{
|
||||
Path.Combine(AppDomain.CurrentDomain.BaseDirectory, EventConfigPath),
|
||||
Path.Combine(Directory.GetCurrentDirectory(), EventConfigPath),
|
||||
Path.GetFullPath(Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "..", EventConfigPath))
|
||||
};
|
||||
|
||||
return candidates.FirstOrDefault(File.Exists) ?? candidates[0];
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,577 @@
|
||||
using IoTClient.Clients.PLC;
|
||||
using IoTClient.Common.Enums;
|
||||
using LessokajiWeaverUtilities.Utilities;
|
||||
using SimpleLite.RCS;
|
||||
using SimpleCore.Library;
|
||||
using SimpleCore.PropType;
|
||||
using StandardScene;
|
||||
using StandardScene.CarTypes;
|
||||
using StandardScene.Scheduler;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Globalization;
|
||||
using System.IO;
|
||||
using System.Linq;
|
||||
using SimpleLite.RCS.CarTypes;
|
||||
|
||||
namespace StandardScene.Scheduler.FassEvent
|
||||
{
|
||||
/// <summary>
|
||||
/// FASS 车辆事件核心处理器，逻辑对齐 <c>EventCarService</c>。
|
||||
/// <para>处理流程：TriggerHandler（触发匹配）→ ConditionHandler（条件 AND）→ ExecuteTask（Start/Stop）。</para>
|
||||
/// </summary>
|
||||
internal sealed class FassEventCarHandler
|
||||
{
|
||||
/// <summary>
|
||||
/// 防重复执行任务的车辆标签名。同一地标周期内只执行一次，换地标后由 EventCarMission 清除。
|
||||
/// 标签值为 <see cref="BuildTaskKey"/> 生成的任务指纹。
|
||||
/// </summary>
|
||||
internal const string ActiveTaskTag = "FassEvent:Active";
|
||||
|
||||
private readonly EventCarMission _mission;
|
||||
|
||||
/// <summary>PLC 读写串行锁，避免多车并发条件中同时 Open/Close 同一连接。</summary>
|
||||
private readonly object _plcLock = new object();
|
||||
|
||||
/// <summary>JSON ConditionMethodName → 内置条件方法 映射表。</summary>
|
||||
private readonly Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>> _eventMethods;
|
||||
|
||||
public FassEventCarHandler(EventCarMission mission)
|
||||
{
|
||||
_mission = mission;
|
||||
_eventMethods = BuildEventMethods();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 单次 TimerTick 对一辆车的处理入口（通常在 Task.Run 中调用）。
|
||||
/// 仅处理 TriggerEvent=TimerTick 的配置项。
|
||||
/// </summary>
|
||||
public void HandleCarTimerTick(Car car, FassEventCarSnapshot snapshot, IReadOnlyList<FassEventCarConfig> eventCars)
|
||||
{
|
||||
foreach (var eventConfig in eventCars.Where(item => string.Equals(item.TriggerEvent, "TimerTick", StringComparison.OrdinalIgnoreCase)))
|
||||
{
|
||||
if (!TriggerHandler(snapshot, eventConfig))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
if (!ConditionHandler(car, snapshot, eventConfig))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
if (!eventConfig.TaskEnable)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
ExecuteTask(car, snapshot, eventConfig);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>注册与 FASS EventCarService.InitEventMethod 一致的条件方法名（保留历史拼写）。</summary>
|
||||
private Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>> BuildEventMethods()
|
||||
{
|
||||
return new Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>>(StringComparer.OrdinalIgnoreCase)
|
||||
{
|
||||
["NodeAllUnlockedNotCar"] = NodeAllUnlockedNotCar,
|
||||
["NodeAllUnlocked"] = NodeAllUnlocked,
|
||||
["NodeAnyLockedNotCar"] = NodeAnyLockedNotCar,
|
||||
["NodeAnyLocked"] = NodeAnyLocked,
|
||||
["NodeAllUnlockedNotCarNotEndCarState"] = NodeAllUnlockedNotCarNotEndCarState,
|
||||
["requestStaion"] = RequestStation,
|
||||
["clearStaion"] = ClearStation,
|
||||
["EmegerStop"] = EmergencyStop,
|
||||
["EmegerStart"] = EmergencyStart,
|
||||
["IsExistRunningStateCar"] = IsExistRunningStateCar,
|
||||
["ChargeStart"] = ChargeStart
|
||||
};
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 触发器匹配：车辆编号、前后地标、状态、角度等 CSV 过滤。
|
||||
/// 配置项为空表示“不限制”；车辆对应字段为空则无法匹配非空配置。
|
||||
/// </summary>
|
||||
private bool TriggerHandler(FassEventCarSnapshot snapshot, FassEventCarConfig config)
|
||||
{
|
||||
if (!MatchesCsvFilter(config.TriggerCarCode, snapshot.Code))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!MatchesCsvFilter(config.TriggerCarPrevNodeCode, snapshot.PrevNodeCode))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!MatchesCsvFilter(config.TriggerCarCurrentNodeCode, snapshot.CurrentNodeCode))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!MatchesCsvFilter(config.TriggerCarNextNodeCode, snapshot.NextNodeCode))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!MatchesCsvFilter(config.TriggerCarState, snapshot.State))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!MatchesCsvFilter(config.TriggerCarAngle, snapshot.Angle.ToString(CultureInfo.InvariantCulture)))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/// <summary>所有 ConditionEvents 必须全部通过（逻辑与）。</summary>
|
||||
private bool ConditionHandler(Car car, FassEventCarSnapshot snapshot, FassEventCarConfig config)
|
||||
{
|
||||
if (config.ConditionEvents == null || config.ConditionEvents.Count == 0)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
foreach (var condition in config.ConditionEvents)
|
||||
{
|
||||
if (!SingleConditionHandler(car, snapshot, condition))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/// <summary>单条条件分发：Method / Assembly / Plugin。</summary>
|
||||
private bool SingleConditionHandler(Car car, FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
if (!condition.ConditionEnable)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
var conditionType = condition.ConditionType ?? "Method";
|
||||
if (string.Equals(conditionType, "Method", StringComparison.OrdinalIgnoreCase))
|
||||
{
|
||||
return MethodInvoke(snapshot, condition);
|
||||
}
|
||||
|
||||
if (string.Equals(conditionType, "Assembly", StringComparison.OrdinalIgnoreCase) ||
|
||||
string.Equals(conditionType, "Plugin", StringComparison.OrdinalIgnoreCase))
|
||||
{
|
||||
LogSignal($"暂不支持的 ConditionType={conditionType}, Method={condition.ConditionMethodName}");
|
||||
return false;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
/// <summary>按方法名调用内置条件实现。</summary>
|
||||
private bool MethodInvoke(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(condition.ConditionMethodName))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (_eventMethods.TryGetValue(condition.ConditionMethodName, out var handler))
|
||||
{
|
||||
return handler(snapshot, condition);
|
||||
}
|
||||
|
||||
LogSignal($"未注册的条件方法：{condition.ConditionMethodName}");
|
||||
return false;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 执行任务：MagCar 调用 SendStart/SendStop；其他车型仅打日志。
|
||||
/// 通过 ActiveTaskTag 防止同一地标周期内重复下发。
|
||||
/// </summary>
|
||||
private void ExecuteTask(Car car, FassEventCarSnapshot snapshot, FassEventCarConfig config)
|
||||
{
|
||||
if (car.tags != null && car.tags.Contains(ActiveTaskTag))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
var taskType = config.TaskType ?? "Start";
|
||||
if (car is MagCar magCar)
|
||||
{
|
||||
switch (taskType)
|
||||
{
|
||||
case "Start":
|
||||
magCar.SendStart((ushort)Math.Round(magCar.th));
|
||||
break;
|
||||
case "Stop":
|
||||
magCar.SendStop(0);
|
||||
break;
|
||||
default:
|
||||
LogTraffic($"车辆[{snapshot.Code}] 收到任务类型[{taskType}]，当前仅显式处理 Start/Stop");
|
||||
break;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
LogTraffic($"车辆[{snapshot.Code}] 非 MagCar，任务类型[{taskType}] 仅记录标签");
|
||||
}
|
||||
|
||||
var taskKey = BuildTaskKey(snapshot, config);
|
||||
Commons.AddOrUpdateTag(car.tags, ActiveTaskTag, taskKey);
|
||||
LogTraffic($"车辆[{snapshot.Code}] 触发事件任务：{taskType} @ node={snapshot.CurrentNodeCode}, state={snapshot.State}");
|
||||
}
|
||||
|
||||
/// <summary>生成任务指纹，写入 ActiveTaskTag 的值，便于日志追溯。</summary>
|
||||
private static string BuildTaskKey(FassEventCarSnapshot snapshot, FassEventCarConfig config)
|
||||
{
|
||||
return $"FassEvent:{snapshot.CurrentNodeCode}:{config.TriggerCarState}:{config.TaskType}:{string.Join("|", config.ConditionEvents?.Select(item => item.ConditionMethodName) ?? Array.Empty<string>())}";
|
||||
}
|
||||
|
||||
#region 交管条件（节点锁）
|
||||
|
||||
/// <summary>指定节点全部未被其他车辆占用（排除自身）。参数：逗号分隔节点号。</summary>
|
||||
private bool NodeAllUnlockedNotCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
return FassEventNodeHelper.NodeAllUnlockedNotCar(snapshot.Code, SplitArgs(condition.ConditionMethodArgs));
|
||||
}
|
||||
|
||||
/// <summary>指定节点全部空闲（含自身锁也计入）。</summary>
|
||||
private bool NodeAllUnlocked(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
return FassEventNodeHelper.NodeAllUnlocked(SplitArgs(condition.ConditionMethodArgs));
|
||||
}
|
||||
|
||||
/// <summary>指定节点中存在被其他车占用的点。</summary>
|
||||
private bool NodeAnyLockedNotCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
return FassEventNodeHelper.NodeAnyLockedNotCar(snapshot.Code, SplitArgs(condition.ConditionMethodArgs));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 指定节点存在占用时先 SendStart 再判断（与 FASS NodeAnyLocked 行为一致）。
|
||||
/// </summary>
|
||||
private bool NodeAnyLocked(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
var car = SimpleCore.SimpleLib.GetCar(snapshot.CarId) as MagCar;
|
||||
car?.SendStart((ushort)Math.Round(car.th));
|
||||
return FassEventNodeHelper.NodeAnyLocked(SplitArgs(condition.ConditionMethodArgs));
|
||||
}
|
||||
|
||||
/// <summary>节点全解锁且路径上无其他运行中车辆。</summary>
|
||||
private bool NodeAllUnlockedNotCarNotEndCarState(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
return FassEventNodeHelper.NodeAllUnlockedNotCarNotEndCarState(snapshot.Code, "Runing", SplitArgs(condition.ConditionMethodArgs));
|
||||
}
|
||||
|
||||
/// <summary>判断指定节点范围是否不存在其他“运行中”车辆（返回 true 表示可以放行）。</summary>
|
||||
private bool IsExistRunningStateCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
var param = SplitArgs(condition.ConditionMethodArgs);
|
||||
LogTraffic($"IsExistRunningStateCar 参数：{condition.ConditionMethodArgs}");
|
||||
return !FassEventNodeHelper.ExistsRunningCarOnNodes(snapshot.Code, "Runing", param);
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 电量与安全
|
||||
|
||||
/// <summary>
|
||||
/// 电量达到阈值方可放行。阈值优先取 ConditionMethodArgs 首参，否则用 Mission.ChargeStartThreshold。
|
||||
/// </summary>
|
||||
private bool ChargeStart(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
var threshold = _mission.ChargeStartThreshold;
|
||||
var configured = SplitArgs(condition.ConditionMethodArgs).FirstOrDefault();
|
||||
if (!string.IsNullOrWhiteSpace(configured) &&
|
||||
double.TryParse(configured, NumberStyles.Float, CultureInfo.InvariantCulture, out var eventThreshold))
|
||||
{
|
||||
threshold = eventThreshold;
|
||||
}
|
||||
|
||||
var result = snapshot.Charge >= threshold;
|
||||
if (result)
|
||||
{
|
||||
LogSignal($"ChargeStart 车辆[{snapshot.Code}] 电量[{snapshot.Charge}] >= 阈值[{threshold}]");
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 设备安全急停：读 PLC 布尔位，false 表示故障需停车（条件返回 true 以触发 Stop 任务）。
|
||||
/// 参数 param[0]：PLC 地址。
|
||||
/// </summary>
|
||||
private bool EmergencyStop(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
return ExecutePlcCondition(snapshot, condition, 1, (client, param) =>
|
||||
{
|
||||
var allowIn = client.ReadBoolean(param[0]).Value;
|
||||
if (!allowIn)
|
||||
{
|
||||
LogSignal($"设备安全故障急停：{allowIn}");
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
});
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 设备安全恢复：PLC 布尔位为 true 时允许 Start。
|
||||
/// </summary>
|
||||
private bool EmergencyStart(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
return ExecutePlcCondition(snapshot, condition, 1, (client, param) =>
|
||||
{
|
||||
var allowIn = client.ReadBoolean(param[0]).Value;
|
||||
if (allowIn)
|
||||
{
|
||||
LogSignal($"设备安全恢复放行：{allowIn}");
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
});
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region ME11 下料站 PLC 交互
|
||||
|
||||
/// <summary>
|
||||
/// 清除站点到位与离开中信号。
|
||||
/// 参数：param[0] 到位信号地址，param[1] 离开中信号地址。
|
||||
/// </summary>
|
||||
private bool ClearStation(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
var context = BuildStationLogContext(nameof(ClearStation), snapshot, condition);
|
||||
LogSignal($"{context} 开始清除站点到位/离开中信号");
|
||||
if (!_mission.IsEnableMEll)
|
||||
{
|
||||
LogSignal($"车辆[{snapshot.Code}] ME11 未启用，直接返回 true");
|
||||
return true;
|
||||
}
|
||||
|
||||
