init commit

StandardScene.QrLidar/Cad/SyncQrMap.cs

@@ -0,0 +1,49 @@
+using System;
+using System.Linq;
+using System.Windows.Forms;
+using Newtonsoft.Json;
+using SimpleCore;
+using SimpleLite.CADTools;
+using SimpleLite.RCS.CarTypes;
+using StandardScene;
+using StandardScene.Model;
+
+namespace StandardScene.QrLidar.Cad
+{
+    /// <summary>
+    /// 扫描全图带 tag 的站点生成二维码地图（码值 → 坐标/角度），写入 <see cref="ApiController.QrMap"/>
+    /// 供 <c>/api/QrMap</c> 下发，并通知带 QrCar 标记的在线车辆刷新。
+    /// 自 Core StandardCADTool.cs 迁入（scene.qrlidar 平台专属能力）。
+    /// </summary>
+    [CADToolDescriptor(name = "同步二维码地图到小车")]
+    public class SyncQrMap : CADTool
+    {
+        public override async void Invoke()
+        {
+            var tagSites = SimpleLib.GetAllSites().Where(p => p.fields.ContainsKey("tag"));
+            ApiController.QrMap.Clear();
+            foreach (var tagSite in tagSites)
+            {
+                var tag = int.Parse(tagSite.fields["tag"]);
+                var tagX = tagSite.x;
+                var tagY = tagSite.y;
+                var tagTh = tagSite.fields.TryGetValue("th", out var field) ? float.Parse(field) : 0f;
+                if (ApiController.QrMap.ContainsKey(tag))
+                {
+                    MessageBox.Show(($@"存在重复码值:{tag} 站点id为:{tagSite.id}"));
+                    return;
+                }
+
+                ApiController.QrMap[tag] = (tagX, tagY, tagTh);
+            }
+
+            ApiController.QrMapJson = JsonConvert.SerializeObject(ApiController.QrMap);
+            var qrCars = SimpleLib.GetAllCars().Where(p => p.fields.ContainsKey("QrCar"));
+            foreach (var qrCar in qrCars)
+            {
+                if(Commons.GetVehicleStatus((Car)qrCar) is VehicleStatus.Normal or VehicleStatus.NeedInit)
+                    ((ClumsyCar)qrCar).ImmediateCommand("pilot.GetUpdateQrMap()");
+            }
+        }
+    }
+}

