1820 lines
46 KiB
HTML
1820 lines
46 KiB
HTML
<!DOCTYPE html>
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<html lang="zh-CN">
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<head>
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<meta charset="utf-8" />
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<title>Mag2Car Guide</title>
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<style>
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@page { size: A4; margin: 18mm 16mm; }
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body { font-family: "Microsoft YaHei", "Segoe UI", sans-serif; color: #222; line-height: 1.55; font-size: 11pt; }
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h1 { font-size: 22pt; border-bottom: 2px solid #2563eb; padding-bottom: 8px; margin-top: 0; }
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h2 { font-size: 16pt; color: #1e40af; margin-top: 22px; page-break-after: avoid; }
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h3 { font-size: 13pt; color: #1d4ed8; margin-top: 16px; page-break-after: avoid; }
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h4, h5 { font-size: 11.5pt; margin-top: 12px; page-break-after: avoid; }
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p, li { orphans: 3; widows: 3; }
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code, pre { font-family: Consolas, "Courier New", monospace; }
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code { background: #f3f4f6; padding: 1px 4px; border-radius: 3px; font-size: 10pt; }
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pre { background: #f8fafc; border: 1px solid #e5e7eb; padding: 10px; overflow-x: auto; font-size: 9.5pt; }
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pre code { background: transparent; padding: 0; }
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table { border-collapse: collapse; width: 100%; margin: 10px 0 14px; font-size: 10pt; page-break-inside: avoid; }
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th, td { border: 1px solid #d1d5db; padding: 6px 8px; vertical-align: top; }
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th { background: #eff6ff; text-align: left; }
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tr:nth-child(even) td { background: #fafafa; }
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blockquote { border-left: 4px solid #93c5fd; margin: 10px 0; padding: 6px 12px; color: #374151; background: #f8fafc; }
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hr { border: none; border-top: 1px solid #e5e7eb; margin: 18px 0; }
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ul, ol { margin: 6px 0 10px 20px; }
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</style>
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</head>
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<body>
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<h1>Mag2Car（FASS 2.0）使用指南</h1>
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<blockquote><p>适用对象：第一次接触磁导航 + FASS 2.0 的调试/实施人员 </p></blockquote>
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<blockquote><p>插件：`StandardScene.Magnetic.dll` </p></blockquote>
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<blockquote><p>车型：`Mag2Car` </p></blockquote>
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<blockquote><p>最后更新：2026-07</p></blockquote>
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<hr/>
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<h2>目录</h2>
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<ol>
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<li>[这套系统能做什么](#1-这套系统能做什么)</li>
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<li>[5 分钟快速上手](#2-5-分钟快速上手)</li>
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<li>[整体架构（新手必读）](#3-整体架构新手必读)</li>
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<li>[场景与进程配置](#4-场景与进程配置)</li>
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<li>[车辆参数说明](#5-车辆参数说明)</li>
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<li>[通讯模式：UDP 与 TCP](#6-通讯模式udp-与-tcp)</li>
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<li>[三种移动方式对比](#7-三种移动方式对比)</li>
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<li>[地图配置：站点与路径](#8-地图配置站点与路径)</li>
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</ol>
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<p> - [8.1 节点块结构](#81-协议节点块25-字节结构)</p>
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<p> - [8.2 站点 fields 详细说明](#82-站点-fields-详细说明)</p>
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<p> - [8.3 路径 Track fields 详细说明](#83-路径-track-fields-详细说明)</p>
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<p> - [8.4 组包优先级与默认规则](#84-组包优先级与默认规则)</p>
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<p> - [8.5 典型场景配置示例](#85-典型场景配置示例)</p>
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<ol>
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<li>[LoopMission 环线任务](#9-loopmission-环线任务)</li>
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<li>[任务状态机与协议下发](#10-任务状态机与协议下发)</li>
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<li>[状态查看与手动操作](#11-状态查看与手动操作)</li>
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<li>[常见问题排查](#12-常见问题排查)</li>
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<li>[参数推荐与检查清单](#13-参数推荐与检查清单)</li>
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<li>[术语表](#14-术语表)</li>
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</ol>
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<hr/>
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<h2>1. 这套系统能做什么</h2>
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<p><code>Mag2Car</code> 是 StandardScene **磁导航平台插件**里的 FASS 2.0 车型，主要能力：</p>
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<table>
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<thead><tr>
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<th>能力</th>
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<th>说明</th>
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</tr>
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</thead>
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<tbody><tr>
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<td>路径下发</td>
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<td>通过 <code>0xB1</code> 下发站点序列（每帧最多 10 站）</td>
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</tr>
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<tr>
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<td>动作下发</td>
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<td>通过 <code>0xA1</code> 补发站点动作（顶升、充电等）</td>
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</tr>
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<tr>
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<td>状态接收</td>