return ExecutePlcCondition(snapshot, condition, 2, (client, param) =>
|
||||
{
|
||||
var afterClear = WriteAndRead(client, param[0], false, "清除到位信号", context);
|
||||
WriteStationSignal(client, param[1], false, "清除离开中信号", context);
|
||||
var leavingClear = client.ReadBoolean(param[1]).Value;
|
||||
var result = !afterClear && !leavingClear;
|
||||
LogSignal($"{context} 清除站点信号结束，返回[{result}]");
|
||||
return result;
|
||||
});
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 请求进入工位：读“请求进入”，为 true 时写“正在进入中”，并以进入中信号作为放行条件结果。
|
||||
/// 参数：param[0] 请求进入，param[1] 正在进入中。
|
||||
/// </summary>
|
||||
private bool RequestStation(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
var context = BuildStationLogContext(nameof(RequestStation), snapshot, condition);
|
||||
LogSignal($"{context} 开始请求进入信号判断");
|
||||
if (!_mission.IsEnableMEll)
|
||||
{
|
||||
LogSignal($"车辆[{snapshot.Code}] ME11 未启用，直接返回 true");
|
||||
return true;
|
||||
}
|
||||
|
||||
return ExecutePlcCondition(snapshot, condition, 2, (client, param) =>
|
||||
{
|
||||
var requestIn = ReadStationSignal(client, param[0], "请求进入", context);
|
||||
if (requestIn)
|
||||
{
|
||||
WriteStationSignal(client, param[1], true, "正在进入中", context);
|
||||
}
|
||||
|
||||
var result = ReadStationSignal(client, param[1], "正在进入中", context);
|
||||
LogSignal($"{context} 请求进入判断结束，返回[{result}]");
|
||||
return result;
|
||||
});
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 到位与允许离开交互（ME11 下料核心逻辑）。
|
||||
/// <para>
|
||||
/// 参数：param[0] 到位，param[1] 允许离开，param[2] 正在进入中，param[3] 正在离开中。
|
||||
/// ME11 车型：气缸伸出(Read3&Read5)后写到位；读到允许离开后切换为放行车型。
|
||||
/// 放行车型：气缸收回(Read4&Read6)后写离开中、清除到位。
|
||||
/// </para>
|
||||
/// </summary>
|
||||
|
||||
|
||||
/// <summary>将车辆 fields["CarModel"] 切换为放行车型，供后续触发器匹配。</summary>
|
||||
private void SaveCarModel(int carId, string carModel, string reason)
|
||||
{
|
||||
var car = SimpleCore.SimpleLib.GetCar(carId) as Car;
|
||||
if (car == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
car.fields ??= new Dictionary<string, string>();
|
||||
if (string.Equals(FassEventCarSnapshotFactory.GetCarModel(car), carModel, StringComparison.OrdinalIgnoreCase))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
car.fields["CarModel"] = carModel;
|
||||
LogSignal($"{reason}：车辆[{FassEventCarSnapshotFactory.GetCarCode(car)}] 车型切换为 [{carModel}]");
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region PLC 与工具方法
|
||||
|
||||
/// <summary>在 PLC 锁内打开连接、执行读写、关闭连接。</summary>
|
||||
private bool ExecutePlcCondition(
|
||||
FassEventCarSnapshot snapshot,
|
||||
FassConditionEventConfig condition,
|
||||
int minArgs,
|
||||
Func<SiemensClient, string[], bool> action)
|
||||
{
|
||||
if (!TryGetConditionArgs(condition, minArgs, out var param))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
lock (_plcLock)
|
||||
{
|
||||
SiemensClient client = null;
|
||||
try
|
||||
{
|
||||
client = CreatePlcClient();
|
||||
client.Open();
|
||||
return action(client, param);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
LogSignalError(ex, "交互站点报错");
|
||||
return false;
|
||||
}
|
||||
finally
|
||||
{
|
||||
client?.Close();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>根据 Mission 配置创建西门子 PLC 客户端。</summary>
|
||||
private SiemensClient CreatePlcClient()
|
||||
{
|
||||
var version = ParsePlcVersion(_mission.PlcVersion);
|
||||
return new SiemensClient(version, _mission.PlcIpAddress, _mission.PlcPort, 0);
|
||||
}
|
||||
|
||||
private static SiemensVersion ParsePlcVersion(string version)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(version))
|
||||
{
|
||||
return SiemensVersion.S7_1500;
|
||||
}
|
||||
|
||||
return Enum.TryParse(version, true, out SiemensVersion parsed) ? parsed : SiemensVersion.S7_1500;
|
||||
}
|
||||
|
||||
/// <summary>拼接站点交互日志上下文，便于现场对照 PLC 地址排查。</summary>
|
||||
private string BuildStationLogContext(string methodName, FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||||
{
|
||||
return $"{methodName} 车辆[{snapshot.Code}] 状态[{snapshot.State}] 当前地标[{snapshot.CurrentNodeCode}] 下一地标[{snapshot.NextNodeCode}] 车型[{snapshot.CarModel}] 参数[{condition.ConditionMethodArgs}]";
|
||||
}
|
||||
|
||||
private bool ReadStationSignal(SiemensClient client, string address, string signalName, string context)
|
||||
{
|
||||
var value = client.ReadBoolean(address).Value;
|
||||
LogSignal($"{context} 读取信号[{signalName}] 地址[{address}] 值[{value}]");
|
||||
return value;
|
||||
}
|
||||
|
||||
private void WriteStationSignal(SiemensClient client, string address, bool value, string signalName, string context)
|
||||
{
|
||||
LogSignal($"{context} 写入信号[{signalName}] 地址[{address}] 值[{value}]");
|
||||
client.Write(address, value);
|
||||
var readBackValue = client.ReadBoolean(address).Value;
|
||||
LogSignal($"{context} 回读信号[{signalName}] 地址[{address}] 值[{readBackValue}]");
|
||||
}
|
||||
|
||||
private bool WriteAndRead(SiemensClient client, string address, bool value, string signalName, string context)
|
||||
{
|
||||
WriteStationSignal(client, address, value, signalName, context);
|
||||
return client.ReadBoolean(address).Value;
|
||||
}
|
||||
|
||||
/// <summary>校验条件参数个数是否满足 PLC 方法要求。</summary>
|
||||
private static bool TryGetConditionArgs(FassConditionEventConfig condition, int minLength, out string[] args)
|
||||
{
|
||||
args = SplitArgs(condition.ConditionMethodArgs);
|
||||
return args.Length >= minLength;
|
||||
}
|
||||
|
||||
/// <summary>将逗号分隔的配置参数字符串拆分为数组。</summary>
|
||||
private static string[] SplitArgs(string args)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(args))
|
||||
{
|
||||
return Array.Empty<string>();
|
||||
}
|
||||
|
||||
return args.Split(new[] { ',' }, StringSplitOptions.RemoveEmptyEntries)
|
||||
.Select(item => item.Trim())
|
||||
.ToArray();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// CSV 过滤器：filter 为空则通过；否则 value 必须等于 filter 中某项（忽略大小写）。
|
||||
/// 用于 TriggerCarState 等多值匹配，如 "Stopping,Charging"。
|
||||
/// </summary>
|
||||
private static bool MatchesCsvFilter(string filter, string value)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(filter))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
if (string.IsNullOrWhiteSpace(value))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
return filter.Split(',').Select(item => item.Trim()).Any(item => string.Equals(item, value, StringComparison.OrdinalIgnoreCase));
|
||||
}
|
||||
|
||||
private void LogTraffic(string message) => Diagnosis.Post(message, "Fass交管", true);
|
||||
|
||||
private void LogSignal(string message) => Diagnosis.Post(message, "Fass信号交互", true);
|
||||
|
||||
private void LogSignalError(Exception ex, string message) =>
|
||||
Diagnosis.Post($"{message}: {ExceptionFormatter.FormatEx(ex)}", "Fass信号交互", true);
|
||||
|
||||
#endregion
|
||||
}
|
||||
|
||||
/// <summary>从磁盘加载 EventCar JSON 配置数组。</summary>
|
||||
internal static class FassEventConfigLoader
|
||||
{
|
||||
/// <summary>
|
||||
/// 读取并反序列化配置文件。
|
||||
/// </summary>
|
||||
/// <param name="configPath">JSON 文件路径。</param>
|
||||
/// <returns>事件配置列表；文件内容为空数组时返回空列表。</returns>
|
||||
/// <exception cref="FileNotFoundException">文件不存在时抛出。</exception>
|
||||
public static List<FassEventCarConfig> Load(string configPath)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(configPath) || !File.Exists(configPath))
|
||||
{
|
||||
throw new FileNotFoundException($"未找到 FASS 车辆事件配置文件：{configPath}");
|
||||
}
|
||||
|
||||
var json = File.ReadAllText(configPath);
|
||||
return Newtonsoft.Json.JsonConvert.DeserializeObject<List<FassEventCarConfig>>(json)
|
||||
?? new List<FassEventCarConfig>();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,165 @@
|
||||
using SimpleLite.RCS;
|
||||
using SimpleCore.PropType;
|
||||
using StandardScene.CarTypes;
|
||||
using System;
|
||||
using System.Globalization;
|
||||
using SimpleLite.RCS.CarTypes;
|
||||
|
||||
namespace StandardScene.Scheduler.FassEvent
|
||||
{
|
||||
/// <summary>
|
||||
/// 将 StandardScene 车辆对象转换为 FASS 事件系统可识别的快照字段。
|
||||
/// 负责编号、地标、状态、电量等与 <c>EventCarService.TriggerHandler</c> 对齐的映射。
|
||||
/// </summary>
|
||||
internal static class FassEventCarSnapshotFactory
|
||||
{
|
||||
/// <summary>
|
||||
/// 获取车辆“下一地标”编码。
|
||||
/// 优先级：status.enums["NextNode"] → tags["NextNode"] → pendingLocks 首站（TagValue 或站点 ID）。
|
||||
/// </summary>
|
||||
public static string GetNextNodeCode(Car car)
|
||||
{
|
||||
if (car.status?.enums != null && car.status.enums.TryGetValue("NextNode", out var node) && !string.IsNullOrWhiteSpace(node))
|
||||
{
|
||||
return node;
|
||||
}
|
||||
|
||||
if (car.tags != null && car.tags.TryGetValue("NextNode", out var tagNode) && !string.IsNullOrWhiteSpace(tagNode))
|
||||
{
|
||||
return tagNode;
|
||||
}
|
||||
|
||||
// 调度 pendingLocks 通常表示车辆即将前往的站点，可近似为 FASS NextNodeCode。
|
||||
if (car.status?.pendingLocks != null && car.status.pendingLocks.Length > 0)
|
||||
{
|
||||
var pendingSiteId = car.status.pendingLocks[0];
|
||||
var site = SimpleCore.SimpleLib.GetSite(pendingSiteId);
|
||||
if (site?.fields != null && site.fields.TryGetValue("TagValue", out var tagValue) && !string.IsNullOrWhiteSpace(tagValue))
|
||||
{
|
||||
return tagValue;
|
||||
}
|
||||
|
||||
return pendingSiteId.ToString(CultureInfo.InvariantCulture);
|
||||
}
|
||||
|
||||
return string.Empty;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 根据车辆与上一周期地标构建完整快照。
|
||||
/// </summary>
|
||||
/// <param name="car">场景车辆。</param>
|
||||
/// <param name="prevNodeCode">上一周期 CurrentNode，由 EventCarMission 维护。</param>
|
||||
/// <param name="nextNodeCode">下一地标；为空时自动调用 <see cref="GetNextNodeCode"/>。</param>
|
||||
public static FassEventCarSnapshot Create(Car car, string prevNodeCode, string nextNodeCode)
|
||||
{
|
||||
return new FassEventCarSnapshot
|
||||
{
|
||||
CarId = car.id,
|
||||
Code = GetCarCode(car),
|
||||
CarModel = GetCarModel(car),
|
||||
PrevNodeCode = prevNodeCode,
|
||||
CurrentNodeCode = GetCurrentNodeCode(car),
|
||||
NextNodeCode = string.IsNullOrWhiteSpace(nextNodeCode) ? GetNextNodeCode(car) : nextNodeCode,
|
||||
State = GetFassState(car),
|
||||
Angle = (int)Math.Round(car.th),
|
||||
Charge = GetCharge(car)
|
||||
};
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 获取 FASS 车辆编号。MagCar 优先使用 VehicleCode，否则 fields["Code"]，最后回退 name。
|
||||
/// </summary>
|
||||
public static string GetCarCode(Car car)
|
||||
{
|
||||
if (car is MagCar magCar && magCar.VehicleCode > 0)
|
||||
{
|
||||
return magCar.VehicleCode.ToString(CultureInfo.InvariantCulture);
|
||||
}
|
||||
|
||||
if (car.fields != null && car.fields.TryGetValue("Code", out var code) && !string.IsNullOrWhiteSpace(code))
|
||||
{
|
||||
return code;
|
||||
}
|
||||
|
||||
return car.name;
|
||||
}
|
||||
|
||||
/// <summary>获取车型。下料站 InplaceStaion 根据 CarModel 在 ME11 / 放行车型间切换。</summary>
|
||||
public static string GetCarModel(Car car)
|
||||
{
|
||||
if (car.fields != null && car.fields.TryGetValue("CarModel", out var model) && !string.IsNullOrWhiteSpace(model))
|
||||
{
|
||||
return model;
|
||||
}
|
||||
|
||||
return car.GetType().Name;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 获取当前地标号。MagCar 上报后写入 status.enums["CurrentNode"]；
|
||||
/// 其他车型可回退到 siteID。
|
||||
/// </summary>
|
||||
public static string GetCurrentNodeCode(Car car)
|
||||
{
|
||||
if (car.status?.enums != null && car.status.enums.TryGetValue("CurrentNode", out var node) && !string.IsNullOrWhiteSpace(node))
|
||||
{
|
||||
return node;
|
||||
}
|
||||
|
||||
return car.siteID > 0 ? car.siteID.ToString(CultureInfo.InvariantCulture) : string.Empty;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将 StandardScene 车辆状态映射为 FASS 英文字符串。
|
||||
/// <para>
|
||||
/// 可手动覆盖：tags["FassState"] 或 enums["FassState"]。
|
||||
/// WaitPass 需在停止中且 tags 含 WaitPass（FASS 中“等待放行”态）。
|
||||
/// </para>
|
||||
/// </summary>
|
||||
public static string GetFassState(Car car)
|
||||
{
|
||||
if (car.tags != null && car.tags.TryGetValue("FassState", out var tagState) && !string.IsNullOrWhiteSpace(tagState))
|
||||
{
|
||||
return tagState;
|
||||
}
|
||||
|
||||
if (car.status?.enums != null && car.status.enums.TryGetValue("FassState", out var enumState) && !string.IsNullOrWhiteSpace(enumState))