StandardScene.QrLidar/CarTypes/ArmCar.cs

@@ -0,0 +1,261 @@
+using LessokajiWeaverUtilities.Utilities;
+using SimpleLite.RCS;
+using SimpleLite.RCS.CarTypes;
+using SimpleLite.CADTools;
+using SimpleLite.Props;
+using SimpleLite.UI;
+using SimpleCore;
+using SimpleCore.Compiler;
+using SimpleCore.Library;
+using SimpleCore.PropType;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace StandardScene.CarTypes
+{
+    class ArmCarSiteFields:KivaSiteFields
+    {
+        public bool putNeedTurn = false;
+    }
+
+    class ArmCarTrackFields:KivaTrackFields
+    {
+        
+    }
+
+    class ArmCarPlanFields:KivaPlanFields
+    {
+        public bool charge = false;
+    }
+
+    // 自 VDA5050Car.cs 下沉至 Core：ArmCar 的 siteFields 引用它（见下方 [TemplateTrackCoderSettings]）。
+    // VDA5050 拆为独立 dll 后 ArmCar 留 Core，不能反依赖 VDA dll，故该字段类置于 Core。
+    class VDA5050SiteField : BasicSiteFields
+    {
+        public bool DI41 = false;
+        public int SleepTime = 0;
+        public bool workPlace = false;
+    }
+    //[TemplateTrackCoderSettings(
+    //    priority = 1,
+    //    templateString = "agv.BasicGo(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
+    //                     "${track.id},${track.Speed},${track.Reverse||(track.ReverseDst==dst.id)}," +
+    //                     "${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection},${track.typeInfo});",
+    //    siteFields = typeof(KivaSiteFields),
+    //    trackFields = typeof(KivaTrackFields),
+    //    planFields = typeof(KivaPlanFields))]
+    //[TemplateSiteCoderSettings(
+    //    priority = 5,
+    //    useVerb = "plan.action=='fetch'&&plan.curSeg==plan.segN-1",
+    //    blockVerb = "true",
+    //    templateString = "agv.Wait();agv.Fetch(\"${dst.name}\");agv.Wait();",
+    //    siteFields = typeof(ArmCarSiteFields),
+    //    trackFields = typeof(ArmCarTrackFields),
+    //    planFields = typeof(ArmCarPlanFields))]
+    //[TemplateSiteCoderSettings(
+    //    priority = 5,
+    //    useVerb = "plan.action=='put'&&plan.curSeg==plan.segN-1",
+    //    blockVerb = "true",
+    //    templateString = "agv.Wait();agv.Put(${dst.putNeedTurn},\"${dst.name}\");agv.Wait();",
+    //    siteFields = typeof(ArmCarSiteFields),
+    //    trackFields = typeof(ArmCarTrackFields),
+    //    planFields = typeof(ArmCarPlanFields))]
+    //[TemplateSiteCoderSettings(
+    //    priority = 5,
+    //    useVerb = "plan.action=='putEmpty'&&plan.curSeg==plan.segN-1",
+    //    blockVerb = "true",
+    //    templateString = "agv.Wait();agv.PutEmpty(\"${dst.name}\");agv.Wait();",
+    //    siteFields = typeof(ArmCarSiteFields),
+    //    trackFields = typeof(ArmCarTrackFields),
+    //    planFields = typeof(ArmCarPlanFields))]
+    [TemplateSiteCoderSettings(
+        priority = 5,
+        useVerb = "plan.action=='pickFull'&&plan.curSeg==plan.segN-1",
+        blockVerb = "true",
+        templateString = "agv.Wait();agv.PickFull(\"${dst.name}\");agv.Wait();",
+        siteFields = typeof(ArmCarSiteFields),
+        trackFields = typeof(ArmCarTrackFields),
+        planFields = typeof(ArmCarPlanFields))]
+    [TemplateSiteCoderSettings(
+        priority = 5,
+        useVerb = "plan.action=='pickEmpty'&&plan.curSeg==plan.segN-1",
+        blockVerb = "true",
+        templateString = "agv.Wait();agv.PickEmpty(\"${dst.name}\");agv.Wait();",
+        siteFields = typeof(ArmCarSiteFields),
+        trackFields = typeof(ArmCarTrackFields),
+        planFields = typeof(ArmCarPlanFields))]
+    [TemplateSiteCoderSettings(
+        priority = 5,
+        useVerb = "plan.action=='putFull'&&plan.curSeg==plan.segN-1",
+        blockVerb = "true",
+        templateString = "agv.Wait();agv.PutFull(\"${dst.name}\");agv.Wait();",
+        siteFields = typeof(ArmCarSiteFields),
+        trackFields = typeof(ArmCarTrackFields),
+        planFields = typeof(ArmCarPlanFields))]
+    [TemplateSiteCoderSettings(
+        priority = 5,
+        useVerb = "plan.action=='putEmpty'&&plan.curSeg==plan.segN-1",
+        blockVerb = "true",
+        templateString = "agv.Wait();agv.PutEmpty(\"${dst.name}\");agv.Wait();",
+        siteFields = typeof(ArmCarSiteFields),
+        trackFields = typeof(ArmCarTrackFields),
+        planFields = typeof(ArmCarPlanFields))]
+    [TemplateSiteCoderSettings(
+        priority = 5,
+        useVerb = "plan.action=='MoveArm'&&plan.curSeg==plan.segN-1",
+        blockVerb = "true",
+        templateString = "agv.Wait();agv.MoveArm(${dst.MoveDirection});agv.Wait();",
+        siteFields = typeof(ArmCarSiteFields),
+        trackFields = typeof(ArmCarTrackFields),
+        planFields = typeof(ArmCarPlanFields))]
+    [TemplateSiteCoderSettings(
+        priority = 5,
+        useVerb = "dst.name=='charge'",
+        templateString = "agv.Wait();agv.ControlChargePort(true);agv.Wait();",
+        siteFields = typeof(ArmCarSiteFields),
+        trackFields = typeof(ArmCarTrackFields),
+        planFields = typeof(ArmCarPlanFields))]
+
+    [TemplateSiteCoderSettings(
+        priority = 5,
+        useVerb = "dst.name=='charge'&&plan.curSeg==0",
+        templateString = "agv.Wait();agv.ControlChargePort(false);",
+        siteFields = typeof(VDA5050SiteField))]
+
+    [CarType(Name = "ArmCar")]
+    [I18N.DocumentTranslation(Name = "ArmCar", locale = "en")]
+    public class ArmCar : GhostCar
+    {
+        public static async Task<ArmCar> Create()
+        {
+            var car = new ArmCar()
+            {
+                lstatus = "连接中",
+                address = "127.0.0.1",
+                name = $"Kiva",
+                haveCoordination = true,
+                speed = 0.3f,
+            };
+            return car;
+        }
+        private const float DrawWidth = 950, DrawLength = 650;
+        private readonly Pen orientPen = new Pen(Color.White, 3);
+        private bool twinkle = false;
+        protected override void draw(Graphics eGraphics)
+        {
+            try
+            {
+                float scale = 1;
+                var lineCap = new AdjustableArrowCap(5, 5, true);
+                orientPen.CustomEndCap = lineCap;
+                orientPen.StartCap = LineCap.RoundAnchor;
+                var alarmLevel = Commons.GetCarStatus(this, "AlarmLevel");
+                var soc = Commons.CarValue((Car)this, "Soc");
+                var electricCurrent = Commons.CarValue((Car)this, "ElectricCurrent");
+                var thresSpeed = Commons.CarValue(this, "ThresSpeed");
+                LadderLogic.FlipFlop(ref twinkle, 500, true, false);
+                Rectangle destRect = new Rectangle(
+                    (int)((int)(-DrawWidth / 2) * scale),
+                    (int)((int)(-DrawLength / 2) * scale),
+                    (int)((int)DrawWidth * scale),
+                    (int)((int)DrawLength * scale)
+                );
+                if (int.TryParse(alarmLevel, out var alarm) && alarm > 0)
+                {
+                    eGraphics.FillRectangle(twinkle ? Brushes.DarkRed : Brushes.Green, destRect);
+                }
+                else if (alarmLevel == "-1" || this.siteID == -1)
+                    eGraphics.FillRectangle(Brushes.LightSeaGreen, destRect);
+                else if (electricCurrent > 1)
+                    eGraphics.FillRectangle(Brushes.YellowGreen, destRect);
+                else if (thresSpeed <= 0)
+                {
+                    eGraphics.FillRectangle(twinkle ? Brushes.YellowGreen : Brushes.Green, destRect);
+                }
+                else if (soc < 25)
+                {
+                    eGraphics.FillRectangle(twinkle ? Brushes.DarkRed : Brushes.LightSeaGreen, destRect);
+                }
+                else
+                    eGraphics.FillRectangle(Brushes.Green, destRect);
+
+                eGraphics.DrawEllipse(Pens.Yellow, -160, -160, 320, 320);
+                eGraphics.DrawLine(orientPen, 0, 0, 480, 0);
+
+            }
+            catch (Exception e)
+            {
+                Diagnosis.Post("绘制小车异常" + ExceptionFormatter.FormatEx(e), "绘制小车异常", true);
+            }
+        }
+
+
+        public override string SetDisplayInfo()
+        {
+            try
+            {
+                var str = $"{name}({id})\n";
+                status.enums.TryGetValue("ChassisMode", out var manual);
+                var ms = manual == "0" ? "自动" : "手动";
+                status.enums.TryGetValue("Soc", out var soc);
+                str = $"{str}{ms}|soc:{soc}";
+                var alarmStr = Commons.GetCarStatus(this, "AlarmInfo");
+                if (alarmStr != "")
+                    str = $"{str}|{alarmStr}";
+                //if (status.enums.TryGetValue("mAlarm", out var mAlarm) && mAlarm != "")
+                //    str = $"{str}|M:{mAlarm}";
+                //var hasC = status.enums.TryGetValue("cAlarm", out var cAlarm) && cAlarm != "";
+                //if (mAlarm != "" && hasC)
+                //    str = $"{str}|";
+                //if (hasC)
+                //    str = $"{str}C:{cAlarm}";
+                //var L_step = status.enums.TryGetValue("ls", out var ls) && ls != "";
+                //if (L_step)
+                //{
+                //    str = $"{str}|ls:{ls}";
+                //}
+                if (status.enums.TryGetValue("ElectricCurrent", out var electricCurrent) &&
+                    !string.IsNullOrEmpty(electricCurrent))
+                {
+                    var charging = float.Parse(electricCurrent) * 0.01f > 0 ? "充电中" : "未充电";
+                    str = $"{str}|charge:{charging}";
+                }
+
+                var thresSpeed = Commons.CarValue(this, "ThresSpeed");
+                str = $"{str}{((thresSpeed <= 0) ? "|避障触发" : "")}";
+                return str;
+            }
+            catch (Exception e)
+            {
+                Console.WriteLine(e);
+                return "bad car";
+            }
+        }
+     
+        [MethodMember(Name = "进入小车远程", Description = "进入小车远程桌面")]
+        [I18N.DocumentTranslation(Name = "Open remote desktop", Description = "Open the car's remote desktop", locale = "en")]
+        public void Mstsc()
+        {
+            var ip = this.address;
+            // 启动mstsc并传递IP地址
+            Process.Start(
+                new ProcessStartInfo
+                {
+                    FileName = "mstsc",
+                    Arguments = $"/v:{ip}",
+                    UseShellExecute = false,
+                    CreateNoWindow = true
+                }
+            );
+        }
+
+
+    }
+}