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<td>UDP 模式：车体主动上报 100B，调度回 <code>0x10</code></td>
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</tr>
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<tr>
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<td>站点业务</td>
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<td>从地图 <code>fields</code> 读取启停、分叉、顶升等，拼进任务</td>
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</tr>
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<tr>
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<td>环线配合</td>
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<td>与 Core <code>LoopMission</code> 配合，自动跑 <code>goalSite</code></td>
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</tr>
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<tr>
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<td>任务闭环</td>
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<td>状态机判断到站 + 动作是否完成，再发下一段</td>
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</tr>
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</tbody>
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</table>
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<p>同一插件内还有 **<code>MagCar</code>（FASS 1.0 TCP）**，两者可并存，注意车型和 Mission 不要配混。</p>
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<hr/>
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<h2>2. 5 分钟快速上手</h2>
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<h3>步骤 1：加载插件</h3>
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<p>确认场景已加载 <code>scene.mag</code>（<code>StandardScene.Magnetic.scene.json</code>），提供：</p>
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<ul>
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<li>车型：<code>MagCar</code>、<code>Mag2Car</code></li>
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<li>进程：<code>EventCarMission</code>、<code>Mag2LoopMission</code></li>
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</ul>
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<h3>步骤 2：添加一辆车</h3>
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<ol>
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<li>在场景中添加车型 **<code>Mag2Car</code>**</li>
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<li>填写基本参数（UDP 模式示例）：</li>
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</ol>
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<table>
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<thead><tr>
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<th>参数</th>
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<th>示例值</th>
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<th>含义</th>
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</tr>
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</thead>
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<tbody><tr>
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<td><code>address</code></td>
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<td><code>192.168.1.100</code></td>
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<td>车体 IP</td>
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</tr>
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<tr>
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<td><code>Port</code></td>
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<td><code>5000</code></td>
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<td>下发命令的目标端口</td>
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</tr>
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<tr>
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<td><code>ListenPort</code></td>
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<td><code>20103</code></td>
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<td>调度监听车体上报的端口</td>
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</tr>
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<tr>
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<td><code>VehicleCode</code></td>
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<td><code>1</code></td>
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<td>车体编号，须与上报帧一致</td>
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</tr>
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<tr>
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<td><code>CommMode</code></td>
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<td><code>Udp</code></td>
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<td>PCB/UDP 模式（推荐）</td>
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</tr>
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</tbody>
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</table>
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<h3>步骤 3：确认在线</h3>
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<ul>
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<li>车体开始 UDP 上报后，车辆状态应显示「上线」</li>
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<li><code>keepAlive</code> 日志出现 <code>keepAlive udp ok</code></li>
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<li>枚举里 <code>Protocol</code> = <code>FASS2.0/UDP</code></li>
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</ul>
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<h3>步骤 4：手动走一步（验证通讯）</h3>
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<p>在车辆方法里点 **「查询状态」**，再点 **「启动」**，确认有日志且无报错。</p>
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<h3>步骤 5：跑一段路径</h3>
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<p>**方式 A — 手动 Go（Web/调度下发）** </p>
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<p>用系统自带的「去某站」功能，内部会编译脚本，例如：</p>
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<pre><code>
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agv.Mag2Go(1, 2, 0.2);
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agv.Mag2Go(2, 5, 0.2);
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</code></pre>
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<p>**方式 B — LoopMission 环线** </p>
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<ol>
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<li>添加 **<code>LoopMission</code>** 或 **<code>磁导航FASS2环线</code>**</li>
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<li>配置 <code>tasklist.json</code></li>
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<li>启动进程</li>
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<li>车到站后自动分配 <code>goalSite</code> 并导航</li>
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</ol>
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<hr/>
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<h2>3. 整体架构（新手必读）</h2>
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<pre><code>
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┌─────────────────────────────────────────────────────────┐
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│ 业务层：LoopMission / 手动 Go / 脚本 │