|
||||
{
|
||||
return enumState;
|
||||
}
|
||||
|
||||
if (car.status?.enums != null && car.status.enums.TryGetValue("State", out var state))
|
||||
{
|
||||
switch (state)
|
||||
{
|
||||
case "运行中":
|
||||
return "Running";
|
||||
case "停止中":
|
||||
return car.tags != null && car.tags.ContainsKey("WaitPass") ? "WaitPass" : "Stopping";
|
||||
case "未准备":
|
||||
return "NotReady";
|
||||
case "充电中":
|
||||
return "Charging";
|
||||
default:
|
||||
return state;
|
||||
}
|
||||
}
|
||||
|
||||
return string.Empty;
|
||||
}
|
||||
|
||||
/// <summary>从 status.enums["Soc"] 解析电量百分比。</summary>
|
||||
private static double GetCharge(Car car)
|
||||
{
|
||||
if (car.status?.enums != null &&
|
||||
car.status.enums.TryGetValue("Soc", out var soc) &&
|
||||
double.TryParse(soc, NumberStyles.Float, CultureInfo.InvariantCulture, out var value))
|
||||
{
|
||||
return value;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,132 @@
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace StandardScene.Scheduler.FassEvent
|
||||
{
|
||||
/// <summary>
|
||||
/// FASS 车辆事件配置项，对应 <c>Configs/EventCar/*.json</c> 数组中的单个元素。
|
||||
/// 配置格式与 FASS.Scheduler 的 EventCar 模型保持一致，便于直接复用现场 JSON。
|
||||
/// </summary>
|
||||
public class FassEventCarConfig
|
||||
{
|
||||
/// <summary>是否启用本条事件规则。</summary>
|
||||
public bool TriggerEnable { get; set; } = true;
|
||||
|
||||
/// <summary>
|
||||
/// 事件来源。StandardScene 进程仅处理值为 <c>Car</c> 的项（车辆定时轮询触发）。
|
||||
/// </summary>
|
||||
public string TriggerSource { get; set; } = "Car";
|
||||
|
||||
/// <summary>
|
||||
/// 触发时机。当前实现仅支持 <c>TimerTick</c>（与 FASS <c>EventCarService.CarTimerTick</c> 等价）。
|
||||
/// </summary>
|
||||
public string TriggerEvent { get; set; } = "TimerTick";
|
||||
|
||||
/// <summary>触发条件：车辆编号（逗号分隔，空表示不限制）。</summary>
|
||||
public string TriggerCarCode { get; set; }
|
||||
|
||||
/// <summary>触发条件：上一地标号（逗号分隔）。</summary>
|
||||
public string TriggerCarPrevNodeCode { get; set; }
|
||||
|
||||
/// <summary>触发条件：当前地标号（逗号分隔）。</summary>
|
||||
public string TriggerCarCurrentNodeCode { get; set; }
|
||||
|
||||
/// <summary>触发条件：下一地标号（逗号分隔）。</summary>
|
||||
public string TriggerCarNextNodeCode { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 触发条件：车辆 FASS 状态（逗号分隔）。
|
||||
/// 常见值：Running、Stopping、WaitPass、Charging、Stopping,Charging 等。
|
||||
/// </summary>
|
||||
public string TriggerCarState { get; set; }
|
||||
|
||||
/// <summary>触发条件：车头角度（逗号分隔的整数字符串）。</summary>
|
||||
public string TriggerCarAngle { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// 条件事件列表。全部满足后才执行任务；
|
||||
/// 对应 FASS 中 <c>ConditionHandler</c> 的逐项 AND 逻辑。
|
||||
/// </summary>
|
||||
public List<FassConditionEventConfig> ConditionEvents { get; set; } = new List<FassConditionEventConfig>();
|
||||
|
||||
/// <summary>条件满足后是否执行任务（false 时仅做条件判断，不下发 Start/Stop）。</summary>
|
||||
public bool TaskEnable { get; set; } = true;
|
||||
|
||||
/// <summary>
|
||||
/// 任务类型。MagCar 当前支持 <c>Start</c>（放行）与 <c>Stop</c>（急停）。
|
||||
/// </summary>
|
||||
public string TaskType { get; set; }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 单条条件事件配置，描述一个条件判断（交管、PLC 信号、电量等）。
|
||||
/// </summary>
|
||||
public class FassConditionEventConfig
|
||||
{
|
||||
/// <summary>是否启用本条件；false 时跳过（视为通过）。</summary>
|
||||
public bool ConditionEnable { get; set; } = true;
|
||||
|
||||
/// <summary>
|
||||
/// 条件类型：<c>Method</c>（内置方法）、<c>Assembly</c>、<c>Plugin</c>。
|
||||
/// StandardScene 当前仅实现 Method；后两者会记录日志并返回 false。
|
||||
/// </summary>
|
||||
public string ConditionType { get; set; } = "Method";
|
||||
|
||||
/// <summary>Assembly 条件：程序集文件路径（未实现）。</summary>
|
||||
public string ConditionAssemblyFile { get; set; }
|
||||
|
||||
/// <summary>Assembly/Plugin 条件：类型名（未实现）。</summary>
|
||||
public string ConditionTypeName { get; set; }
|
||||
|
||||
/// <summary>Assembly/Plugin 条件：构造参数（未实现）。</summary>
|
||||
public string ConditionTypeArgs { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// Method 条件：方法名，如 NodeAllUnlockedNotCar、requestStaion、EmegerStop 等。
|
||||
/// 名称与 FASS <c>EventCarService.InitEventMethod</c> 注册表一致（含历史拼写）。
|
||||
/// </summary>
|
||||
public string ConditionMethodName { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// Method 条件：方法参数，一般为逗号分隔的节点号或 PLC 地址。
|
||||
/// 例如交管：<c>3,53,21</c>；PLC：<c>DB5524.0.0,DB5524.0.1</c>。
|
||||
/// </summary>
|
||||
public string ConditionMethodArgs { get; set; }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 车辆事件处理用的只读快照，从 StandardScene <see cref="SimpleLite.RCS.Car"/> 提取 FASS 语义字段。
|
||||
/// 每次 TimerTick 为每辆车构建一份，供触发器与条件方法使用。
|
||||
/// </summary>
|
||||
public class FassEventCarSnapshot
|
||||
{
|
||||
/// <summary>场景内车辆 ID（SimpleLib）。</summary>
|
||||
public int CarId { get; set; }
|
||||
|
||||
/// <summary>FASS 车辆编号（MagCar.VehicleCode 或 fields["Code"]）。</summary>
|
||||
public string Code { get; set; }
|
||||
|
||||
/// <summary>车型标识，用于 ME11 下料站逻辑（fields["CarModel"]）。</summary>
|
||||
public string CarModel { get; set; }
|
||||
|
||||
/// <summary>上一周期记录的地标号，用于 TriggerCarPrevNodeCode 匹配。</summary>
|
||||
public string PrevNodeCode { get; set; }
|
||||
|
||||
/// <summary>当前地标号（status.enums["CurrentNode"] 或 siteID）。</summary>
|
||||
public string CurrentNodeCode { get; set; }
|
||||
|
||||
/// <summary>下一地标号（pendingLocks / tags / enums 推断）。</summary>
|
||||
public string NextNodeCode { get; set; }
|
||||
|
||||
/// <summary>
|
||||
/// FASS 状态字符串：Running、Stopping、WaitPass、Charging 等。
|
||||
/// 由 <see cref="FassEventCarSnapshotFactory.GetFassState"/> 从中文状态映射。
|
||||
/// </summary>
|
||||
public string State { get; set; }
|
||||
|
||||
/// <summary>车头角度（度），对应 FASS Car.Angle。</summary>
|
||||
public int Angle { get; set; }
|
||||
|
||||
/// <summary>电量百分比（Soc）。</summary>
|
||||
public double Charge { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,196 @@
|
||||
using SimpleLite.RCS;
|
||||
using SimpleCore;
|
||||
using SimpleCore.PropType;
|
||||
using System;
|
||||
using System.Linq;
|
||||
using SimpleLite.RCS.CarTypes;
|
||||
|
||||
namespace StandardScene.Scheduler.FassEvent
|
||||
{
|
||||
/// <summary>
|
||||
/// 节点（地标）交管判断辅助类，替代 FASS <c>AlgorithmService</c> 中与 EventCar 相关的方法。
|
||||
/// <para>
|
||||
/// “锁定”判定依据 StandardScene 交通锁：holdingLocks、pendingLocks、aquiringLock，
|
||||
/// 以及站点 tags 中的 unavailable。
|
||||
/// </para>
|
||||
/// </summary>
|
||||
internal static class FassEventNodeHelper
|
||||
{
|
||||
/// <summary>指定节点列表是否全部未被任何车辆占用。</summary>
|
||||
public static bool NodeAllUnlocked(string[] nodeCodes)
|
||||
{
|
||||
return nodeCodes == null || nodeCodes.All(node => !IsNodeLocked(node, -1));
|
||||
}
|
||||
|
||||
/// <summary>指定节点列表是否全部未被占用（排除当前车辆自身锁）。</summary>
|
||||
public static bool NodeAllUnlockedNotCar(string carCode, string[] nodeCodes)
|
||||
{
|
||||
var excludeCarId = ResolveCarId(carCode);
|
||||
return nodeCodes == null || nodeCodes.All(node => !IsNodeLocked(node, excludeCarId));
|
||||
}
|
||||
|
||||
/// <summary>指定节点列表中是否存在任意一个被占用的节点。</summary>
|
||||
public static bool NodeAnyLocked(string[] nodeCodes)
|
||||
{
|
||||
return nodeCodes != null && nodeCodes.Any(node => IsNodeLocked(node, -1));
|
||||
}
|
||||
|
||||
/// <summary>指定节点列表中是否存在被其他车辆占用的节点（排除自身）。</summary>
|
||||
public static bool NodeAnyLockedNotCar(string carCode, string[] nodeCodes)
|
||||
{
|
||||
var excludeCarId = ResolveCarId(carCode);
|
||||
return nodeCodes != null && nodeCodes.Any(node => IsNodeLocked(node, excludeCarId));
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 节点全部解锁（排除自身）且指定节点范围内不存在处于运行态的其他车辆。
|
||||
/// 对应 FASS <c>NodeAllUnlockedNotCarNotEndCarState</c>。
|
||||
/// </summary>
|
||||
public static bool NodeAllUnlockedNotCarNotEndCarState(string carCode, string runningState, string[] nodeCodes)
|
||||
{
|
||||
if (!NodeAllUnlockedNotCar(carCode, nodeCodes))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
return !ExistsRunningCarOnNodes(carCode, runningState, nodeCodes);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 判断除指定车辆外，是否有车辆在给定节点列表上处于“运行中”状态。
|
||||
/// 逻辑对齐 FASS <c>IsExistRunningStateCar</c>：支持首参 Contains 匹配及 Skip(1) 尾节点匹配。
|
||||
/// </summary>
|
||||
public static bool ExistsRunningCarOnNodes(string excludeCarCode, string runningState, string[] nodeCodes)
|
||||
{
|
||||
if (nodeCodes == null || nodeCodes.Length == 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
var excludeCarId = ResolveCarId(excludeCarCode);
|
||||
foreach (var car in SimpleLib.GetAllCars().OfType<Car>())
|
||||
{
|
||||
if (car.id == excludeCarId)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var currentNode = FassEventCarSnapshotFactory.GetCurrentNodeCode(car);
|
||||
if (string.IsNullOrWhiteSpace(currentNode))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var state = FassEventCarSnapshotFactory.GetFassState(car);
|
||||
if (!IsRunningState(state, runningState))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
// 与 FASS 一致：当前地标包含参数首项，或等于后续任一项。
|
||||
if (nodeCodes.Any(node => string.Equals(node, currentNode, StringComparison.OrdinalIgnoreCase)
|
||||
|| currentNode.Contains(node)))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
if (nodeCodes.Length > 1)
|
||||
{
|
||||
var tailNodes = nodeCodes.Skip(1).ToArray();
|
||||
if (tailNodes.Any(node => string.Equals(node, currentNode, StringComparison.OrdinalIgnoreCase)))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 判断单个地标是否被锁定。
|
||||
/// 节点号可解析为站点 ID，或通过 fields["TagValue"] 匹配地标标签。
|
||||
/// </summary>
|
||||
private static bool IsNodeLocked(string nodeCode, int excludeCarId)
|
||||
{
|
||||
if (!TryResolveSiteId(nodeCode, out var siteId))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
var site = SimpleLib.GetSite(siteId);
|
||||
if (site?.tags?.Contains("unavailable") == true)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
return SimpleLib.GetAllCars().Any(car =>
|
||||
car.id != excludeCarId &&
|
||||
(car.status.holdingLocks?.Contains(siteId) == true ||
|
||||
car.status.pendingLocks?.Contains(siteId) == true ||
|
||||
car.status.aquiringLock == siteId));
|
||||
}
|
||||
|
||||
/// <summary>根据 FASS 车辆编号解析场景内 car.id。</summary>
|
||||
private static int ResolveCarId(string carCode)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(carCode))
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
var car = SimpleLib.GetAllCars()
|
||||
.OfType<Car>()
|
||||
.FirstOrDefault(item => string.Equals(FassEventCarSnapshotFactory.GetCarCode(item), carCode, StringComparison.OrdinalIgnoreCase));
|
||||
return car?.id ?? -1;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将地标编码解析为站点 ID：纯数字直接查站；否则按 TagValue 字段匹配。
|
||||
/// </summary>
|
||||
private static bool TryResolveSiteId(string nodeCode, out int siteId)
|
||||
{
|
||||
siteId = 0;
|
||||
if (string.IsNullOrWhiteSpace(nodeCode))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (int.TryParse(nodeCode, out siteId))
|
||||
{
|
||||
return SimpleLib.GetSite(siteId) != null;
|
||||
}
|
||||
|
||||
var site = SimpleLib.GetAllSites().FirstOrDefault(item =>
|
||||
item.fields.TryGetValue("TagValue", out var tag) &&
|
||||
string.Equals(tag, nodeCode, StringComparison.OrdinalIgnoreCase));
|
||||
if (site == null)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
siteId = site.id;
|
||||
return true;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 判断状态是否视为“运行中”。兼容 FASS 历史拼写 Runing 与 Running。
|
||||
/// </summary>
|
||||
private static bool IsRunningState(string state, string runningState)
|
||||
{
|
||||
if (string.IsNullOrWhiteSpace(state))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (string.Equals(state, runningState, StringComparison.OrdinalIgnoreCase))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
return string.Equals(state, "Running", StringComparison.OrdinalIgnoreCase) &&
|
||||
(string.Equals(runningState, "Runing", StringComparison.OrdinalIgnoreCase) ||
|
||||
string.Equals(runningState, "Running", StringComparison.OrdinalIgnoreCase));
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -21,6 +21,7 @@
|
||||
<!-- 插件清单：随 dll 输出，供 SimpleLite plugins 选择性加载（约定 <dll>.scene.json） -->
|
||||
<ItemGroup>
|
||||
<None Update="StandardScene.Magnetic.scene.json" CopyToOutputDirectory="PreserveNewest" />