StandardScene.QrLidar/CarTypes/DualLiftingCar.cs

@@ -0,0 +1,105 @@
+using LessokajiWeaverUtilities.Utilities;
+using Newtonsoft.Json;
+using SimpleLite.RCS;
+using SimpleLite.RCS.CarTypes;
+using SimpleCore;
+using SimpleCore.Compiler;
+using SimpleCore.PropType;
+using System;
+using System.Diagnostics;
+using System.Linq;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace StandardScene.CarTypes
+{
+    [CarType(Name = "锂电双举升")]
+    [I18N.DocumentTranslation(Name = "Dual Lift Car", locale = "en")]
+    public class DualLiftingCar : GhostCar
+    {
+        public static async Task<DualLiftingCar> Create()
+        {
+            var car = new DualLiftingCar()
+            {
+                lstatus = "连接中",
+                address = "127.0.0.1",
+                name = "锂电双举升"
+            };
+            return car;
+        }
+        public override string SetDisplayInfo()
+        {
+            try
+            {
+                var str = $"{name}({id})\n";
+                status.enums.TryGetValue("ChassisMode", out var manual);
+                var ms = manual == "0" ? "自动" : "手动";
+                status.enums.TryGetValue("Soc", out var soc);
+                str = $"{str}{ms}|soc:{soc}";
+                var alarmStr = Commons.GetCarStatus(this, "AlarmInfo");
+                if (alarmStr != "")
+                    str = $"{str}|{alarmStr}";
+                if (status.enums.TryGetValue("ElectricCurrent", out var electricCurrent) &&
+                    !string.IsNullOrEmpty(electricCurrent))
+                {
+                    var charging = float.Parse(electricCurrent) * 0.01f > 0 ? "充电中" : "未充电";
+                    str = $"{str}|charge:{charging}";
+                }
+
+                var thresSpeed = Commons.CarValue(this, "ThresSpeed");
+                str = $"{str}{((thresSpeed <= 0) ? "|避障触发" : "")}";
+                return str;
+            }
+            catch (Exception e)
+            {
+                Console.WriteLine(e);
+                return "bad car";
+            }
+        }
+
+        [MethodMember(Name = "进入小车远程", Description = "进入小车远程桌面")]
+        [I18N.DocumentTranslation(Name = "Open remote desktop", Description = "Open the car's remote desktop", locale = "en")]
+        public void Mstsc()
+        {
+            var ip = this.address;
+            // 启动mstsc并传递IP地址
+            Process.Start(
+                new ProcessStartInfo
+                {
+                    FileName = "mstsc",
+                    Arguments = $"/v:{ip}",
+                    UseShellExecute = false,
+                    CreateNoWindow = true
+                }
+            );
+        }
+
+        private bool _running;
+        [MethodMember(Name = "测试")]
+        [I18N.DocumentTranslation(Name = "Start test", locale = "en")]
+        public async void Test()
+        {
+            _running = true;
+            var siteA = SimpleLib.GetAllSites().First(s => s.name == "A");
+            var siteB = SimpleLib.GetAllSites().First(s => s.name == "B");
+            while (_running)
+            {
+                var planA = new SegmentPlan() { usingCar = this };
+                planA.FindRoute(SimpleLib.GetSite(GetLastSite()), siteA);
+                await planA.Compile("A").Queue();
+                var planB = new SegmentPlan(){usingCar = this };
+                planB.FindRoute(siteA, siteB);
+                await planB.Compile("B").Queue();
+                Thread.Sleep(1000);
+            }
+        }
+
+        [MethodMember(Name = "停止测试")]
+        [I18N.DocumentTranslation(Name = "Stop test", locale = "en")]
+        public void Stop()
+        {
+            _running = false;
+        }
+    }
+}