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│ （分配 goalSite 或编译多行 Mag2Go） │
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└────────────────────────┬────────────────────────────────┘
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▼
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┌─────────────────────────────────────────────────────────┐
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│ Mag2Car 执行层 │
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│ · 脚本拦截（Loop + goalSite）→ 一次全程任务 │
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│ · Fass2TaskBuilder：路径 + fields → 节点序列 │
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│ · Fass2TaskStateMachine：滑动窗口下发 + 动作闭环 │
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└────────────────────────┬────────────────────────────────┘
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▼
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┌─────────────────────────────────────────────────────────┐
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│ 协议层：Fass2Protocol + Fass2UdpHub │
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│ · 收 100B 状态 → 回 0x10 │
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│ · 发 0x01/0xB1/0xA1 到 address:Port │
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└────────────────────────┬────────────────────────────────┘
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▼
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AGV 车体
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</code></pre>
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<p>**关键理解：**</p>
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<ul>
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<li>**LoopMission（Core）** 只负责「给谁分配哪个目标站」（写 <code>goalSite</code> 标签）</li>
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<li>**Mag2Car** 负责「怎么走过去」（拼包、下发、等到站）</li>
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<li>**阶段 4** 后，Loop 不再逐行执行多段脚本，而是**拦截为一次全程任务**（可关）</li>
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</ul>
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<hr/>
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<h2>4. 场景与进程配置</h2>
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<h3>4.1 插件清单</h3>
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<p>文件：<code>StandardScene.Magnetic.scene.json</code></p>
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<pre><code>
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{
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"carTypes": [ "MagCar", "Mag2Car" ],
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"missionTypes": [ "EventCarMission", "Mag2LoopMission" ]
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}
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</code></pre>
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<h3>4.2 选哪个 Mission？</h3>
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<table>
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<thead><tr>
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<th>Mission</th>
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<th>来源</th>
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<th>适用</th>
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</tr>
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</thead>
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<tbody><tr>
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<td><code>LoopMission</code></td>
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<td>Core</td>
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<td>通用环线，Mag2Car 同样可用</td>
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</tr>
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<tr>
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<td><code>磁导航FASS2环线</code>（<code>Mag2LoopMission</code>）</td>
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<td>Magnetic 插件</td>
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<td>逻辑与 LoopMission 相同，名称标识磁导航 FASS2 场景</td>
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</tr>
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<tr>
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<td><code>FASS车辆事件进程</code>（<code>EventCarMission</code>）</td>
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<td>Magnetic 插件</td>
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<td>**仅 MagCar（FASS 1.0）**，不驱动 Mag2Car</td>
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</tr>
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</tbody>
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</table>
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<blockquote><p>新手建议：Mag2Car 环线用 **`LoopMission`** 或 **`磁导航FASS2环线`** 均可。</p></blockquote>
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<h3>4.3 tasklist.json 最小示例</h3>
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<pre><code>
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{
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"tasks": [
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{
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"id": "loop-1-2",
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"startType": "AutoLoop",
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"kind": "Loop",
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"currentStationId": 1,
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"targetStationId": 2,
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"priority": 1,
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"trafficControl": 2
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},
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{
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"id": "loop-2-1",
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"startType": "AutoLoop",
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"kind": "Loop",
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"currentStationId": 2,
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"targetStationId": 1,
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"priority": 1,
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"trafficControl": 2
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}
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]
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}
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</code></pre>
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<p>含义：车到站 1 → 自动分配目标站 2；到站 2 → 自动分配目标站 1，形成环线。</p>
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<hr/>
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<h2>5. 车辆参数说明</h2>
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<p>在场景编辑器中选中 <code>Mag2Car</code>，常用字段如下。</p>
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<h3>5.1 通讯</h3>