|
||||
<None Update="Configs\EventCar\FG2512073.json" CopyToOutputDirectory="PreserveNewest" />
|
||||
</ItemGroup>
|
||||
|
||||
<!-- 基座：车型基类字段袋 / 通用 coder / 任务调度等留 Core；本 dll 为 scene.mag 平台（磁导航车型 + 磁循迹 coder） -->
|
||||
@@ -29,24 +30,25 @@
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<Reference Include="SimpleLite">
|
||||
<HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\SimpleLite.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="SimpleCore">
|
||||
<HintPath>E:\Work\Core\Simple-FR\Simple\SimpleCore\bin\Debug\netstandard2.0\SimpleCore.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="CommonUsage">
|
||||
<HintPath>D:\MDCS\Dependencies\Commons\CommonUsage.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="Topaz">
|
||||
<HintPath>E:\Work\Core\Simple-FR\Simple\tools\Topaz.dll</HintPath>
|
||||
<HintPath>$(StandRefDir)CommonUsage.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="LessokajiWeaverUtilities">
|
||||
<HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\LessokajiWeaverUtilities.dll</HintPath>
|
||||
<HintPath>$(StandRefDir)LessokajiWeaverUtilities.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="SimpleCore">
|
||||
<HintPath>$(StandRefDir)SimpleCore.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="SimpleLite">
|
||||
<HintPath>$(StandSimpleLiteDir)SimpleLite.dll</HintPath>
|
||||
</Reference>
|
||||
<Reference Include="Topaz">
|
||||
<HintPath>$(StandRefDir)Topaz.dll</HintPath>
|
||||
</Reference>
|
||||
</ItemGroup>
|
||||
|
||||
<ItemGroup>
|
||||
<PackageReference Include="IoTClient" Version="1.0.40" />
|
||||
<PackageReference Include="Newtonsoft.Json" Version="13.0.4" />
|
||||
</ItemGroup>
|
||||
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
"coreVersion": ">=1.0.0",
|
||||
"requiresCore": "StandardScene.dll",
|
||||
"provides": {
|
||||
"carTypes": [ "MagCar" ],
|
||||
"missionTypes": []
|
||||
"carTypes": [ "MagCar", "MagFass2Car" ],
|
||||
"missionTypes": [ "EventCarMission", "MagFass2LoopMission" ]
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,192 @@
|
||||
using StandardScene.Magnetic.Protocol;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Text;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
/// <summary>
|
||||
/// 比对期望节点与上报节点，判定到站与动作是否完成（对齐 backend <c>CarResponseService</c>）。
|
||||
/// </summary>
|
||||
public static class Fass2ActionResolver
|
||||
{
|
||||
private static readonly (string Name, Func<Fass2NodeMessage, byte> Get, Action<Fass2NodeMessage, byte> Set)[] ActionFields =
|
||||
{
|
||||
("StartStop", n => n.StartStop, (n, v) => n.StartStop = v),
|
||||
("Direction", n => n.Direction, (n, v) => n.Direction = v),
|
||||
("Orientation", n => n.Orientation, (n, v) => n.Orientation = v),
|
||||
("Byroad", n => n.Byroad, (n, v) => n.Byroad = v),
|
||||
("Obstacle", n => n.Obstacle, (n, v) => n.Obstacle = v),
|
||||
("Audio", n => n.Audio, (n, v) => n.Audio = v),
|
||||
("Light", n => n.Light, (n, v) => n.Light = v),
|
||||
("Charge", n => n.Charge, (n, v) => n.Charge = v),
|
||||
("Rest", n => n.Rest, (n, v) => n.Rest = v),
|
||||
("Lift", n => n.Lift, (n, v) => n.Lift = v),
|
||||
("Clamp", n => n.Clamp, (n, v) => n.Clamp = v),
|
||||
("Tray", n => n.Tray, (n, v) => n.Tray = v),
|
||||
("Roll", n => n.Roll, (n, v) => n.Roll = v),
|
||||
("Shutdown", n => n.Shutdown, (n, v) => n.Shutdown = v)
|
||||
};
|
||||
|
||||
public static bool IsAtNode(Fass2StateReport report, ushort targetNode)
|
||||
{
|
||||
return report?.Node != null && report.Node.Node == targetNode;
|
||||
}
|
||||
|
||||
public static bool IsVehicleMoving(byte vehicleState)
|
||||
{
|
||||
return vehicleState == 1;
|
||||
}
|
||||
|
||||
public static bool RequiresActionWait(Fass2NodeMessage expected)
|
||||
{
|
||||
if (expected == null)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (expected.StartStop is Fass2TaskBuilder.StartStopStop or Fass2TaskBuilder.StartStopPrecision)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
foreach (var field in ActionFields)
|
||||
{
|
||||
if (field.Get(expected) != 0)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return expected.Speed != 0;
|
||||
}
|
||||
|
||||
public static bool IsStationActionComplete(Fass2NodeMessage expected, Fass2NodeMessage actual, byte vehicleState)
|
||||
{
|
||||
if (expected == null || actual == null)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (actual.Node != expected.Node)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (IsVehicleMoving(vehicleState))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!RequiresActionWait(expected))
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
// 过站(StartStop=1) 只要求到点且非运行态，不要求 Orientation 等轨迹字段到位。
|
||||
if (expected.StartStop == Fass2TaskBuilder.StartStopPass)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
return ListPendingFields(expected, actual).Count == 0;
|
||||
}
|
||||
|
||||
public static IReadOnlyList<string> ListPendingFields(Fass2NodeMessage expected, Fass2NodeMessage actual)
|
||||
{
|
||||
var pending = new List<string>();
|
||||
if (expected == null || actual == null)
|
||||
{
|
||||
return pending;
|
||||
}
|
||||
|
||||
if (expected.StartStop != 0 && actual.StartStop != expected.StartStop)
|
||||
{
|
||||
pending.Add("StartStop");
|
||||
}
|
||||
|
||||
if (expected.Speed != 0 && actual.Speed != expected.Speed)
|
||||
{
|
||||
pending.Add("Speed");
|
||||
}
|
||||
|
||||
foreach (var field in ActionFields)
|
||||
{
|
||||
if (field.Name == "StartStop")
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var expectedValue = field.Get(expected);
|
||||
if (expectedValue != 0 && field.Get(actual) != expectedValue)
|
||||
{
|
||||
pending.Add(field.Name);
|
||||
}
|
||||
}
|
||||
|
||||
return pending;
|
||||
}
|
||||
|
||||
public static Fass2NodeMessage BuildActionPatch(Fass2NodeMessage expected, Fass2NodeMessage actual)
|
||||
{
|
||||
if (expected == null)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
var patch = new Fass2NodeMessage { Node = expected.Node };
|
||||
var hasPatch = false;
|
||||
|
||||
if (expected.StartStop != 0 && (actual == null || actual.StartStop != expected.StartStop))
|
||||
{
|
||||
patch.StartStop = expected.StartStop;
|
||||
hasPatch = true;
|
||||
}
|
||||
|
||||
if (expected.Speed != 0 && (actual == null || actual.Speed != expected.Speed))
|
||||
{
|
||||
patch.Speed = expected.Speed;
|
||||
hasPatch = true;
|
||||
}
|
||||
|
||||
foreach (var field in ActionFields)
|
||||
{
|
||||
if (field.Name == "StartStop")
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
var expectedValue = field.Get(expected);
|
||||
if (expectedValue != 0 && (actual == null || field.Get(actual) != expectedValue))
|
||||
{
|
||||
field.Set(patch, expectedValue);
|
||||
hasPatch = true;
|
||||
}
|
||||
}
|
||||
|
||||
return hasPatch ? patch : null;
|
||||
}
|
||||
|
||||
public static string DescribePending(Fass2NodeMessage expected, Fass2NodeMessage actual)
|
||||
{
|
||||
var pending = ListPendingFields(expected, actual);
|
||||
if (pending.Count == 0)
|
||||
{
|
||||
return string.Empty;
|
||||
}
|
||||
|
||||
var builder = new StringBuilder();
|
||||
for (var i = 0; i < pending.Count; i++)
|
||||
{
|
||||
if (i > 0)
|
||||
{
|
||||
builder.Append(',');
|
||||
}
|
||||
|
||||
builder.Append(pending[i]);
|
||||
}
|
||||
|
||||
return builder.ToString();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,90 @@
|
||||
using SimpleCore;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
internal static class Fass2PathFinder
|
||||
{
|
||||
public static List<int> GetSitesBetween(int startSiteId, int endSiteId)
|
||||
{
|
||||
if (startSiteId == endSiteId)
|
||||
{
|
||||
return new List<int> { startSiteId };
|
||||
}
|
||||
|
||||
var adjacency = BuildSiteAdjacency();
|
||||
var visited = new HashSet<int> { startSiteId };
|
||||
var queue = new Queue<List<int>>();
|
||||
queue.Enqueue(new List<int> { startSiteId });
|
||||
|
||||
while (queue.Count > 0)
|
||||
{
|
||||
var path = queue.Dequeue();
|
||||
var current = path[path.Count - 1];
|
||||
if (current == endSiteId)
|
||||
{
|
||||
return path;
|
||||
}
|
||||
|
||||
if (!adjacency.TryGetValue(current, out var neighbors))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
foreach (var neighbor in neighbors)
|
||||
{
|
||||
if (visited.Contains(neighbor))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
visited.Add(neighbor);
|
||||
var nextPath = new List<int>(path) { neighbor };
|
||||
queue.Enqueue(nextPath);
|
||||
}
|
||||
}
|
||||
|
||||
return new List<int>();
|
||||
}
|
||||
|
||||
private static Dictionary<int, HashSet<int>> BuildSiteAdjacency()
|
||||
{
|
||||
var adjacency = new Dictionary<int, HashSet<int>>();
|
||||
foreach (var track in SimpleLib.GetAllTracks())
|
||||
{
|
||||
var siteA = track.siteA;
|
||||
var siteB = track.siteB;
|
||||
switch (track.direction)
|
||||
{
|
||||
case 0:
|
||||
AddAdjacency(adjacency, siteA, siteB);
|
||||
AddAdjacency(adjacency, siteB, siteA);
|
||||
break;
|
||||
case 1:
|
||||
AddAdjacency(adjacency, siteA, siteB);
|
||||
break;
|
||||
case 2:
|
||||
AddAdjacency(adjacency, siteB, siteA);
|
||||
break;
|
||||
default:
|
||||
AddAdjacency(adjacency, siteA, siteB);
|
||||
AddAdjacency(adjacency, siteB, siteA);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return adjacency;
|
||||
}
|
||||
|
||||
private static void AddAdjacency(Dictionary<int, HashSet<int>> adjacency, int from, int to)
|
||||
{
|
||||
if (!adjacency.TryGetValue(from, out var set))
|
||||
{
|
||||
set = new HashSet<int>();
|
||||
adjacency[from] = set;
|
||||
}
|
||||
|
||||
set.Add(to);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,103 @@
|
||||
using SimpleCore.PropType;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Globalization;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
internal static class Fass2SiteFieldReader
|
||||
{
|
||||
public static Fass2SiteActionData Read(Site site)
|
||||
{
|
||||
var data = new Fass2SiteActionData();
|
||||
if (site?.fields == null)
|
||||
{
|
||||
return data;
|
||||
}
|
||||
|
||||
data.StartStop = TryReadByte(site.fields, Fass2SiteFields.StartStop);
|
||||
data.Byroad = TryReadByte(site.fields, Fass2SiteFields.Byroad);
|
||||
data.Direction = TryReadByte(site.fields, Fass2SiteFields.Direction);
|
||||
data.Orientation = TryReadByte(site.fields, Fass2SiteFields.Orientation);
|
||||
data.Lift = TryReadByte(site.fields, Fass2SiteFields.Lift);
|
||||
data.Roll = TryReadByte(site.fields, Fass2SiteFields.Roll);
|
||||
data.Charge = TryReadByte(site.fields, Fass2SiteFields.Charge);
|
||||
data.Obstacle = TryReadByte(site.fields, Fass2SiteFields.Obstacle);
|
||||
data.Audio = TryReadByte(site.fields, Fass2SiteFields.Audio);
|
||||
data.Light = TryReadByte(site.fields, Fass2SiteFields.Light);
|
||||
data.Rest = TryReadByte(site.fields, Fass2SiteFields.Rest);
|
||||
data.Clamp = TryReadByte(site.fields, Fass2SiteFields.Clamp);
|
||||
data.Tray = TryReadByte(site.fields, Fass2SiteFields.Tray);
|
||||
data.Shutdown = TryReadByte(site.fields, Fass2SiteFields.Shutdown);
|
||||
data.PrecisionStop = TryReadBool(site.fields, Fass2SiteFields.PrecisionStop);
|
||||
data.WaitMode = TryReadString(site.fields, Fass2SiteFields.WaitMode);
|
||||
return data;
|
||||
}
|
||||
|
||||
public static string BuildFieldsSignature(IReadOnlyList<int> siteIds, int fromIndex, Func<int, Site> getSite)
|
||||
{
|
||||
if (siteIds == null || siteIds.Count == 0)
|
||||
{
|
||||
return string.Empty;
|
||||
}
|
||||
|
||||
var parts = new List<string>(siteIds.Count - fromIndex);
|
||||
for (var i = Math.Max(0, fromIndex); i < siteIds.Count; i++)
|
||||
{
|
||||
var site = getSite(siteIds[i]);
|
||||
if (site?.fields == null)
|
||||
{
|
||||
parts.Add($"{siteIds[i]}:");
|
||||
continue;
|
||||
}
|
||||
|
||||
var keys = new List<string>();
|
||||
foreach (var pair in site.fields)
|
||||
{
|
||||
if (pair.Key.StartsWith("Fass2_", StringComparison.OrdinalIgnoreCase) ||
|
||||
pair.Key.Equals(Fass2SiteFields.TagValue, StringComparison.OrdinalIgnoreCase))
|
||||
{
|
||||
keys.Add($"{pair.Key}={pair.Value}");
|
||||
}
|
||||
}
|
||||
|
||||
keys.Sort(StringComparer.OrdinalIgnoreCase);
|
||||