StandardScene.QrLidar/CarTypes/Forklift.cs

@@ -0,0 +1,435 @@
+using LessokajiWeaverUtilities.Utilities;
+using SimpleLite;
+using SimpleLite.RCS;
+using SimpleLite.RCS.CarTypes;
+using SimpleLite.CADTools;
+using SimpleLite.Props;
+using SimpleLite.UI;
+using SimpleCore;
+using SimpleCore.Compiler;
+using SimpleCore.Library;
+using SimpleCore.PropType;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Linq;
+using System.Net.Http;
+using System.Numerics;
+using System.Threading.Tasks;
+using StandardScene.Model;
+using StandardScene.Coders;
+
+namespace StandardScene.CarTypes
+{
+    class ForkliftSiteFields : BasicSiteFields
+    {
+        public int AngleTarget = 0;
+        public bool Turn = false;
+
+        public float FetchSpeed = 0;
+        public int FetchLidarArea = -2;
+        public int FetchIOArea = -1;
+        public float FetchBlindMoveDist = 0;
+        public float FetchLiftDownTarget = -1;
+        public float FetchLiftUpTarget = -1;
+        public bool FetchUseDetector = false;
+        public int FetchDetector = 0;
+        public float FetchDetectWidth = -1;
+        public float FetchDetectDepth = -1;
+        public bool FetchLeaveSrcEarly = false;
+        public float FetchShieldObstacleDist = -1;
+
+        public float PutSpeed = 0;
+        public int PutLidarArea = -1;
+        public int PutIOArea = -1;
+        public float PutBlindMoveDist = 0;
+        public float PutLiftDownTarget = -1;
+        public float PutLiftUpTarget = -1;
+        public bool PutUseDetector = false;
+        public int PutDetector = 0;
+        public float PutDetectWidth = -1;
+        public float PutDetectDepth = -1;
+        public bool PutLeaveSrcEarly = false;
+        public float PutShieldObstacleDist = -1;
+
+        public float LeaveShelfSpeed = 0;
+        public int LeaveShelfLidarArea = -1;
+        public int LeaveShelfIOArea = -1;
+        public float LeaveShelfBlindMoveDist = 0;
+        public float LeaveShelfLiftDownTarget = -1;
+        public float LeaveShelfRecoveryObstacleDist = -1;
+    }
+
+    class ForkliftTrackFields : BasicTrackFields
+    {
+        public int ManeuverDir = 0;
+        public int ForwardDst = 0;
+        public int ForwardObChooseDst = -2;
+        public float BlindMoveDist = 0;
+        public bool UseDetector = false;
+        public int DetectorMode = -1;
+        public float DetectWidth = -1;
+        public float DetectDepth = -1;
+        public bool LeaveSrcEarly = false;
+        public float ShieldObstacleDist = -1;
+    }
+
+    class ForkliftPlanFields : BasicPlanFields
+    {
+        public bool reverse = false;
+        public int level = 0;
+    }
+
+
+    // 通用避障/IO coder 已抽离为 StandardScene.Coders.*（见类前 [ProgramTrackCoderSettings] 引用）
+
+    // 避障区尺寸(2参)切换 coder 已抽离为 StandardScene.Coders.AvoidanceParamLWCoder（方案 B；见下方 [ProgramTrackCoderSettings] 引用）
+    [ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceParamLWCoder))]
+
+    //plan.SegN 是指 当前路径所有点线的数量   
+    //plan.SegN-2 就是终点倒数第二个站点
+    [TemplateTrackCoderSettings(
+        priority = 20,
+        useVerb = "plan.action=='fetch' && dst.Shelf",
+        templateString = "agv.Wait();" +
+                         "agv.Fetch(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
+                         "${dst.FetchSpeed},${dst.FetchLidarArea},${dst.FetchIOArea}," +
+                         "${dst.FetchBlindMoveDist},${dst.FetchLiftDownTarget},${dst.FetchLiftUpTarget}," +
+                         "${dst.FetchUseDetector},${dst.FetchDetector},${dst.FetchDetectWidth},${dst.FetchDetectDepth}," +
+                         "${plan.CarLength},${plan.CarWidth},${dst.FetchLeaveSrcEarly},${dst.FetchShieldObstacleDist});" +
+                         "agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(ForkliftSiteFields),
+        trackFields = typeof(ForkliftTrackFields),
+        planFields = typeof(ForkliftPlanFields))]
+
+    [TemplateTrackCoderSettings(
+        priority = 20,
+        useVerb = "plan.action=='put' && dst.Shelf",
+        templateString = "agv.Wait();" +
+                         "agv.Put(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
+                         "${dst.PutSpeed},${dst.PutLidarArea},${dst.PutIOArea}," +
+                         "${dst.PutBlindMoveDist},${dst.PutLiftDownTarget},${dst.PutLiftUpTarget}," +
+                         "${dst.PutUseDetector},${dst.PutDetector}," +
+                         "${dst.PutDetectWidth},${dst.PutDetectDepth},${dst.PutLeaveSrcEarly},${dst.PutShieldObstacleDist});" +
+                         "agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(ForkliftSiteFields),
+        trackFields = typeof(ForkliftTrackFields),
+        planFields = typeof(ForkliftPlanFields))]
+
+    [TemplateTrackCoderSettings(
+        priority = 22,
+        useVerb = "src.Shelf",
+        templateString = "agv.LeaveShelf(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
+                         "${src.LeaveShelfSpeed},${src.LeaveShelfLidarArea},${src.LeaveShelfIOArea}," +
+                         "${src.LeaveShelfBlindMoveDist},${src.LeaveShelfLiftDownTarget},${src.LeaveShelfRecoveryObstacleDist},);" +
+                         "agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(ForkliftSiteFields),
+        trackFields = typeof(ForkliftTrackFields),
+        planFields = typeof(ForkliftPlanFields))]
+
+    [TemplateSiteCoderSettings(
+        priority = 25,
+        useVerb = "plan.action=='fetch'&&plan.segN==1&&dst.Shelf",
+        templateString =
+            "agv.FetchInPlace(${dst.FetchLiftUpTarget},${plan.CarLength},${plan.CarWidth});" +
+            "agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(ForkliftSiteFields),
+        trackFields = typeof(ForkliftTrackFields),
+        planFields = typeof(ForkliftPlanFields))]
+    // 纠偏阈值 coder 已抽离为 StandardScene.Coders.TrackingErrThreshCoder
+
+    [ProgramTrackCoderSettings(priority = 20, program = typeof(LidarAreaSwitchCoder))]
+    [ProgramTrackCoderSettings(priority = 20, program = typeof(IoAreaSwitchCoder))]
+    [ProgramTrackCoderSettings(priority = 20, program = typeof(TrackingErrThreshCoder))]
+    [CarType(Name = "叉车", editor = typeof(Forklift))]
+    [I18N.DocumentTranslation(Name = "ForkLift", locale = "en")]
+    [EnvelopConfig(centerX = -900, centerY = 0, lengthX = 3000, lengthY = 1500)]
+	public class Forklift : GhostCar
+    {
+	    public static async Task<Forklift> Create() // boilerplate
+	    {
+		    var fl = new Forklift()
+		    {
+			    lstatus = "连接中",
+			    address = "127.0.0.1",
+			    name = $"叉车",
+			    haveCoordination = true,
+			    speed = 1,
+		    };
+
+		    return fl;
+	    }
+
+		private const float DrawWidth = 1100, DrawLength = 600, DrawForkLen = 1532;
+	    private readonly Pen _orientPen = new Pen(Color.White, 3);
+
+		protected override void draw(Graphics eGraphics)
+	    {
+		    var lineCap = new AdjustableArrowCap(6, 6, true);
+		    _orientPen.CustomEndCap = lineCap;
+		    _orientPen.StartCap = LineCap.RoundAnchor;
+
+		    eGraphics.FillRectangle(Brushes.DimGray, -DrawLength / 2, -DrawWidth / 2, DrawForkLen, 200);
+		    eGraphics.FillRectangle(Brushes.DimGray, -DrawLength / 2, DrawWidth / 2 - 200, DrawForkLen, 200);
+		    eGraphics.FillRectangle(Brushes.Gray, DrawForkLen - DrawLength / 2, -DrawWidth / 2, DrawLength, DrawWidth);
+
+		    eGraphics.DrawEllipse(Pens.White, -160, -160, 320, 320);
+		    eGraphics.DrawLine(_orientPen, 0, 0, 480, 0);
+		}
+        [MethodMember(Name = "进入小车远程", Description = "进入小车远程桌面")]
+        [I18N.DocumentTranslation(Name = "Open remote desktop", Description = "Open the car's remote desktop", locale = "en")]
+        public void Mstsc()
+        {
+            var ip = this.address;
+            // 启动mstsc并传递IP地址
+            Process.Start(
+                new ProcessStartInfo
+                {
+                    FileName = "mstsc",
+                    Arguments = $"/v:{ip}",
+                    UseShellExecute = false,
+                    CreateNoWindow = true
+                }
+            );
+        }
+        public override string SetDisplayInfo()
+        {
+            try
+            {
+                var str = $"{name}({id})\n";
+                status.enums.TryGetValue("ChassisMode", out var manual);
+                var ms = manual == "0" ? "自动" : "手动";
+                status.enums.TryGetValue("Soc", out var soc);
+                str = $"{str}{ms}|soc:{soc}";
+                var alarmStr = Commons.GetCarStatus(this, "AlarmInfo");
+                if (alarmStr != "")
+                    str = $"{str}|{alarmStr}";
+                if (status.enums.TryGetValue("ElectricCurrent", out var electricCurrent) &&
+                    !string.IsNullOrEmpty(electricCurrent))
+                {
+                    var charging = float.Parse(electricCurrent) * 0.01f > 0 ? "充电中" : "未充电";
+                    str = $"{str}|charge:{charging}";
+                }
+
+                var thresSpeed = Commons.CarValue(this, "ThresSpeed");
+                str = $"{str}{((thresSpeed <= 0) ? "|避障触发" : "")}";
+                return str;
+            }
+            catch (Exception e)
+            {
+                Console.WriteLine(e);
+                return "bad car";
+            }
+        }
+
+        HttpClient hc = new HttpClient() { Timeout = TimeSpan.FromMilliseconds(300) };