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<table>
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<thead><tr>
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<th>字段</th>
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<th>默认</th>
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<th>说明</th>
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</tr>
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</thead>
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<tbody><tr>
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<td><code>CommMode</code></td>
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<td><code>Udp</code></td>
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<td><code>Udp</code>=PCB 被动收状态；<code>Tcp</code>=PLC 主动查询</td>
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</tr>
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<tr>
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<td><code>address</code></td>
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<td>—</td>
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<td>车体 IP</td>
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</tr>
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<tr>
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<td><code>Port</code></td>
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<td><code>5000</code></td>
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<td>命令下发端口</td>
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</tr>
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<tr>
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<td><code>ListenPort</code></td>
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<td><code>20103</code></td>
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<td>调度 UDP 监听端口</td>
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</tr>
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<tr>
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<td><code>VehicleCode</code></td>
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<td><code>0</code></td>
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<td>必须与车体上报的 <code>Car</code> 字段一致</td>
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</tr>
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<tr>
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<td><code>UdpOfflineTimeoutMs</code></td>
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<td><code>15000</code></td>
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<td>超过此时间未收到上报视为离线</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
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<h3>5.2 任务与状态机</h3>
|
||
<table>
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||
<thead><tr>
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||
<th>字段</th>
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||
<th>默认</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>EnableTaskStateMachine</code></td>
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<td><code>true</code></td>
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<td>开启任务状态机（推荐）</td>
|
||
</tr>
|
||
<tr>
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<td><code>EnableLoopTaskDrive</code></td>
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<td><code>true</code></td>
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<td>Loop 场景拦截多段脚本，改全程任务</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>LockCount</code></td>
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<td><code>4</code></td>
|
||
<td>每次 <code>0xB1</code> 滑动窗口站数（≤10）</td>
|
||
</tr>
|
||
<tr>
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||
<td><code>TaskResendIntervalMs</code></td>
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||
<td><code>500</code></td>
|
||
<td>周期重发 <code>0xB1</code> 间隔</td>
|
||
</tr>
|
||
<tr>
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||
<td><code>ActionRetryIntervalMs</code></td>
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<td><code>1000</code></td>
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<td>动作未完成时 <code>0xA1</code> 重试间隔</td>
|
||
</tr>
|
||
<tr>
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<td><code>MoveTimeoutSeconds</code></td>
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<td><code>120</code></td>
|
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<td>单次移动超时（秒）</td>
|
||
</tr>
|
||
<tr>
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||
<td><code>StartBeforeMove</code></td>
|
||
<td><code>true</code></td>
|
||
<td>移动前发 <code>0x01</code> 启动</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>5.3 地图节点映射</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>字段</th>
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||
<th>默认</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>UseTagValueAsNode</code></td>
|
||
<td><code>false</code></td>
|
||
<td><code>true</code> 时用站点 <code>TagValue</code> 作为协议 <code>Node</code> 号</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>5.4 调试</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>字段</th>
|
||
<th>默认</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>EnableDetailLog</code></td>
|
||
<td><code>true</code></td>
|
||
<td>详细日志</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>LogRawFrame</code></td>
|
||
<td><code>true</code></td>
|
||
<td>打印收发十六进制</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h2>6. 通讯模式：UDP 与 TCP</h2>
|
||
<h3>6.1 UDP/PCB（推荐，现场 FASS 2.0 新车默认）</h3>
|
||
<pre><code>
|
||
车体 ──UDP──► 调度 ListenPort（100B 状态）
|
||
调度 ──UDP──► 车体 address:Port（0x10 应答）
|
||
调度 ──UDP──► 车体 address:Port（0xB1/0xA1/0x01，独立发送）
|
||
</code></pre>
|
||
<p>特点：</p>
|
||
<ul>
|
||
<li>调度**不主动轮询**，靠车体上报驱动状态机</li>
|
||
<li>每收到一帧状态，**必须回 <code>0x10</code>**（已由 <code>Fass2UdpHub</code> 自动处理）</li>
|
||
<li>下发命令**不等待同步应答**（异步）</li>
|
||
</ul>
|
||
<h3>6.2 TCP/PLC（调试/兼容）</h3>
|
||
<ul>
|
||
<li>调度主动发 <code>0x00</code> 查询，同步收 100B</li>
|
||
<li>适合仿真器或无 UDP 上报的环境</li>
|
||
<li>设置 <code>CommMode = Tcp</code>，配置 <code>ConnectTimeoutMs</code> 等</li>
|
||
</ul>
|
||
<h3>6.3 端口核对清单</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>检查项</th>
|
||
<th>操作</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>车体上报发到哪</td>
|
||
<td>确认发往调度机 <code>ListenPort</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>调度命令发到哪</td>
|
||
<td>确认 <code>address:Port</code> 与车体监听一致</td>
|
||
</tr>
|
||
<tr>
|
||
<td>编号一致</td>
|
||
<td><code>VehicleCode</code> = 上报帧内 <code>Car</code> 字段</td>
|
||
</tr>
|
||
<tr>
|
||
<td>防火墙</td>
|
||
<td>放行 UDP 双向</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h2>7. 三种移动方式对比</h2>
|
||
<h3>方式 1：多段脚本（传统）</h3>
|
||
<p>**触发**：手动 Go、<code>EnableLoopTaskDrive=false</code> 时的 Loop、任意编译脚本。</p>
|
||
<p>**流程**：</p>
|
||
<pre><code>
|
||
FindRoute → Compile → 多行脚本：
|
||
agv.Mag2Go(1,2,speed);
|
||
agv.Mag2Go(2,3,speed);
|
||
...