parts.Add($"{siteIds[i]}:{string.Join("|", keys)}");
|
||||
}
|
||||
|
||||
return string.Join(";", parts);
|
||||
}
|
||||
|
||||
private static byte? TryReadByte(Dictionary<string, string> fields, string key)
|
||||
{
|
||||
if (!fields.TryGetValue(key, out var text) || string.IsNullOrWhiteSpace(text))
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
if (byte.TryParse(text, NumberStyles.Integer, CultureInfo.InvariantCulture, out var value))
|
||||
{
|
||||
return value;
|
||||
}
|
||||
|
||||
return null;
|
||||
}
|
||||
|
||||
private static bool TryReadBool(Dictionary<string, string> fields, string key)
|
||||
{
|
||||
if (!fields.TryGetValue(key, out var text) || string.IsNullOrWhiteSpace(text))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
return bool.TryParse(text, out var value) && value
|
||||
|| text == "1"
|
||||
|| string.Equals(text, "true", StringComparison.OrdinalIgnoreCase);
|
||||
}
|
||||
|
||||
private static string TryReadString(Dictionary<string, string> fields, string key)
|
||||
{
|
||||
return fields.TryGetValue(key, out var text) ? text : null;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,50 @@
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
/// <summary>
|
||||
/// FASS 2.0 站点 <c>fields</c> 键名常量，用于地图编辑器配置站点动作。
|
||||
/// </summary>
|
||||
public static class Fass2SiteFields
|
||||
{
|
||||
public const string TagValue = "TagValue";
|
||||
|
||||
public const string StartStop = "Fass2_StartStop";
|
||||
public const string Byroad = "Fass2_Byroad";
|
||||
public const string Direction = "Fass2_Direction";
|
||||
public const string Orientation = "Fass2_Orientation";
|
||||
public const string Lift = "Fass2_Lift";
|
||||
public const string Roll = "Fass2_Roll";
|
||||
public const string Charge = "Fass2_Charge";
|
||||
public const string Obstacle = "Fass2_Obstacle";
|
||||
public const string Audio = "Fass2_Audio";
|
||||
public const string Light = "Fass2_Light";
|
||||
public const string Rest = "Fass2_Rest";
|
||||
public const string Clamp = "Fass2_Clamp";
|
||||
public const string Tray = "Fass2_Tray";
|
||||
public const string Shutdown = "Fass2_Shutdown";
|
||||
public const string PrecisionStop = "Fass2_PrecisionStop";
|
||||
public const string WaitMode = "Fass2_WaitMode";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从站点 fields 解析出的动作参数（映射到 25B 节点块）。
|
||||
/// </summary>
|
||||
public sealed class Fass2SiteActionData
|
||||
{
|
||||
public byte? StartStop { get; set; }
|
||||
public byte? Byroad { get; set; }
|
||||
public byte? Direction { get; set; }
|
||||
public byte? Orientation { get; set; }
|
||||
public byte? Lift { get; set; }
|
||||
public byte? Roll { get; set; }
|
||||
public byte? Charge { get; set; }
|
||||
public byte? Obstacle { get; set; }
|
||||
public byte? Audio { get; set; }
|
||||
public byte? Light { get; set; }
|
||||
public byte? Rest { get; set; }
|
||||
public byte? Clamp { get; set; }
|
||||
public byte? Tray { get; set; }
|
||||
public byte? Shutdown { get; set; }
|
||||
public bool PrecisionStop { get; set; }
|
||||
public string WaitMode { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,226 @@
|
||||
using SimpleCore;
|
||||
using SimpleCore.PropType;
|
||||
using StandardScene.Magnetic.Protocol;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
/// <summary>
|
||||
/// 将站点路径与站点/边 fields 合并为 FASS 2.0 <c>0xB1</c> 节点序列。
|
||||
/// 对齐 backend <c>CarRequestService.GetSendNodes</c> 的组包规则。
|
||||
/// </summary>
|
||||
public static class Fass2TaskBuilder
|
||||
{
|
||||
public const byte StartStopPass = 1;
|
||||
public const byte StartStopStop = 2;
|
||||
public const byte StartStopPrecision = 22;
|
||||
|
||||
public static Fass2TaskPlan BuildPath(int startSiteId, int goalSiteId, Fass2TaskBuildOptions options,
|
||||
Func<int, ushort> resolveNodeId)
|
||||
{
|
||||
if (resolveNodeId == null)
|
||||
{
|
||||
throw new ArgumentNullException(nameof(resolveNodeId));
|
||||
}
|
||||
|
||||
options ??= new Fass2TaskBuildOptions();
|
||||
var siteIds = Fass2PathFinder.GetSitesBetween(startSiteId, goalSiteId);
|
||||
if (siteIds.Count == 0)
|
||||
{
|
||||
throw new InvalidOperationException($"no path from site {startSiteId} to {goalSiteId}");
|
||||
}
|
||||
|
||||
var nodes = BuildNodesForSites(siteIds, options, resolveNodeId);
|
||||
return new Fass2TaskPlan
|
||||
{
|
||||
StartSiteId = startSiteId,
|
||||
GoalSiteId = goalSiteId,
|
||||
SiteIds = siteIds,
|
||||
Nodes = nodes,
|
||||
Batches = SplitBatches(nodes, options.MaxNodesPerFrame),
|
||||
FieldsSignature = Fass2SiteFieldReader.BuildFieldsSignature(siteIds, 0, SimpleLib.GetSite)
|
||||
};
|
||||
}
|
||||
|
||||
public static Fass2NodeMessage[] BuildSegment(int srcSiteId, int dstSiteId, Fass2TaskBuildOptions options,
|
||||
Func<int, ushort> resolveNodeId)
|
||||
{
|
||||
return BuildPath(srcSiteId, dstSiteId, options, resolveNodeId).Nodes.ToArray();
|
||||
}
|
||||
|
||||
public static IReadOnlyList<Fass2NodeMessage[]> SplitBatches(IReadOnlyList<Fass2NodeMessage> nodes, int maxPerFrame = 10)
|
||||
{
|
||||
if (nodes == null || nodes.Count == 0)
|
||||
{
|
||||
return Array.Empty<Fass2NodeMessage[]>();
|
||||
}
|
||||
|
||||
if (maxPerFrame <= 0 || maxPerFrame > 10)
|
||||
{
|
||||
maxPerFrame = 10;
|
||||
}
|
||||
|
||||
var batches = new List<Fass2NodeMessage[]>();
|
||||
for (var offset = 0; offset < nodes.Count; offset += maxPerFrame)
|
||||
{
|
||||
var count = Math.Min(maxPerFrame, nodes.Count - offset);
|
||||
var batch = new Fass2NodeMessage[count];
|
||||
for (var i = 0; i < count; i++)
|
||||
{
|
||||
batch[i] = nodes[offset + i];
|
||||
}
|
||||
|
||||
batches.Add(batch);
|
||||
}
|
||||
|
||||
return batches;
|
||||
}
|
||||
|
||||
private static List<Fass2NodeMessage> BuildNodesForSites(IReadOnlyList<int> siteIds, Fass2TaskBuildOptions options,
|
||||
Func<int, ushort> resolveNodeId)
|
||||
{
|
||||
var nodes = new List<Fass2NodeMessage>(siteIds.Count);
|
||||
for (var i = 0; i < siteIds.Count; i++)
|
||||
{
|
||||
var siteId = siteIds[i];
|
||||
var site = SimpleLib.GetSite(siteId);
|
||||
var siteAction = Fass2SiteFieldReader.Read(site);
|
||||
var isLast = i == siteIds.Count - 1;
|
||||
var prevSiteId = i > 0 ? siteIds[i - 1] : siteId;
|
||||
|
||||
Fass2TrackMotionData trackMotion = null;
|
||||
Site prevSite = null;
|
||||
if (i > 0)
|
||||
{
|
||||
prevSite = SimpleLib.GetSite(prevSiteId);
|
||||
var track = FindTrack(prevSiteId, siteId);
|
||||
trackMotion = Fass2TrackFieldReader.Read(track);
|
||||
}
|
||||
|
||||
var node = new Fass2NodeMessage
|
||||
{
|
||||
Node = resolveNodeId(siteId),
|
||||
StartStop = ResolveStartStop(siteAction, isLast),
|
||||
Distance = i > 0 ? ComputeEdgeDistance(prevSite, site) : (ushort)0,
|
||||
Speed = SpeedToProtocol(trackMotion?.Speed ?? options.DefaultSpeed, options.CarSpeed),
|
||||
Orientation = ResolveOrientation(prevSite, site, trackMotion),
|
||||
Byroad = siteAction.Byroad ?? trackMotion?.Byroad ?? 0,
|
||||
Direction = siteAction.Direction ?? trackMotion?.Direction ?? 0,
|
||||
Lift = siteAction.Lift ?? 0,
|
||||
Roll = siteAction.Roll ?? 0,
|
||||
Charge = siteAction.Charge ?? 0,
|
||||
Obstacle = siteAction.Obstacle ?? 0,
|
||||
Audio = siteAction.Audio ?? 0,
|
||||
Light = siteAction.Light ?? 0,
|
||||
Rest = siteAction.Rest ?? 0,
|
||||
Clamp = siteAction.Clamp ?? 0,
|
||||
Tray = siteAction.Tray ?? 0,
|
||||
Shutdown = siteAction.Shutdown ?? 0
|
||||
};
|
||||
|
||||
if (siteAction.Orientation.HasValue)
|
||||
{
|
||||
node.Orientation = siteAction.Orientation.Value;
|
||||
}
|
||||
|
||||
nodes.Add(node);
|
||||
}
|
||||
|
||||
return nodes;
|
||||
}
|
||||
|
||||
private static byte ResolveStartStop(Fass2SiteActionData siteAction, bool isLast)
|
||||
{
|
||||
if (siteAction.StartStop.HasValue)
|
||||
{
|
||||
return siteAction.StartStop.Value;
|
||||
}
|
||||
|
||||
if (isLast)
|
||||
{
|
||||
return siteAction.PrecisionStop ? StartStopPrecision : StartStopStop;
|
||||
}
|
||||
|
||||
return StartStopPass;
|
||||
}
|
||||
|
||||
private static byte ResolveOrientation(Site src, Site dst, Fass2TrackMotionData trackMotion)
|
||||
{
|
||||
if (trackMotion?.Orientation != null)
|
||||
{
|
||||
return trackMotion.Orientation.Value;
|
||||
}
|
||||
|
||||
if (src == null || dst == null)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
var angle = trackMotion != null && trackMotion.EnableCarAbsoluteDirection
|
||||
? trackMotion.CarAbsoluteDirection
|
||||
: Math.Atan2(dst.y - src.y, dst.x - src.x) / Math.PI * 180.0;
|
||||
|
||||
if (trackMotion?.Reverse == true)
|
||||
{
|
||||
angle += 180;
|
||||
}
|
||||
|
||||
angle += trackMotion?.CarDirectionBias ?? 0;
|
||||
angle %= 360;
|
||||
if (angle < 0)
|
||||
{
|
||||
angle += 360;
|
||||
}
|
||||
|
||||
return (byte)((int)Math.Round(angle / 360.0 * 256) % 256);
|
||||
}
|
||||
|
||||
private static ushort ComputeEdgeDistance(Site src, Site dst)
|
||||
{
|
||||
var dx = dst.x - src.x;
|
||||
var dy = dst.y - src.y;
|
||||
var length = Math.Sqrt(dx * dx + dy * dy);
|
||||
return (ushort)Math.Min(ushort.MaxValue, Math.Max(1, Math.Round(length)));
|
||||
}
|
||||
|
||||
private static ushort SpeedToProtocol(double trackSpeed, double carSpeed)
|
||||
{
|
||||
var value = trackSpeed <= 0 ? carSpeed : trackSpeed;
|
||||
var protocolSpeed = value <= 1
|
||||
? (int)Math.Round(value * 600)
|
||||
: (int)Math.Round(value * 10);
|
||||
return (ushort)Math.Max(1, Math.Min(10000, protocolSpeed));
|
||||
}
|
||||
|
||||
private static Track FindTrack(int fromSiteId, int toSiteId)
|
||||
{
|
||||
foreach (var track in SimpleLib.GetAllTracks())
|
||||
{
|
||||
if (track.direction == 0)
|
||||
{
|
||||
if ((track.siteA == fromSiteId && track.siteB == toSiteId) ||
|
||||
(track.siteB == fromSiteId && track.siteA == toSiteId))
|
||||
{
|
||||
return track;
|
||||
}
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
if (track.direction == 1 && track.siteA == fromSiteId && track.siteB == toSiteId)
|
||||
{
|
||||
return track;
|
||||
}
|
||||
|
||||
if (track.direction == 2 && track.siteB == fromSiteId && track.siteA == toSiteId)
|
||||
{
|
||||
return track;
|
||||
}
|
||||
}
|
||||
|
||||
return null;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,149 @@
|
||||
using SimpleCore.PropType;
|
||||
using StandardScene.Magnetic.Protocol;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
public enum Fass2TaskPhase
|
||||
{
|
||||
Idle,
|
||||
Planning,
|
||||
Dispatching,
|
||||
Moving,
|
||||
AtStation,
|
||||
SegmentDone,
|
||||
Complete,
|
||||
Fault,
|
||||
Cancelled
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 一次 FASS 2.0 任务执行上下文，供状态机推进与重启恢复使用。
|
||||
/// </summary>
|
||||
public sealed class Fass2TaskContext
|
||||
{
|
||||
public Fass2TaskPhase Phase { get; set; } = Fass2TaskPhase.Idle;
|
||||
public int StartSiteId { get; set; }
|
||||
public int GoalSiteId { get; set; }
|
||||
public int CurrentIndex { get; set; }
|
||||
public ulong TaskId { get; set; }
|
||||
public Fass2TaskPlan Plan { get; set; }
|
||||
public string FieldsSignature { get; set; } = string.Empty;
|
||||
public double DefaultSpeed { get; set; } = -1;
|
||||
public string FaultReason { get; set; }
|
||||
public DateTime StartedAt { get; set; }
|
||||
public DateTime LastDispatchAt { get; set; } = DateTime.MinValue;
|
||||
public ulong LastActionId { get; set; }
|
||||
public DateTime LastActionSentAt { get; set; } = DateTime.MinValue;
|
||||
}
|
||||
|
||||
public static class Fass2TaskPersistence
|
||||
{
|
||||
public const string TagPhase = "Fass2Task_Phase";
|
||||
public const string TagStartSite = "Fass2Task_StartSite";
|
||||
public const string TagGoalSite = "Fass2Task_GoalSite";
|
||||
public const string TagCurrentIndex = "Fass2Task_CurrentIndex";
|
||||
public const string TagTaskId = "Fass2Task_TaskId";
|
||||
public const string TagFieldsSignature = "Fass2Task_FieldsSig";
|
||||
public const string TagDefaultSpeed = "Fass2Task_DefaultSpeed";
|
||||
|
||||
public static void Save(TagSet tags, Fass2TaskContext context)
|
||||
{
|
||||
if (tags == null || context == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
SetTag(tags, TagPhase, context.Phase.ToString());
|
||||