+        [MethodMember(Name = "小车暂停", Description = "小车暂停")]
+        [I18N.DocumentTranslation(Name = "EmergencyStop", Description = "EmergencyStop", locale = "en")]
+        public void EmergencyStop(string reason)
+        {
+            Diagnosis.Post($"car{name}:EmergencyStop");
+            hc.GetStringAsync($"http://{address}:8008/setValue?FieldName=ISRelease&Value=1");
+        }
+
+        [MethodMember(Name = "小车暂停恢复", Description = "小车暂停恢复")]
+        [I18N.DocumentTranslation(Name = "EmergencyRelease", Description = "EmergencyRelease", locale = "en")]
+        public void EmergencyRelease()
+        {
+            Diagnosis.Post($"car{name}:EmergencyStop release");
+            hc.GetStringAsync($"http://{address}:8008/setValue?FieldName=ISRelease&Value=0");
+        }
+        [MethodMember(Name = "小车重启C", Description = "小车重启Clumsy")]
+        [I18N.DocumentTranslation(Name = "ResetClumsy", Description = "ResetClumsy", locale = "en")]
+        public void ResetClumsy()
+        {
+            Diagnosis.Post($"car{name}-{address}:ResetClumsy");
+            hc.GetStringAsync($"http://{address}:8008/reset");
+        }
+
+        [MethodMember(Name = "显示车辆监控", Description = "打开车辆状态监控窗口")]
+        public void ShowVehicleMonitor()
+        {
+            VehicleMonitor.ShowMonitor();
+        }
+        public void newReset(int resetId = 0)
+        {
+            //if (!status.programs.task.IsCompleted &&
+            //    MessageBox.Show($"小车{name}({id})当前有任务：{status.programs.printStatus()}，确认初始化？", "确认",
+            //        MessageBoxButtons.YesNo) == DialogResult.No) return;
+            try
+            {
+                if (GetLastSite() != -1 && Commons.GetVehicleStatus((Car)this) != VehicleStatus.NeedInit)
+                {
+                    Diagnosis.Post($"Car{id}初始化失败：已初始化或车辆不在线");
+                    return;
+                }
+                var debug = "ui invoke reset. ";
+
+                // todo: 找点和线段的最近点。。。
+                // lock
+                UISite site1 = null;
+                float dist = float.MaxValue;
+                List<(float, Site, Site)> trackList = new List<(float, Site, Site)>();
+                if (resetId == 0)
+                {
+
+                    (float bias, Vector2 hPnt, float fd) Project2DLine(
+                        Vector2 pnt,
+                        Vector2 segSt,
+                        Vector2 segEnd
+                    )
+                    {
+                        var dir = Vector2.Normalize(segEnd - segSt);
+                        var fd = Vector2.Dot(pnt - segSt, dir);
+                        var hPnt = segSt + fd * dir;
+                        var bias = dir.X * (pnt.Y - segSt.Y) - (pnt.X - segSt.X) * dir.Y;
+                        return (bias, hPnt, fd);
+                    }
+
+                    foreach (var allTrack in SimpleLib.GetAllTracks())
+                    {
+                        var s = SimpleLib.GetSite(allTrack.siteA);
+                        var e = SimpleLib.GetSite(allTrack.siteB);
+                        var (b, h, fd) = Project2DLine(
+                            new Vector2(x, y),
+                            new Vector2(s.x, s.y),
+                            new Vector2(e.x, e.y)
+                        );
+                        b = Math.Abs(b);
+                        if (fd < 0 || fd > 1)
+                            continue;
+                        if (dist > b)
+                        {
+                            UISite ss;
+                            if (fd < 0.5)
+                                ss = (UISite)s;
+                            else
+                                ss = (UISite)e;
+
+                            foreach (var ccar in SimpleLib.GetAllCars())
+                            {
+                                if (ccar == this)
+                                    continue;
+                                if (ccar.status.holdingLocks.Contains(s.id))
+                                    goto next;
+                            }
+
+                            dist = b;
+                            site1 = ss;
+                        next:
+                            ;
+                        }
+                    }
+                    float radius = 5000;
+                    //根据小车为圆心找到半径radius内的站点
+                    var surroundSites = SimpleLib.GetAllSites().ToList().FindAll(p => LessMath.dist(x, y, p.x, p.y) <= radius);
+                    foreach (var allTrack in SimpleLib.GetAllTracks())
+                    {
+                        var s = SimpleLib.GetSite(allTrack.siteA);
+                        var e = SimpleLib.GetSite(allTrack.siteB);
+                        if (!surroundSites.Contains(s) && !surroundSites.Contains(e) && surroundSites.Count != 0) continue;
+
+                        var (b, h, fd) = Project2DLine(new Vector2(x, y), new Vector2(s.x, s.y), new Vector2(e.x, e.y));
+                        b = Math.Abs(b);
+                        double pathAngle = Double.NaN;
+                        if (allTrack.direction == 1)
+                            pathAngle = Math.Atan2((e.y - s.y), (e.x - s.x)) / Math.PI * 180;
+                        else if (allTrack.direction == 2)
+                            pathAngle = Math.Atan2((e.y - s.y), (e.x - s.x)) / Math.PI * 180 + 180;
+                        else
+                            trackList.Add((b, s, e));
+                        if (Math.Abs(this.th - pathAngle) < 30)
+                            trackList.Add((b, s, e));
+                        foreach (var ccar in SimpleLib.GetAllCars())
+                        {
+                            if (ccar == this) continue;
+                            if (ccar.status.holdingLocks.Contains(s.id)) goto next;
+                        }
+                        next:;
+
+                    }
+                    //var sites = trackList.OrderBy(p => p.Item1).ToArray();
+                    List<(double, Site)> distList = new List<(double, Site)>();
+                    foreach (var site in trackList)
+                    {
+                        if (site.Item2.fields.ContainsKey("no_reset") || site.Item3.fields.ContainsKey("no_reset"))
+                            continue;
+                        foreach (var ccar in SimpleLib.GetAllCars())
+                        {
+                            if (ccar == this) continue;
+                            if (ccar.status.holdingLocks.Contains(site.Item2.id) || ccar.status.holdingLocks.Contains(site.Item3.id)) goto next;
+                        }
+                        distList.Add((LessMath.dist(site.Item2.x, site.Item2.y, x, y), site.Item2));
+                        distList.Add((LessMath.dist(site.Item3.x, site.Item3.y, x, y), site.Item3));
+                    next:;
+                    }
+
+                    site1 = (UISite)distList.OrderBy(p => p.Item1).First().Item2;
+
+                    //foreach (var site in SimpleLib.GetAllSites())
+                    //{
+                    //    if (site.fields.ContainsKey("no_reset"))
+                    //        continue;
+                    //    foreach (var ccar in SimpleLib.GetAllCars())
+                    //    {
+                    //        if (ccar == this)
+                    //            continue;
+                    //        if (ccar.status.holdingLocks.Contains(site.id))
+                    //            goto next;
+                    //    }
+
+                    //    var d = LessMath.dist(site.x, site.y, x, y);
+                    //    if (d < dist)
+                    //    {
+                    //        dist = (float)d;
+                    //        site1 = (UISite)site;
+                    //    }
+                    //    next:
+                    //    ;
+                    //}
+                    TrafficReset(site1, true, strict: false);
+                }
+                else
+                {
+                    TrafficReset(SimpleLib.GetSite(resetId), true, strict: false);
+                }
+
+
+                siteID = site1.id;
+
+                lstatus = "上线";
+                debug += $"site={site1.id}";
+                AppendDebug(debug);
+                G.pushStatus($"Car {name}({id}) reset to Site {site1.id}");
+            }
+            catch (Exception e)
+            {
+                Diagnosis.Post($"{this.name}---初始化失败--{e.Message}", $"{this.name}", true);
+            }
+        }
+
+        [MethodMember(Name = "测试", Description = "循环")]
+        [I18N.DocumentTranslation(Name = "Test", Description = "Loop", locale = "en")]
+        public async void Test()
+        {
+            var siteA = SimpleLib.GetAllSites().First(s => s.name == "A");
+            var siteB = SimpleLib.GetAllSites().First(s => s.name == "B");
+            while (true)
+            {
+                var plan = new SegmentPlan() { usingCar = this };
+                plan.FindRoute(SimpleLib.GetSite(this.GetLastSite()), siteA);
+                await plan.Compile("GoA").Queue();
+                var planB = new SegmentPlan() { usingCar = this };
+                planB.FindRoute(SimpleLib.GetSite(this.GetLastSite()), siteB);
+                await planB.Compile("GoB").Queue();
+                await Task.Delay(1000);
+            }
+        }
+    }
+}