SetTag(tags, TagStartSite, context.StartSiteId.ToString());
|
||||
SetTag(tags, TagGoalSite, context.GoalSiteId.ToString());
|
||||
SetTag(tags, TagCurrentIndex, context.CurrentIndex.ToString());
|
||||
SetTag(tags, TagTaskId, context.TaskId.ToString());
|
||||
SetTag(tags, TagFieldsSignature, context.FieldsSignature ?? string.Empty);
|
||||
SetTag(tags, TagDefaultSpeed, context.DefaultSpeed.ToString(System.Globalization.CultureInfo.InvariantCulture));
|
||||
}
|
||||
|
||||
public static bool TryLoad(TagSet tags, out Fass2TaskContext context)
|
||||
{
|
||||
context = null;
|
||||
if (tags == null || !tags.TryGetValue(TagPhase, out var phaseText) ||
|
||||
!Enum.TryParse(phaseText, out Fass2TaskPhase phase))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (phase is Fass2TaskPhase.Idle or Fass2TaskPhase.Complete or Fass2TaskPhase.Cancelled)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (!TryReadInt(tags, TagStartSite, out var startSite) ||
|
||||
!TryReadInt(tags, TagGoalSite, out var goalSite) ||
|
||||
!TryReadInt(tags, TagCurrentIndex, out var currentIndex))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
tags.TryGetValue(TagFieldsSignature, out var fieldsSignature);
|
||||
ulong.TryParse(tags.TryGetValue(TagTaskId, out var taskIdText) ? taskIdText : "0", out var taskId);
|
||||
double.TryParse(
|
||||
tags.TryGetValue(TagDefaultSpeed, out var speedText) ? speedText : "-1",
|
||||
System.Globalization.NumberStyles.Float,
|
||||
System.Globalization.CultureInfo.InvariantCulture,
|
||||
out var defaultSpeed);
|
||||
|
||||
context = new Fass2TaskContext
|
||||
{
|
||||
Phase = phase,
|
||||
StartSiteId = startSite,
|
||||
GoalSiteId = goalSite,
|
||||
CurrentIndex = currentIndex,
|
||||
TaskId = taskId,
|
||||
FieldsSignature = fieldsSignature ?? string.Empty,
|
||||
DefaultSpeed = defaultSpeed
|
||||
};
|
||||
return true;
|
||||
}
|
||||
|
||||
public static void Clear(TagSet tags)
|
||||
{
|
||||
if (tags == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
RemoveTag(tags, TagPhase);
|
||||
RemoveTag(tags, TagStartSite);
|
||||
RemoveTag(tags, TagGoalSite);
|
||||
RemoveTag(tags, TagCurrentIndex);
|
||||
RemoveTag(tags, TagTaskId);
|
||||
RemoveTag(tags, TagFieldsSignature);
|
||||
RemoveTag(tags, TagDefaultSpeed);
|
||||
}
|
||||
|
||||
private static void SetTag(TagSet tags, string key, string value)
|
||||
{
|
||||
if (tags.Contains(key))
|
||||
{
|
||||
tags.Remove(key);
|
||||
}
|
||||
|
||||
tags.Add(key, value);
|
||||
}
|
||||
|
||||
private static void RemoveTag(TagSet tags, string key)
|
||||
{
|
||||
if (tags.Contains(key))
|
||||
{
|
||||
tags.Remove(key);
|
||||
}
|
||||
}
|
||||
|
||||
private static bool TryReadInt(TagSet tags, string key, out int value)
|
||||
{
|
||||
value = 0;
|
||||
return tags.TryGetValue(key, out var text) && int.TryParse(text, out value);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,26 @@
|
||||
using StandardScene.Magnetic.Protocol;
|
||||
using System.Collections.Generic;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
public sealed class Fass2TaskBuildOptions
|
||||
{
|
||||
public bool UseTagValueAsNode { get; set; }
|
||||
public double DefaultSpeed { get; set; } = 0.2;
|
||||
public double CarSpeed { get; set; } = 1;
|
||||
public int MaxNodesPerFrame { get; set; } = 10;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 一次 FASS 2.0 路径任务计划：站点序列、节点报文、分批结果。
|
||||
/// </summary>
|
||||
public sealed class Fass2TaskPlan
|
||||
{
|
||||
public int StartSiteId { get; set; }
|
||||
public int GoalSiteId { get; set; }
|
||||
public IReadOnlyList<int> SiteIds { get; set; } = new List<int>();
|
||||
public IReadOnlyList<Fass2NodeMessage> Nodes { get; set; } = new List<Fass2NodeMessage>();
|
||||
public IReadOnlyList<Fass2NodeMessage[]> Batches { get; set; } = new List<Fass2NodeMessage[]>();
|
||||
public string FieldsSignature { get; set; } = string.Empty;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,588 @@
|
||||
using SimpleCore;
|
||||
using SimpleCore.PropType;
|
||||
using StandardScene.Magnetic.Protocol;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
public sealed class Fass2TaskCallbacks
|
||||
{
|
||||
public Func<int, int, double, Fass2TaskPlan> BuildPlan { get; set; }
|
||||
public Action<Fass2NodeMessage[], ulong> SendNodes { get; set; }
|
||||
public Action<Fass2NodeMessage, ulong> SendAction { get; set; }
|
||||
public Action<byte, ushort> SendControl { get; set; }
|
||||
public Func<int, ushort> ResolveNodeId { get; set; }
|
||||
public Func<ushort, Site> ResolveSite { get; set; }
|
||||
public Action<string> Log { get; set; }
|
||||
public Action<Fass2TaskContext> Persist { get; set; }
|
||||
public Action ClearPersisted { get; set; }
|
||||
public Func<ulong> AllocateTaskId { get; set; }
|
||||
public Func<ulong> AllocateActionId { get; set; }
|
||||
}
|
||||
|
||||
public sealed class Fass2TaskTickResult
|
||||
{
|
||||
public Fass2TaskPhase Phase { get; set; }
|
||||
public bool Dispatched { get; set; }
|
||||
public bool Rebuilt { get; set; }
|
||||
public bool ActionSent { get; set; }
|
||||
public bool Advanced { get; set; }
|
||||
public bool Completed { get; set; }
|
||||
public bool Faulted { get; set; }
|
||||
public string Message { get; set; }
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// FASS 2.0 任务状态机：规划 → 滑动窗口下发 → UDP/TCP 状态驱动推进 → 动作闭环。
|
||||
/// </summary>
|
||||
public sealed class Fass2TaskStateMachine
|
||||
{
|
||||
private readonly Fass2TaskCallbacks _callbacks;
|
||||
private readonly object _syncRoot = new object();
|
||||
private TaskCompletionSource<int> _completionSource;
|
||||
|
||||
public Fass2TaskStateMachine(Fass2TaskCallbacks callbacks)
|
||||
{
|
||||
_callbacks = callbacks ?? throw new ArgumentNullException(nameof(callbacks));
|
||||
Context = new Fass2TaskContext();
|
||||
}
|
||||
|
||||
public Fass2TaskContext Context { get; }
|
||||
|
||||
public int LockCount { get; set; } = 4;
|
||||
|
||||
public int ResendIntervalMs { get; set; } = 500;
|
||||
|
||||
public int ActionRetryIntervalMs { get; set; } = 1000;
|
||||
|
||||
public bool StartBeforeMove { get; set; } = true;
|
||||
|
||||
public ushort HeadingAngle { get; set; }
|
||||
|
||||
public bool IsIdle
|
||||
{
|
||||
get
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
return Context.Phase is Fass2TaskPhase.Idle or Fass2TaskPhase.Complete or Fass2TaskPhase.Cancelled;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public bool IsRunning
|
||||
{
|
||||
get
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
return Context.Phase is Fass2TaskPhase.Planning or Fass2TaskPhase.Dispatching
|
||||
or Fass2TaskPhase.Moving or Fass2TaskPhase.AtStation or Fass2TaskPhase.SegmentDone;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public event Action<Fass2TaskContext> Completed;
|
||||
public event Action<Fass2TaskContext, string> Faulted;
|
||||
|
||||
public void Begin(int startSiteId, int goalSiteId, double defaultSpeed = -1)
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
if (!IsIdle)
|
||||
{
|
||||
throw new InvalidOperationException($"task state machine busy, phase={Context.Phase}");
|
||||
}
|
||||
|
||||
ResetCompletionSource();
|
||||
Context.Phase = Fass2TaskPhase.Planning;
|
||||
Context.StartSiteId = startSiteId;
|
||||
Context.GoalSiteId = goalSiteId;
|
||||
Context.CurrentIndex = 0;
|
||||
Context.DefaultSpeed = defaultSpeed;
|
||||
Context.StartedAt = DateTime.Now;
|
||||
Context.FaultReason = null;
|
||||
Context.Plan = null;
|
||||
Context.FieldsSignature = string.Empty;
|
||||
Context.LastDispatchAt = DateTime.MinValue;
|
||||
Context.LastActionSentAt = DateTime.MinValue;
|
||||
Context.LastActionId = 0;
|
||||
Log($"task begin start={startSiteId}, goal={goalSiteId}, speed={defaultSpeed}");
|
||||
Persist();
|
||||
}
|
||||
}
|
||||
|
||||
public bool TryRestore(Fass2TaskContext saved)
|
||||
{
|
||||
if (saved == null)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
lock (_syncRoot)
|
||||
{
|
||||
if (IsRunning)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
ResetCompletionSource();
|
||||
Context.Phase = saved.Phase;
|
||||
Context.StartSiteId = saved.StartSiteId;
|
||||
Context.GoalSiteId = saved.GoalSiteId;
|
||||
Context.CurrentIndex = saved.CurrentIndex;
|
||||
Context.TaskId = saved.TaskId;
|
||||
Context.DefaultSpeed = saved.DefaultSpeed;
|
||||
Context.FieldsSignature = saved.FieldsSignature ?? string.Empty;
|
||||
Context.StartedAt = DateTime.Now;
|
||||
Context.LastDispatchAt = DateTime.MinValue;
|
||||
Context.LastActionSentAt = DateTime.MinValue;
|
||||
Context.Plan = null;
|
||||
Context.FaultReason = null;
|
||||
|
||||
if (Context.Phase == Fass2TaskPhase.Planning)
|
||||
{
|
||||
Log($"task restored phase={Context.Phase}, goal={Context.GoalSiteId}, index={Context.CurrentIndex}");
|
||||
Persist();
|
||||
return true;
|
||||
}
|
||||
|
||||
Context.Phase = Fass2TaskPhase.Planning;
|
||||
Log($"task restored and normalized to Planning, goal={Context.GoalSiteId}, index={Context.CurrentIndex}");
|
||||
Persist();
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
public Fass2TaskTickResult Tick(Fass2StateReport report)
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
if (Context.Phase is Fass2TaskPhase.Idle or Fass2TaskPhase.Complete
|
||||
or Fass2TaskPhase.Cancelled or Fass2TaskPhase.Fault)
|
||||
{
|
||||
return new Fass2TaskTickResult { Phase = Context.Phase };
|
||||
}
|
||||
|
||||
var result = new Fass2TaskTickResult { Phase = Context.Phase };
|
||||
|
||||
if (report?.Alarm != 0)
|
||||
{
|
||||
return Fault($"alarm=0x{report.Alarm:X}", result);
|
||||
}
|
||||
|
||||
if (report?.State == 3)
|
||||
{
|
||||
return Fault("vehicle emergency stop", result);
|
||||
}
|
||||
|
||||
if (report?.State == 4)
|
||||
{
|
||||
return Fault("vehicle fault", result);
|
||||
}
|
||||
|
||||
switch (Context.Phase)
|
||||
{
|
||||
case Fass2TaskPhase.Planning:
|
||||
return PlanAndDispatch(report, result);
|
||||
case Fass2TaskPhase.Dispatching:
|
||||
Context.Phase = Fass2TaskPhase.Moving;
|
||||
result.Phase = Context.Phase;
|
||||
return result;
|
||||
case Fass2TaskPhase.Moving:
|
||||
return HandleMoving(report, result);
|
||||
case Fass2TaskPhase.AtStation:
|
||||
return HandleAtStation(report, result);
|
||||
case Fass2TaskPhase.SegmentDone:
|
||||
return HandleSegmentDone(report, result);
|
||||
default:
|
||||
return result;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void Cancel(string reason)
|
||||
{
|
||||
lock (_syncRoot)
|
||||
{
|
||||
if (IsIdle)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
Context.Phase = Fass2TaskPhase.Cancelled;
|
||||
Context.FaultReason = reason;
|
||||
Log($"task cancelled: {reason}");
|
||||
ClearPersisted();
|
||||
_completionSource?.TrySetException(new OperationCanceledException(reason));
|
||||
}
|
||||
}
|
||||
|
||||
public async Task WaitAsync(int timeoutMs, Func<Fass2StateReport> poll, int pollIntervalMs,
|
||||
CancellationToken cancellationToken = default)
|
||||
{
|
||||
if (poll == null)
|
||||
{
|
||||
throw new ArgumentNullException(nameof(poll));
|
||||
}
|
||||
|
||||
TaskCompletionSource<int> waiter;
|
||||
lock (_syncRoot)
|
||||
{
|
||||
waiter = _completionSource ?? ResetCompletionSource();
|
||||
}
|
||||
|
||||
var timeoutTask = Task.Delay(timeoutMs, cancellationToken);
|
||||
var pollTask = Task.Run(async () =>
|
||||
{
|
||||
while (!cancellationToken.IsCancellationRequested)
|
||||
{
|
||||
Fass2StateReport report;
|
||||
lock (_syncRoot)
|
||||
{
|
||||
if (!IsRunning)
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
report = poll();
|
||||
Tick(report);
|
||||
|
||||
lock (_syncRoot)
|
||||
{
|
||||
if (!IsRunning)
|
||||
{
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
await Task.Delay(Math.Max(20, pollIntervalMs), cancellationToken);
|
||||
}
|
||||
}, cancellationToken);
|
||||
|
||||
var finished = await Task.WhenAny(waiter.Task, timeoutTask);
|
||||
if (finished == timeoutTask)
|
||||
{
|
||||
Cancel("wait timeout");
|
||||
throw new TimeoutException(
|
||||
$"FASS2 task timeout after {timeoutMs}ms, phase={Context.Phase}, index={Context.CurrentIndex}, goal={Context.GoalSiteId}");
|
||||
}
|
||||
|
||||
await waiter.Task;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// UDP 模式由 Hub 回调驱动 Tick，此处只等待完成信号，避免与 OnUdpStateReceived 争用锁导致死锁。
|
||||
/// </summary>
|
||||
public async Task WaitForCompletionAsync(int timeoutMs, CancellationToken cancellationToken = default)
|
||||
{
|
||||
TaskCompletionSource<int> waiter;
|
||||
lock (_syncRoot)
|
||||
{
|
||||
if (Context.Phase is Fass2TaskPhase.Complete or Fass2TaskPhase.Cancelled or Fass2TaskPhase.Fault)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
waiter = _completionSource ?? ResetCompletionSource();
|
||||
}
|
||||
|
||||
var timeoutTask = Task.Delay(timeoutMs, cancellationToken);
|
||||
var finished = await Task.WhenAny(waiter.Task, timeoutTask);
|
||||
if (finished == timeoutTask)
|
||||
{
|
||||
Cancel("wait timeout");
|
||||
throw new TimeoutException(
|
||||
$"FASS2 task timeout after {timeoutMs}ms, phase={Context.Phase}, index={Context.CurrentIndex}, goal={Context.GoalSiteId}");
|
||||
}
|
||||
|
||||
await waiter.Task;
|
||||
}
|
||||
|
||||
private Fass2TaskTickResult PlanAndDispatch(Fass2StateReport report, Fass2TaskTickResult result)
|
||||
{
|
||||
var startSiteId = ResolveCurrentSiteId(report);
|
||||
Context.Plan = _callbacks.BuildPlan(startSiteId, Context.GoalSiteId, Context.DefaultSpeed);
|
||||
if (Context.Plan == null || Context.Plan.Nodes.Count == 0)
|
||||
{
|
||||
return Fault($"empty task plan from {startSiteId} to {Context.GoalSiteId}", result);
|
||||
}
|
||||
|
||||
if (Context.CurrentIndex >= Context.Plan.Nodes.Count)
|
||||
{
|
||||
Context.CurrentIndex = Math.Max(0, Context.Plan.Nodes.Count - 1);
|
||||
}
|
||||
|
||||
Context.FieldsSignature = Context.Plan.FieldsSignature;
|
||||
Context.TaskId = _callbacks.AllocateTaskId();
|
||||
|
||||
if (StartBeforeMove && Context.CurrentIndex == 0)
|
||||
{
|
||||
_callbacks.SendControl(Fass2Protocol.CmdStart, HeadingAngle);
|
||||
}
|
||||
|
||||
DispatchCurrentWindow();
|
||||
Context.Phase = Fass2TaskPhase.Moving;
|
||||
result.Phase = Context.Phase;
|
||||
result.Dispatched = true;
|
||||
result.Message = $"planned nodes={Context.Plan.Nodes.Count}, task={Context.TaskId}";
|
||||
Log(result.Message);
|
||||
Persist();
|
||||
return result;
|
||||
}
|
||||
|
||||
private Fass2TaskTickResult HandleMoving(Fass2StateReport report, Fass2TaskTickResult result)
|
||||
{
|
||||
if (TryRebuildForFieldsChange(result))
|
||||
{
|
||||
return result;
|
||||
}
|
||||
|
||||
if (ShouldResend())
|
||||
{
|
||||
DispatchCurrentWindow();
|
||||
result.Dispatched = true;
|
||||
}
|
||||
|
||||
var expected = GetExpectedNode();
|
||||
if (!Fass2ActionResolver.IsAtNode(report, expected.Node))
|
||||
{
|
||||
result.Message = $"moving node={report.Node.Node}, expect={expected.Node}";
|
||||
return result;
|
||||
}
|
||||
|
||||
if (Fass2ActionResolver.IsVehicleMoving(report.State))
|
||||
{
|
||||
result.Message = $"at node={expected.Node}, still running";
|
||||
return result;
|
||||
}
|
||||
|
||||
Context.Phase = Fass2TaskPhase.AtStation;
|
||||
result.Phase = Context.Phase;
|
||||
result.Message = $"arrived site index={Context.CurrentIndex}, node={expected.Node}";
|
||||
Log(result.Message);
|
||||
Persist();
|
||||
return result;
|
||||
}
|
||||
|
||||
private Fass2TaskTickResult HandleAtStation(Fass2StateReport report, Fass2TaskTickResult result)
|
||||
{
|
||||
if (TryRebuildForFieldsChange(result))
|
||||
{
|
||||
return result;
|
||||
}
|
||||
|
||||
if (ShouldResend())
|
||||
{
|
||||
DispatchCurrentWindow();
|
||||
result.Dispatched = true;
|
||||
}
|
||||
|
||||
var expected = GetExpectedNode();
|
||||
if (!Fass2ActionResolver.IsAtNode(report, expected.Node))
|
||||
{
|
||||
Context.Phase = Fass2TaskPhase.Moving;
|
||||
result.Phase = Context.Phase;
|
||||
result.Message = $"left station node={report.Node.Node}, expect={expected.Node}";
|
||||
return result;
|
||||
}
|
||||
|
||||
if (!Fass2ActionResolver.IsStationActionComplete(expected, report.Node, report.State))
|
||||
{
|
||||
if (ShouldSendActionPatch())
|
||||
{
|
||||
var patch = Fass2ActionResolver.BuildActionPatch(expected, report.Node);
|
||||
if (patch != null)
|
||||
{
|
||||
Context.LastActionId = _callbacks.AllocateActionId();
|
||||
Context.LastActionSentAt = DateTime.Now;
|
||||
_callbacks.SendAction(patch, Context.LastActionId);
|
||||
result.ActionSent = true;
|
||||
result.Message =
|
||||
$"action pending [{Fass2ActionResolver.DescribePending(expected, report.Node)}], sent 0xA1={Context.LastActionId}";
|
||||
Log(result.Message);
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
Context.Phase = Fass2TaskPhase.SegmentDone;
|
||||
result.Phase = Context.Phase;
|
||||
result.Message = $"station done index={Context.CurrentIndex}, node={expected.Node}";
|
||||
Log(result.Message);
|
||||
Persist();
|
||||
return result;
|
||||
}
|
||||
|
||||
private Fass2TaskTickResult HandleSegmentDone(Fass2StateReport report, Fass2TaskTickResult result)
|
||||
{
|
||||
Context.CurrentIndex++;
|
||||
result.Advanced = true;
|
||||
|
||||
if (Context.Plan == null || Context.CurrentIndex >= Context.Plan.Nodes.Count)
|
||||
{
|
||||
Context.Phase = Fass2TaskPhase.Complete;
|
||||
result.Phase = Context.Phase;
|
||||
result.Completed = true;
|
||||
result.Message = $"task complete goal={Context.GoalSiteId}";
|
||||
Log(result.Message);
|
||||
ClearPersisted();
|
||||
Completed?.Invoke(Context);
|
||||
_completionSource?.TrySetResult(1);
|
||||
return result;
|
||||
}
|
||||
|
||||
Context.Phase = Fass2TaskPhase.Dispatching;
|
||||
DispatchCurrentWindow();
|
||||
Context.Phase = Fass2TaskPhase.Moving;
|
||||
result.Phase = Context.Phase;
|
||||
result.Dispatched = true;
|
||||
result.Message = $"segment advanced index={Context.CurrentIndex}";
|
||||
Log(result.Message);
|
||||
Persist();
|
||||
return result;
|
||||
}
|
||||
|
||||
private bool TryRebuildForFieldsChange(Fass2TaskTickResult result)
|
||||
{
|
||||
if (Context.Plan?.SiteIds == null || Context.Plan.SiteIds.Count == 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
var newSignature = Fass2SiteFieldReader.BuildFieldsSignature(
|
||||
Context.Plan.SiteIds, Context.CurrentIndex, SimpleLib.GetSite);
|
||||
if (string.Equals(newSignature, Context.FieldsSignature, StringComparison.Ordinal))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
var currentSiteId = Context.Plan.SiteIds[Context.CurrentIndex];
|
||||
Log($"fields changed at index={Context.CurrentIndex}, rebuild from site={currentSiteId}");
|
||||
Context.Plan = _callbacks.BuildPlan(currentSiteId, Context.GoalSiteId, Context.DefaultSpeed);
|
||||
if (Context.Plan == null || Context.Plan.Nodes.Count == 0)
|
||||
{
|
||||
Fault($"rebuild failed from {currentSiteId} to {Context.GoalSiteId}", result);
|
||||
return true;
|
||||
}
|
||||
|
||||
Context.CurrentIndex = 0;
|
||||
Context.FieldsSignature = Context.Plan.FieldsSignature;
|
||||
Context.TaskId = _callbacks.AllocateTaskId();
|
||||
DispatchCurrentWindow();
|
||||
Context.Phase = Fass2TaskPhase.Moving;
|
||||
result.Phase = Context.Phase;
|
||||
result.Rebuilt = true;
|
||||
result.Dispatched = true;
|
||||
result.Message = $"rebuilt nodes={Context.Plan.Nodes.Count}, task={Context.TaskId}";
|
||||
Persist();
|
||||
return true;
|
||||
}
|
||||
|
||||
private void DispatchCurrentWindow()
|
||||
{
|
||||
var window = BuildDispatchWindow();
|
||||
if (window.Length == 0)
|
||||
{
|
||||
throw new InvalidOperationException("dispatch window is empty");
|
||||
}
|
||||
|
||||
_callbacks.SendNodes(window, Context.TaskId);
|
||||
Context.LastDispatchAt = DateTime.Now;
|
||||
Log($"dispatch window count={window.Length}, fromIndex={Context.CurrentIndex}, task={Context.TaskId}");
|
||||
}
|
||||
|
||||
private Fass2NodeMessage[] BuildDispatchWindow()
|
||||
{
|
||||
var nodes = Context.Plan.Nodes;
|
||||
var start = Context.CurrentIndex;
|
||||
var remaining = nodes.Count - start;
|
||||
var windowSize = Math.Max(1, Math.Min(LockCount, remaining));
|
||||
windowSize = Math.Min(windowSize, 10);
|
||||
var window = new Fass2NodeMessage[windowSize];
|
||||
for (var i = 0; i < windowSize; i++)
|
||||
{
|
||||
window[i] = nodes[start + i];
|
||||
}
|
||||
|
||||
return window;
|
||||
}
|
||||
|
||||
private Fass2NodeMessage GetExpectedNode()
|
||||
{
|
||||
return Context.Plan.Nodes[Context.CurrentIndex];
|
||||
}
|
||||
|
||||
private int ResolveCurrentSiteId(Fass2StateReport report)
|
||||
{
|
||||
if (Context.CurrentIndex > 0 && Context.Plan?.SiteIds != null &&
|
||||
Context.CurrentIndex < Context.Plan.SiteIds.Count)
|
||||
{
|
||||
return Context.Plan.SiteIds[Context.CurrentIndex];
|
||||
}
|
||||
|
||||
if (report?.Node != null && report.Node.Node != 0)
|
||||
{
|
||||
var site = _callbacks.ResolveSite(report.Node.Node);
|
||||
if (site != null)
|
||||
{
|
||||
return site.id;
|
||||
}
|
||||
}
|
||||
|
||||
return Context.StartSiteId;
|
||||
}
|
||||
|
||||
private bool ShouldResend()
|
||||
{
|
||||
return Context.LastDispatchAt == DateTime.MinValue ||
|
||||
(DateTime.Now - Context.LastDispatchAt).TotalMilliseconds >= ResendIntervalMs;
|
||||
}
|
||||
|
||||
private bool ShouldSendActionPatch()
|
||||
{
|
||||
return Context.LastActionSentAt == DateTime.MinValue ||
|
||||
(DateTime.Now - Context.LastActionSentAt).TotalMilliseconds >= ActionRetryIntervalMs;
|
||||
}
|
||||
|
||||
private Fass2TaskTickResult Fault(string reason, Fass2TaskTickResult result)
|
||||
{
|
||||
Context.Phase = Fass2TaskPhase.Fault;
|
||||
Context.FaultReason = reason;
|
||||
result.Phase = Context.Phase;
|
||||
result.Faulted = true;
|
||||
result.Message = reason;
|
||||
Log($"task fault: {reason}");
|
||||
Persist();
|
||||
Faulted?.Invoke(Context, reason);
|
||||
_completionSource?.TrySetException(new InvalidOperationException(reason));
|
||||
return result;
|
||||
}
|
||||
|
||||
private void Persist()
|
||||
{
|
||||
_callbacks.Persist?.Invoke(Context);
|
||||
}
|
||||
|
||||
private void ClearPersisted()
|
||||
{
|
||||
_callbacks.ClearPersisted?.Invoke();
|
||||
}
|
||||
|
||||
private void Log(string message)
|
||||
{
|
||||
_callbacks.Log?.Invoke(message);
|
||||
}
|
||||
|
||||
private TaskCompletionSource<int> ResetCompletionSource()
|
||||
{
|
||||
_completionSource = new TaskCompletionSource<int>(TaskCreationOptions.RunContinuationsAsynchronously);
|
||||
return _completionSource;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
using SimpleCore.PropType;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Globalization;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
internal sealed class Fass2TrackMotionData
|
||||
{
|
||||
public float Speed { get; set; } = 0.2f;
|
||||
public bool Reverse { get; set; }
|
||||
public float CarDirectionBias { get; set; }
|
||||
public bool EnableCarAbsoluteDirection { get; set; }
|
||||
public float CarAbsoluteDirection { get; set; }
|
||||
public byte? Byroad { get; set; }
|
||||
public byte? Direction { get; set; }
|
||||
public byte? Orientation { get; set; }
|
||||
}
|
||||
|
||||
internal static class Fass2TrackFieldReader
|
||||
{
|
||||
public static Fass2TrackMotionData Read(Track track)
|
||||
{
|
||||
var data = new Fass2TrackMotionData();
|
||||
if (track?.fields == null)
|
||||
{
|
||||
return data;
|
||||
}
|
||||
|
||||
if (track.fields.TryGetValue("Speed", out var speedText) &&
|
||||
float.TryParse(speedText, NumberStyles.Float, CultureInfo.InvariantCulture, out var speed))
|
||||
{
|
||||
data.Speed = speed;
|
||||
}
|
||||
|
||||
if (track.fields.TryGetValue("Reverse", out var reverseText) &&
|
||||
bool.TryParse(reverseText, out var reverse))
|
||||
{
|
||||
data.Reverse = reverse;
|
||||
}
|
||||
|
||||
if (track.fields.TryGetValue("CarDirectionBias", out var biasText) &&
|
||||
float.TryParse(biasText, NumberStyles.Float, CultureInfo.InvariantCulture, out var bias))
|
||||
{
|
||||
data.CarDirectionBias = bias;
|
||||
}
|
||||
|
||||
if (track.fields.TryGetValue("EnableCarAbsoluteDirection", out var enableAbsText) &&
|
||||
bool.TryParse(enableAbsText, out var enableAbs))
|
||||
{
|
||||
data.EnableCarAbsoluteDirection = enableAbs;
|
||||
}
|
||||
|
||||
if (track.fields.TryGetValue("CarAbsoluteDirection", out var absText) &&
|
||||