StandardScene.QrLidar/CarTypes/MultiVehicleCar.cs

@@ -0,0 +1,255 @@
+using System.Drawing;
+using System.Linq;
+using System.Threading;
+using System.Threading.Tasks;
+
+using SimpleLite.RCS;
+
+using SimpleLite.RCS.CarTypes;
+using SimpleCore;
+using SimpleCore.Compiler;
+using SimpleCore.Library;
+using SimpleCore.PropType;
+using StandardScene.Coders;
+
+namespace StandardScene.CarTypes
+{
+    //钻车
+    [TemplateTrackCoderSettings(
+        priority = 18,
+        useVerb = "(dst.name=='FetchSite1'||dst.name=='FetchSite2')&&(plan.action=='fetch')",
+        templateString = "agv.Wait();agv.TireFollowing(${plan.TireNum},${plan.FrontLidarDetect},${src.id},${dst.id},${plan.FirstTire});agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+    [TemplateTrackCoderSettings(
+        priority = 18,
+        useVerb = "(dst.name=='PutSite1'||dst.name=='PutSite2')&&(plan.action=='leave')",
+        templateString = "agv.Wait();agv.TireFollowing(${plan.TireNum},${plan.FrontLidarDetect},${src.id},${dst.id},${plan.FirstTire});agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+    //离开时钻车(后出的那台车)
+    [TemplateTrackCoderSettings(
+        priority = 18,
+        useVerb = "dst.name=='ReadyFetchSite'&&plan.action=='leave'&&plan.Reverse==true",
+        templateString = "agv.Wait();agv.TireFollowing(${plan.TireNum},${plan.FrontLidarDetect},${src.id},${dst.id},${plan.FirstTire});agv.Wait();" +
+                            "agv.LineTracking(${src.id},${dst.id},${plan.LineDistance});agv.Wait()",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+    //离开时直线行走(先出的那台车)
+    [TemplateTrackCoderSettings(
+        priority = 18,
+        useVerb = "(dst.name=='LeaveSite'||dst.name=='ReadyFetchSite')&&plan.action=='leave'&&plan.Reverse==false",
+        templateString = "agv.Wait();agv.LineTracking(${src.id},${dst.id},${plan.LineDistance});agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+    //下使能+夹抱+上使能
+    [TemplateSiteCoderSettings(
+        priority = 18,
+        useVerb = "((dst.name=='FetchSite1'||dst.name=='FetchSite2')&&plan.action=='clamp')",
+        templateString = "agv.Wait();agv.DriverDisable();agv.Wait();agv.ClamptoTarget(${dst.ClampClose});agv.Wait();agv.DriverAble();",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+
+    //抱夹打开
+    [TemplateSiteCoderSettings(
+        priority = 18,
+        useVerb = "(dst.name=='PutSite1'||dst.name=='PutSite2')&&plan.action=='put'",
+        templateString = "agv.Wait();agv.DriverDisable();agv.Wait();agv.ClamptoTarget(${dst.ClampClose});agv.Wait();agv.DriverAble();",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+
+    //临时夹抱动作
+    [TemplateSiteCoderSettings(
+        priority = 18,
+        useVerb = "plan.action=='templateclamp'||plan.action=='templateput'",
+        templateString = "agv.Wait();agv.DriverDisable();agv.Wait();agv.ClamptoTarget(${plan.ClampClose});agv.Wait();agv.DriverAble();",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+    [TemplateTrackCoderSettings(
+        priority = 2,
+        useVerb = "plan.action=='fetch'",
+        templateString = "agv.BasicGo(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
+                         "${track.id},${track.Speed},${track.Reverse||plan.Reverse}," +
+                         "${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection},${track.MagnetChoose},${track.MultiVehicleSync},${track.typeInfo});",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+    //[TemplateTrackCoderSettings(
+    //    priority = 3,
+    //    useVerb = "plan.action=='leave'&&(dst.name=='KeepDirectionSite1'||dst.name=='KeepDirectionSite2')",
+    //    templateString = "agv.BasicGo(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
+    //                     "${track.id},${track.Speed},${track.Reverse||plan.Reverse}," +
+    //                     "${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection},${track.MagnetChoose},${track.MultiVehicleSync},${track.typeInfo});",
+    //    blockVerb = "true",
+    //    siteFields = typeof(MultiWheelLifterSiteFields),
+    //    trackFields = typeof(MultiWheelLifterTrackFields),
+    //    planFields = typeof(MultiWheelLifterPlanFields))]
+
+    [TemplateTrackCoderSettings(
+        priority = 3,
+        useVerb = "plan.action=='leave'",
+        templateString = "agv.BasicGo(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
+                         "${track.id},${track.Speed},${track.Reverse||plan.Reverse}," +
+                         "${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection},${track.MagnetChoose},${track.MultiVehicleSync},${track.typeInfo});",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+    [TemplateTrackCoderSettings(
+        priority = 19,
+        useVerb = "dst.tag>0 && src.tag>0",
+        templateString = "agv.QrGo(${src.x},${src.y},${src.id},${src.tag},${dst.x},${dst.y},${dst.id},${dst.tag},${track.id}," +
+                         "${track.Speed},${track.Reverse || (track.ReverseDst == dst.id)}," +
+                         "${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection}," +
+                         "${track.typeInfo});",
+        blockVerb = "true",
+        siteFields = typeof(MultiWheelLifterSiteFields),
+        trackFields = typeof(MultiWheelLifterTrackFields),
+        planFields = typeof(MultiWheelLifterPlanFields))]
+
+    // 通用避障/IO coder 已抽离为 StandardScene.Coders.*（见类前 [ProgramTrackCoderSettings] 引用）
+
+    // 避障区尺寸(4参,含中心点)切换 coder 已抽离为 StandardScene.Coders.AvoidanceParamCoder（见类前 [ProgramTrackCoderSettings] 引用）
+
+    // 纠偏阈值 coder 已抽离为 StandardScene.Coders.TrackingErrThreshCoder
+
+    [ProgramTrackCoderSettings(priority = 27, program = typeof(LidarAreaSwitchCoder))]
+    [ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceDistanceCoder))]
+    [ProgramTrackCoderSettings(priority = 20, program = typeof(IoAreaSwitchCoder))]
+    [ProgramTrackCoderSettings(priority = 20, program = typeof(TrackingErrThreshCoder))]
+    [ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceParamCoder))]
+    [EnvelopConfig(lengthX = 2000, lengthY = 2000, centerX = 0, centerY = 0)]
+
+    [CarType(Name = "多车联动AGV")]
+    public class MultiVehicleCar : GhostCar
+    {
+        [FieldMember] public float CarLength = 2000;
+        [FieldMember] public float CarWidth = 1400;
+        public static async Task<MultiVehicleCar> Create()
+        {
+            var car = new MultiVehicleCar()
+            {
+                lstatus = "连接中",
+                address = "127.0.0.1",
+                name = "联动AGV"
+            };
+            return car;
+        }
+
+        protected override void draw(Graphics eGraphics)
+        {
+            var HalfCarLength = CarLength / 2;
+            var HalfCarWidth = CarWidth / 2;
+            eGraphics.FillRectangle(Brushes.Gray, -HalfCarLength, -HalfCarWidth, HalfCarLength * 2, HalfCarWidth * 2);
+            eGraphics.DrawRectangle(Pens.White, -HalfCarLength, -HalfCarWidth, HalfCarLength * 2, HalfCarWidth * 2);
+            eGraphics.DrawLine(Pens.White, HalfCarLength - HalfCarWidth, -HalfCarWidth, HalfCarLength, 0);
+            eGraphics.DrawLine(Pens.White, HalfCarLength - HalfCarWidth, HalfCarWidth, HalfCarLength, 0);
+        }
+
+        [MethodMember(Name = "模拟车联动初始化")]
+        public void GhostMultiAgvSyncInit()
+        {
+            var car1 = (GhostCar)SimpleLib.GetAllCars().First(cc => cc.name == "sync-1");
+            while (true)
+            {
+                car1.ManualTeleport();
+                car1.x = 1770;
+                car1.y = 0;
+                car1.th = 0;
+                Thread.Sleep(100);
+                if (LessMath.dist(car1.x, car1.y, 1770, 0) < 1 && car1.th == 0) break;
+            }
+            car1.NoSchedule();
+            car1.siteID = -1;
+            car1.tags.Clear();
+            car1.status.usage.AddUsage("base", new CarUsage.CarUsageInfo() { scheduling = false, refreshing = false });
+            car1.fields["MultiVehicleSync"] = "True";
+
+            var car2 = (GhostCar)SimpleLib.GetAllCars().First(cc => cc.name == "sync-2");
+            while (true)
+            {
+                //car2.ManualTeleport(-750, 0, 180);
+                car2.ManualTeleport();
+                car2.x = -750;
+                car2.y = 0;
+                car2.th = 180;
+                Thread.Sleep(100);
+                if (LessMath.dist(car2.x, car2.y, -750, 0) < 1 && car2.th == 180) break;
+            }
+            var car2Site = SimpleLib.GetAllSites().OrderBy(ss => LessMath.dist(ss.x, ss.y, car2.x, car2.y)).First();
+            var syncInitSite = SimpleLib.GetSite(int.Parse(car2Site.fields["SyncInitId"]));
+            car2.TrafficReset(syncInitSite);
+            car2.siteID = syncInitSite.id;
+            car2.fields["MultiVehicleSync"] = "True";
+        }
+
+        [MethodMember(Name = "进入联动状态")]
+        public void StartMultiAgvSync()
+        {
+            var car1 = (Car)SimpleLib.GetAllCars().First(cc => cc.name == "sync-1");
+            car1.NoSchedule();
+            car1.siteID = -1;
+            car1.tags.Clear();
+            car1.status.usage.AddUsage("base", new CarUsage.CarUsageInfo() { scheduling = false, refreshing = false });
+            car1.fields["MultiVehicleSync"] = "True";
+
+            var car2 = (Car)SimpleLib.GetAllCars().First(cc => cc.name == "sync-2");
+            var car2Site = SimpleLib.GetAllSites().OrderBy(ss => LessMath.dist(ss.x, ss.y, car2.x, car2.y)).First();
+            var syncInitSite = SimpleLib.GetSite(int.Parse(car2Site.fields["SyncInitId"]));
+            car2.TrafficReset(syncInitSite);
+            car2.siteID = syncInitSite.id;
+            car2.fields["MultiVehicleSync"] = "True";
+        }
+
+        [MethodMember(Name = "退出联动状态")]
+        public void ExitMultiAgvSync()
+        {
+            var car1 = (Car)SimpleLib.GetAllCars().First(cc => cc.name == "sync-1");
+            car1.fields["MultiVehicleSync"] = "False";
+            car1.Reset();
+            var car2 = (Car)SimpleLib.GetAllCars().First(cc => cc.name == "sync-2");
+            car2.fields["MultiVehicleSync"] = "False";
+            car2.Reset();
+        }
+
+        //[MethodMember(Name = "返厂检修new", Description = "不再刷新小车状态，当然也不再被调度")]
+        //[I18N.DocumentTranslation(Name = "Blown new", Description = "Car no longer refresh status and scheduling", locale = "en")]
+        public new void Blown()
+        {
+            AppendDebug("ui-blown");
+            Diagnosis.Post($"Car {name}({id}) blown");
+            NoSchedule();
+            siteID = -1;
+            tags.Clear();
+            status.usage.AddUsage(
+                "base",
+                new CarUsage.CarUsageInfo { scheduling = false, refreshing = false }
+            );
+            lstatus = "返厂检修";
+        }
+    }
+}