float.TryParse(absText, NumberStyles.Float, CultureInfo.InvariantCulture, out var absDir))
|
||||
{
|
||||
data.CarAbsoluteDirection = absDir;
|
||||
}
|
||||
|
||||
data.Byroad = TryReadByte(track.fields, "Fass2_Byroad");
|
||||
if (data.Byroad == null && track.fields.TryGetValue("magSelect", out var magSelect) &&
|
||||
byte.TryParse(magSelect, NumberStyles.Integer, CultureInfo.InvariantCulture, out var magValue))
|
||||
{
|
||||
data.Byroad = magValue;
|
||||
}
|
||||
|
||||
data.Direction = TryReadByte(track.fields, "Fass2_Direction");
|
||||
data.Orientation = TryReadByte(track.fields, "Fass2_Orientation");
|
||||
return data;
|
||||
}
|
||||
|
||||
private static byte? TryReadByte(Dictionary<string, string> fields, string key)
|
||||
{
|
||||
if (!fields.TryGetValue(key, out var text) || string.IsNullOrWhiteSpace(text))
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
return byte.TryParse(text, NumberStyles.Integer, CultureInfo.InvariantCulture, out var value)
|
||||
? value
|
||||
: (byte?)null;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,26 @@
|
||||
using System;
|
||||
using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
/// <summary>
|
||||
/// FASS 2.0 车型与 LoopMission 衔接接口。
|
||||
/// LoopMission 仍通过 <c>goalSite</c> 标签分配目标；车型侧负责一次全程任务执行。
|
||||
/// </summary>
|
||||
public interface IFass2LoopCar
|
||||
{
|
||||
bool IsTaskIdle { get; }
|
||||
|
||||
bool HasGoalSite { get; }
|
||||
|
||||
int? GoalSiteId { get; }
|
||||
|
||||
/// <summary>执行 <c>goalSite</c>（或指定目标）对应的全程 FASS 2.0 任务。</summary>
|
||||
Task ExecuteGoalTaskAsync(int? goalSiteId = null, double defaultSpeed = -1,
|
||||
CancellationToken cancellationToken = default);
|
||||
|
||||
/// <summary>任务到达终点后触发，参数为到达站 ID。</summary>
|
||||
event Action<int> TaskCompleted;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,61 @@
|
||||
using System;
|
||||
using System.Collections.Concurrent;
|
||||
using System.IO;
|
||||
using System.Text;
|
||||
|
||||
namespace StandardScene.Magnetic.Tasking
|
||||
{
|
||||
/// <summary>
|
||||
/// MagFass2Car 本地文件日志，按协议车号分目录：logs/car{VehicleCode}/magfass2_yyyyMMdd.log
|
||||
/// </summary>
|
||||
public static class MagFass2CarFileLogger
|
||||
{
|
||||
private static readonly ConcurrentDictionary<ushort, object> CarLocks = new ConcurrentDictionary<ushort, object>();
|
||||
private static string _baseDirectory = "logs";
|
||||
private static bool _enabled = true;
|
||||
|
||||
public static void Configure(string baseDirectory, bool enabled)
|
||||
{
|
||||
_baseDirectory = string.IsNullOrWhiteSpace(baseDirectory) ? "logs" : baseDirectory.Trim();
|
||||
_enabled = enabled;
|
||||
}
|
||||
|
||||
public static string GetCarLogDirectory(ushort vehicleCode)
|
||||
{
|
||||
return Path.Combine(ResolveBaseDirectory(), $"car{vehicleCode}");
|
||||
}
|
||||
|
||||
public static string GetCurrentLogFilePath(ushort vehicleCode)
|
||||
{
|
||||
var fileName = $"magfass2_{DateTime.Now:yyyyMMdd}.log";
|
||||
return Path.Combine(GetCarLogDirectory(vehicleCode), fileName);
|
||||
}
|
||||
|
||||
public static void Write(ushort vehicleCode, string message)
|
||||
{
|
||||
if (!_enabled || vehicleCode == 0 || string.IsNullOrWhiteSpace(message))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
var carLock = CarLocks.GetOrAdd(vehicleCode, _ => new object());
|
||||
lock (carLock)
|
||||
{
|
||||
var directory = GetCarLogDirectory(vehicleCode);
|
||||
Directory.CreateDirectory(directory);
|
||||
var path = GetCurrentLogFilePath(vehicleCode);
|
||||
File.AppendAllText(
|
||||
path,
|
||||
$"[{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}] {message}{Environment.NewLine}",
|
||||
new UTF8Encoding(encoderShouldEmitUTF8Identifier: false));
|
||||
}
|
||||
}
|
||||
|
||||
private static string ResolveBaseDirectory()
|
||||
{
|
||||
return Path.IsPathRooted(_baseDirectory)
|
||||
? _baseDirectory
|
||||
: Path.Combine(AppContext.BaseDirectory, _baseDirectory);
|
||||
}
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,209 @@
|
||||
# Export MagFass2Car guide Markdown to PDF (requires Chrome or Edge)
|
||||
param(
|
||||
[string]$InputMd = "$PSScriptRoot\MagFass2Car使用指南.md",
|
||||
[string]$OutputPdf = "$PSScriptRoot\MagFass2Car使用指南.pdf"
|
||||
)
|
||||
|
||||
$ErrorActionPreference = 'Stop'
|
||||
[Console]::OutputEncoding = [System.Text.Encoding]::UTF8
|
||||
|
||||
function Escape-Html([string]$text) {
|
||||
return [System.Net.WebUtility]::HtmlEncode($text)
|
||||
}
|
||||
|
||||
function Convert-MarkdownToHtml([string]$markdown) {
|
||||
$lines = $markdown -split "`r?`n"
|
||||
$sb = New-Object System.Text.StringBuilder
|
||||
$inCode = $false
|
||||
$inTable = $false
|
||||
$tableRows = New-Object System.Collections.Generic.List[string[]]
|
||||
$inList = $false
|
||||
$listOrdered = $false
|
||||
|
||||
function Flush-Table {
|
||||
param($builder, [ref]$inTableRef, $rows)
|
||||
if (-not $inTableRef.Value) { return }
|
||||
[void]$builder.AppendLine('<table>')
|
||||
for ($i = 0; $i -lt $rows.Count; $i++) {
|
||||
$cells = $rows[$i]
|
||||
$tag = if ($i -eq 0) { 'th' } else { 'td' }
|
||||
if ($i -eq 0) { [void]$builder.AppendLine('<thead><tr>') } elseif ($i -eq 1) { [void]$builder.AppendLine('<tbody><tr>') } else { [void]$builder.AppendLine('<tr>') }
|
||||
foreach ($cell in $cells) {
|
||||
$cellHtml = Escape-Html($cell.Trim())
|
||||
$cellHtml = $cellHtml -replace '`([^`]+)`', '<code>$1</code>'
|
||||
[void]$builder.AppendLine("<$tag>$cellHtml</$tag>")
|
||||
}
|
||||
[void]$builder.AppendLine('</tr>')
|
||||
if ($i -eq 0) { [void]$builder.AppendLine('</thead>') }
|
||||
}
|
||||
if ($rows.Count -gt 1) { [void]$builder.AppendLine('</tbody>') }
|
||||
[void]$builder.AppendLine('</table>')
|
||||
$rows.Clear()
|
||||
$inTableRef.Value = $false
|
||||
}
|
||||
|
||||
function Close-List {
|
||||
param($builder, [ref]$inListRef, [ref]$orderedRef)
|
||||
if (-not $inListRef.Value) { return }
|
||||
if ($orderedRef.Value) { [void]$builder.AppendLine('</ol>') } else { [void]$builder.AppendLine('</ul>') }
|
||||
$inListRef.Value = $false
|
||||
$orderedRef.Value = $false
|
||||
}
|
||||
|
||||
foreach ($line in $lines) {
|
||||
if ($line -match '^\s*```') {
|
||||
if ($inCode) {
|
||||
[void]$sb.AppendLine('</code></pre>')
|
||||
$inCode = $false
|
||||
} else {
|
||||
Flush-Table $sb ([ref]$inTable) $tableRows
|
||||
Close-List $sb ([ref]$inList) ([ref]$listOrdered)
|
||||
[void]$sb.AppendLine('<pre><code>')
|
||||
$inCode = $true
|
||||
}
|
||||
continue
|
||||
}
|
||||
|
||||
if ($inCode) {
|
||||
[void]$sb.AppendLine((Escape-Html $line))
|
||||
continue
|
||||
}
|
||||
|
||||
if ($line -match '^\s*\|(.+)\|\s*$') {
|
||||
Close-List $sb ([ref]$inList) ([ref]$listOrdered)
|
||||
if ($line -match '^\s*\|[-:\s|]+\|\s*$') { continue }
|
||||
$cells = ($line.Trim('|') -split '\|') | ForEach-Object { $_.Trim() }
|
||||
$tableRows.Add($cells)
|
||||
$inTable = $true
|
||||
continue
|
||||
} else {
|
||||
Flush-Table $sb ([ref]$inTable) $tableRows
|
||||
}
|
||||
|
||||
if ($line -match '^(#{1,6})\s+(.+)$') {
|
||||
Close-List $sb ([ref]$inList) ([ref]$listOrdered)
|
||||
$level = $Matches[1].Length
|
||||
$text = $Matches[2]
|
||||
[void]$sb.AppendLine("<h$level>$(Escape-Html $text)</h$level>")
|
||||
continue
|
||||
}
|
||||
|
||||
if ($line -match '^>\s*(.+)$') {
|
||||
Close-List $sb ([ref]$inList) ([ref]$listOrdered)
|
||||
$text = $Matches[1]
|
||||
[void]$sb.AppendLine("<blockquote><p>$(Escape-Html $text)</p></blockquote>")
|
||||
continue
|
||||
}
|
||||
|
||||
if ($line -match '^---\s*$') {
|
||||
Close-List $sb ([ref]$inList) ([ref]$listOrdered)
|
||||
[void]$sb.AppendLine('<hr/>')
|
||||
continue
|
||||
}
|
||||
|
||||
if ($line -match '^\d+\.\s+(.+)$') {
|
||||
if (-not $inList) { [void]$sb.AppendLine('<ol>'); $inList = $true; $listOrdered = $true }
|
||||
$text = Escape-Html $Matches[1]
|
||||
$text = $text -replace '`([^`]+)`', '<code>$1</code>'
|
||||
[void]$sb.AppendLine("<li>$text</li>")
|
||||
continue
|
||||
}
|
||||
|
||||
if ($line -match '^-\s+(.+)$') {
|
||||
if (-not $inList) { [void]$sb.AppendLine('<ul>'); $inList = $true; $listOrdered = $false }
|
||||
$text = Escape-Html $Matches[1]
|
||||
$text = $text -replace '`([^`]+)`', '<code>$1</code>'
|
||||
[void]$sb.AppendLine("<li>$text</li>")
|
||||
continue
|
||||
}
|
||||
|
||||
if ([string]::IsNullOrWhiteSpace($line)) {
|
||||
Close-List $sb ([ref]$inList) ([ref]$listOrdered)
|
||||
continue
|
||||
}
|
||||
|
||||
Close-List $sb ([ref]$inList) ([ref]$listOrdered)
|
||||
$p = Escape-Html $line
|
||||
$p = $p -replace '`([^`]+)`', '<code>$1</code>'
|
||||
[void]$sb.AppendLine("<p>$p</p>")
|
||||
}
|
||||
|
||||
Flush-Table $sb ([ref]$inTable) $tableRows
|
||||
Close-List $sb ([ref]$inList) ([ref]$listOrdered)
|
||||
if ($inCode) { [void]$sb.AppendLine('</code></pre>') }
|
||||
return $sb.ToString()
|
||||
}
|
||||
|
||||
if (-not (Test-Path $InputMd)) {
|
||||
throw "Markdown file not found: $InputMd"
|
||||
}
|
||||
|
||||
$md = Get-Content -Path $InputMd -Raw -Encoding UTF8
|
||||
$body = Convert-MarkdownToHtml $md
|
||||
$htmlPath = [System.IO.Path]::ChangeExtension($OutputPdf, '.html')
|
||||
|
||||
$html = @"
|
||||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<title>MagFass2Car Guide</title>
|
||||
<style>
|
||||
@page { size: A4; margin: 18mm 16mm; }
|
||||
body { font-family: "Microsoft YaHei", "Segoe UI", sans-serif; color: #222; line-height: 1.55; font-size: 11pt; }
|
||||
h1 { font-size: 22pt; border-bottom: 2px solid #2563eb; padding-bottom: 8px; margin-top: 0; }
|
||||
h2 { font-size: 16pt; color: #1e40af; margin-top: 22px; page-break-after: avoid; }
|
||||
h3 { font-size: 13pt; color: #1d4ed8; margin-top: 16px; page-break-after: avoid; }
|
||||
h4, h5 { font-size: 11.5pt; margin-top: 12px; page-break-after: avoid; }
|
||||
p, li { orphans: 3; widows: 3; }
|
||||
code, pre { font-family: Consolas, "Courier New", monospace; }
|
||||
code { background: #f3f4f6; padding: 1px 4px; border-radius: 3px; font-size: 10pt; }
|
||||
pre { background: #f8fafc; border: 1px solid #e5e7eb; padding: 10px; overflow-x: auto; font-size: 9.5pt; }
|
||||
pre code { background: transparent; padding: 0; }
|
||||
table { border-collapse: collapse; width: 100%; margin: 10px 0 14px; font-size: 10pt; page-break-inside: avoid; }
|
||||
th, td { border: 1px solid #d1d5db; padding: 6px 8px; vertical-align: top; }
|
||||
th { background: #eff6ff; text-align: left; }
|
||||
tr:nth-child(even) td { background: #fafafa; }
|
||||
blockquote { border-left: 4px solid #93c5fd; margin: 10px 0; padding: 6px 12px; color: #374151; background: #f8fafc; }
|
||||
hr { border: none; border-top: 1px solid #e5e7eb; margin: 18px 0; }
|
||||
ul, ol { margin: 6px 0 10px 20px; }
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
$body
|
||||
</body>
|
||||
</html>
|
||||
"@
|
||||
|
||||
[System.IO.File]::WriteAllText($htmlPath, $html, [System.Text.UTF8Encoding]::new($false))
|
||||
|
||||
$browserCandidates = @(
|
||||
"$env:ProgramFiles\Google\Chrome\Application\chrome.exe",
|
||||
"${env:ProgramFiles(x86)}\Google\Chrome\Application\chrome.exe",
|
||||
"${env:ProgramFiles(x86)}\Microsoft\Edge\Application\msedge.exe",
|
||||
"$env:ProgramFiles\Microsoft\Edge\Application\msedge.exe"
|
||||
)
|
||||
$browser = $browserCandidates | Where-Object { Test-Path $_ } | Select-Object -First 1
|
||||
if (-not $browser) {
|
||||
throw "Chrome/Edge not found. HTML generated at: $htmlPath"
|
||||
}
|
||||
|
||||
if (Test-Path $OutputPdf) { Remove-Item $OutputPdf -Force }
|
||||
|
||||
$resolvedHtml = (Resolve-Path -LiteralPath $htmlPath).Path
|
||||
$fileUri = [System.Uri]::new($resolvedHtml).AbsoluteUri
|
||||
$args = @(
|
||||
"--headless=new",
|
||||
"--disable-gpu",
|
||||
"--no-pdf-header-footer",
|
||||
"--print-to-pdf=$OutputPdf",
|
||||
$fileUri
|
||||
)
|
||||
$proc = Start-Process -FilePath $browser -ArgumentList $args -Wait -PassThru
|
||||
|
||||
if ($proc.ExitCode -ne 0 -or -not (Test-Path $OutputPdf)) {
|
||||
throw "PDF export failed with exit code $($proc.ExitCode). HTML: $htmlPath"
|
||||
}
|
||||
|
||||
Write-Output "PDF: $OutputPdf"
|
||||
Write-Output "HTML: $htmlPath"
|
||||
Reference in New Issue
Block a user