StandardScene.QrLidar/CarTypes/MultiWheelForkLifter.cs

@@ -0,0 +1,156 @@
+using LessokajiWeaverUtilities.Utilities;
+using SimpleLite.RCS;
+using SimpleLite.RCS.CarTypes;
+using SimpleCore;
+using SimpleCore.Compiler;
+using SimpleCore.PropType;
+using StandardScene.Model;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement;
+
+namespace StandardScene.CarTypes
+{
+    class SiteFields
+    {
+        public float FetchSpeed = 0;
+        public float FetchLiftDownTarget = -1;
+        public float FetchLiftUpTarget = -1;
+        public float PutSpeed = 0;
+        public float PutLiftDownTarget = -1;
+        public float PutLiftUpTarget = -1;
+        public float LeaveShelfSpeed = 0;
+        public float LeaveShelfLiftDownTarget = -1;
+        public bool Shelf = false;
+    }
+
+    class TrackFields
+    {
+        public int ReverseDst = -1;
+    }
+
+    class PlanFields
+    {
+        public string action = "/";
+    }
+
+    //[TemplateTrackCoderSettings(
+    //    priority = 20,
+    //    useVerb = "src.Shelf&&plan.curSeg==1",
+    //    templateString = "agv.Wait();agv.LeaveShelf(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id},${src.LeaveShelfSpeed},${src.LeaveShelfLiftDownTarget});agv.Wait();",
+    //    blockVerb = "true",
+    //    siteFields = typeof(SiteFields),
+    //    trackFields = typeof(TrackFields),
+    //    planFields = typeof(PlanFields))]
+    [TemplateTrackCoderSettings(
+        priority = 20,
+        useVerb = "plan.action=='fetch' && dst.Shelf&&plan.curSeg==plan.segN-2",
+        templateString = "agv.Wait();agv.Fetch(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id},${dst.FetchSpeed},${dst.FetchLiftDownTarget},${dst.FetchLiftUpTarget});agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(SiteFields),
+        trackFields = typeof(TrackFields),
+        planFields = typeof(PlanFields))]
+    [TemplateTrackCoderSettings(
+        priority = 20,
+        useVerb = "plan.action=='put' && dst.Shelf&&plan.curSeg==plan.segN-2",
+        templateString = "agv.Wait();agv.Put(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id},${dst.FetchSpeed},${dst.FetchLiftDownTarget},${dst.FetchLiftUpTarget});agv.Wait();",
+        blockVerb = "true",
+        siteFields = typeof(SiteFields),
+        trackFields = typeof(TrackFields),
+        planFields = typeof(PlanFields))]
+
+
+    [CarType(Name = "多舵轮叉车", editor = typeof(MultiWheelForkLifter))]
+    [I18N.DocumentTranslation(Name = "MultiWheel ForkLift Car", locale = "en")]
+    public class MultiWheelForkLifter : GhostCar
+    {
+        public static async Task<MultiWheelForkLifter> Create()
+        {
+            var car = new MultiWheelForkLifter()
+            {
+                lstatus = "连接中",
+                address = "127.0.0.1",
+                name = "多舵轮叉车",
+                haveCoordination = true,
+                speed = 1
+            };
+            return car;
+        }
+        public static string GetCarStatus(Car car, string key)
+        {
+            string value = "0";
+            if (car == null) return value;
+            if (car.status.enums.TryGetValue(key, out var valueStr))
+                value = valueStr;
+            return value;
+        }
+        public override string SetDisplayInfo()
+        {
+            try
+            {
+                var str = $"{name}({id})\n";
+                status.enums.TryGetValue("ChassisMode", out var manual);
+                var ms = manual == "0" ? "自动" : "手动";
+                status.enums.TryGetValue("Soc", out var soc);
+                str = $"{str}{ms}|soc:{soc}";
+                var alarmStr = GetCarStatus(this, "AlarmInfo");
+                if (alarmStr != "")
+                    str = $"{str}|{alarmStr}";
+                if (status.enums.TryGetValue("ElectricCurrent", out var electricCurrent) &&
+                    !string.IsNullOrEmpty(electricCurrent))
+                {
+                    var charging = float.Parse(electricCurrent) * 0.01f > 0 ? "充电中" : "未充电";
+                    str = $"{str}|charge:{charging}";
+                }
+
+                var thresSpeed = Commons.CarValue(this, "ThresSpeed");
+                str = $"{str}{((thresSpeed <= 0) ? "|避障触发" : "")}";
+                return str;
+            }
+            catch (Exception e)
+            {
+                Console.WriteLine(e);
+                return "bad car";
+            }
+        }
+
+        private bool _running = false;
+        [MethodMember(Name = "test")]
+        public async void Test()
+        {
+            _running = true;
+            var siteA = SimpleLib.GetAllSites().First(s => s.name == "A");
+            var siteB = SimpleLib.GetAllSites().First(s => s.name == "B");
+            var siteC = SimpleLib.GetAllSites().First(s => s.name == "C");
+            while (_running)
+            {
+                var fetchPlan = new SegmentPlan() { usingCar = this };
+                fetchPlan.fields["action"] = "fetch";
+                fetchPlan.FindRoute(SimpleLib.GetSite(GetLastSite()), siteA);
+                await fetchPlan.Compile("fetch").Queue();
+                var putPlan = new SegmentPlan() { usingCar = this };
+                putPlan.fields["action"] = "put";
+                putPlan.FindRoute(SimpleLib.GetSite(GetLastSite()), siteB);
+                await putPlan.Compile("put").Queue();
+                var plan = new SegmentPlan() { usingCar = this };
+                plan.FindRoute(SimpleLib.GetSite(GetLastSite()), siteC);
+                await plan.Compile("go").Queue();
+                var fetchPlan2 = new SegmentPlan() { usingCar = this };
+                fetchPlan2.fields["action"] = "fetch";
+                fetchPlan2.FindRoute(SimpleLib.GetSite(GetLastSite()), siteB);
+                await fetchPlan2.Compile("fetch").Queue();
+                var putPlan2 = new SegmentPlan() { usingCar = this };
+                putPlan2.fields["action"] = "put";
+                putPlan2.FindRoute(SimpleLib.GetSite(GetLastSite()), siteA);
+                await putPlan2.Compile("put").Queue();
+                var plan2 = new SegmentPlan() { usingCar = this };
+                plan2.FindRoute(SimpleLib.GetSite(GetLastSite()), siteC);
+                await plan2.Compile("go").Queue();
+
+            }
+        }
+    }
+}

StandardScene.QrLidar/QrLidarSceneProfile.cs

@@ -0,0 +1,37 @@
+using System;
+using System.Collections.Generic;
+using SimpleCore.Navigation;
+using StandardScene.CarTypes;
+
+namespace StandardScene.QrLidar
+{
+    /// <summary>
+    /// scene.qrlidar 平台画像：激光 + 二维码融合导航场景插件。
+    /// <para>激光（SLAM 坐标导航）由内核 GhostCar 的 BasicGo 兜底提供；二维码 QrGo 按轨道两端
+    /// tag 字段逐段触发——同一台车同一条路线可全激光、全二维码或混合（融合 / 单独使用均可）。</para>
+    /// </summary>
+    public sealed class QrLidarSceneProfile : NavigationProfileBase
+    {
+        public override NavKind Kind => NavKind.Laser;
+
+        public override IReadOnlyList<NavKind> Kinds => new[] { NavKind.Laser, NavKind.QrCode };
+
+        public override string SceneId => "scene.qrlidar";
+
+        public override string DisplayName => "激光+二维码平台";
+
+        public override IReadOnlyList<Type> CarTypes => new[]
+        {
+            typeof(Forklift),
+            typeof(MultiWheelForkLifter),
+            typeof(DualLiftingCar),
+            typeof(MultiVehicleCar),
+            typeof(ArmCar),
+        };
+
+        public override void OnActivate(ISceneContext context)
+        {
+            context.Log($"{DisplayName} 已激活（车型：叉车 / 多舵轮叉车 / 锂电双举升 / 多车联动 / ArmCar）");
+        }
+    }
+}

StandardScene.QrLidar/StandardScene.QrLidar.csproj

@@ -0,0 +1,58 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0-windows</TargetFramework>
+    <OutputType>Library</OutputType>
+    <UseWindowsForms>true</UseWindowsForms>
+    <RootNamespace>StandardScene.QrLidar</RootNamespace>
+    <AssemblyName>StandardScene.QrLidar</AssemblyName>
+    <LangVersion>latest</LangVersion>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <Platforms>AnyCPU;x64</Platforms>
+    <PlatformTarget>x64</PlatformTarget>
+    <Deterministic>true</Deterministic>
+    <GenerateAssemblyInfo>false</GenerateAssemblyInfo>
+    <ImplicitUsings>disable</ImplicitUsings>
+    <Nullable>disable</Nullable>
+    <AppendTargetFrameworkToOutputPath>false</AppendTargetFrameworkToOutputPath>
+    <NoWarn>$(NoWarn);NU1701;CS0618;CS0612;MSB3277;CA1416</NoWarn>
+    <AssemblySearchPaths>{HintPathFromItem};{TargetFrameworkDirectory};{RawFileName};{GAC}</AssemblySearchPaths>
+  </PropertyGroup>
+
+  <!-- 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.QrLidar.scene.json" CopyToOutputDirectory="PreserveNewest" />
+  </ItemGroup>
+
+  <!-- 基座：字段袋 / 通用 coder / 任务调度等留 Core；本 dll 为 scene.qrlidar 平台
+       （激光坐标导航 BasicGo 由内核 GhostCar 提供，二维码 QrGo 按轨道 tag 逐段触发，可融合可单用） -->
+  <ItemGroup>
+    <ProjectReference Include="..\StandardScene.Core\StandardScene.Core.csproj" />
+  </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="MDCSToolBox">
+      <HintPath>D:\MDCS\Dependencies\Commons\MDCSToolBox.dll</HintPath>
+    </Reference>
+    <Reference Include="Topaz">
+      <HintPath>E:\Work\Core\Simple-FR\Simple\tools\Topaz.dll</HintPath>
+    </Reference>
+    <Reference Include="LessokajiWeaverUtilities">
+      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\LessokajiWeaverUtilities.dll</HintPath>
+    </Reference>
+  </ItemGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Newtonsoft.Json" Version="13.0.4" />
+  </ItemGroup>
+
+</Project>

StandardScene.QrLidar/StandardScene.QrLidar.scene.json

@@ -0,0 +1,13 @@
+{
+  "id": "scene.qrlidar",
+  "displayName": "激光+二维码平台",
+  "navKind": "laser",
+  "navKinds": [ "laser", "qrcode" ],
+  "assembly": "StandardScene.QrLidar.dll",
+  "coreVersion": ">=1.0.0",
+  "requiresCore": "StandardScene.dll",
+  "provides": {
+    "carTypes": [ "Forklift", "MultiWheelForkLifter", "DualLiftingCar", "MultiVehicleCar", "ArmCar" ],
+    "missionTypes": []
+  }
+}