|
||
→ SelfEvaluating 逐行执行
|
||
→ 每行：锁终点 → 发 0xB1 → 等到站 → 释放起点
|
||
</code></pre>
|
||
<p>**特点**：每**条边**一段任务，多次 <code>taskId</code>，与交管「逐段锁点」一致。</p>
|
||
<hr/>
|
||
<h3>方式 2：Loop 全程任务（阶段 4，默认）</h3>
|
||
<p>**触发**：<code>goalSite</code> 标签 + 编译脚本含 <code>Mag2Go</code> + <code>EnableLoopTaskDrive=true</code>。</p>
|
||
<p>**流程**：</p>
|
||
<pre><code>
|
||
LoopMission 写 goalSite
|
||
→ GoSite 仍 Compile 多行脚本（Core 不变）
|
||
→ actualSendScript 拦截，不逐行执行
|
||
→ ExecuteGoalTaskAsync(当前站 → goalSite)
|
||
→ 状态机一次规划全程，滑动窗口发 0xB1
|
||
</code></pre>
|
||
<p>**特点**：业务上一次任务，协议上仍遵守每帧 ≤10 站。</p>
|
||
<hr/>
|
||
<h3>方式 3：单段 Mag2Go（脚本一行）</h3>
|
||
<p>**触发**：脚本里只有一行，或无 <code>goalSite</code> 的测试。</p>
|
||
<p>**流程**：与方式 1 的单行相同，状态机只跑 <code>src → dst</code> 一段。</p>
|
||
<hr/>
|
||
<h3>对比表</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>维度</th>
|
||
<th>多段脚本</th>
|
||
<th>Loop 全程任务</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>规划范围</td>
|
||
<td>每条边</td>
|
||
<td>当前站 → goalSite</td>
|
||
</tr>
|
||
<tr>
|
||
<td>taskId</td>
|
||
<td>每段一个</td>
|
||
<td>全程一个</td>
|
||
</tr>
|
||
<tr>
|
||
<td>交通锁</td>
|
||
<td>每段锁终点</td>
|
||
<td>只锁 goalSite</td>
|
||
</tr>
|
||
<tr>
|
||
<td>适用</td>
|
||
<td>手动调试、兼容旧逻辑</td>
|
||
<td>环线自动跑</td>
|
||
</tr>
|
||
<tr>
|
||
<td>开关</td>
|
||
<td><code>EnableLoopTaskDrive=false</code></td>
|
||
<td><code>EnableLoopTaskDrive=true</code>（默认）</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h2>8. 地图配置：站点与路径</h2>
|
||
<p>任务组包时，调度读取地图中站点（Site）和路径（Track）的 <code>fields</code> 键值，合并写入 FASS 2.0 的 <code>0xB1</code> 节点块（每站 25 字节）。</p>
|
||
<p>**配置位置**：地图编辑器 → 选中站点或路径 → 属性/fields 面板 → 添加键值对。</p>
|
||
<p>**命名约定**：</p>
|
||
<ul>
|
||
<li>业务动作字段统一以 <code>Fass2_</code> 开头（代码常量见 <code>Fass2SiteFields.cs</code>）</li>
|
||
<li>值为**十进制整数**字符串，例如 <code>Fass2_Lift</code> = <code>1</code></li>
|
||
<li>布尔字段写 <code>true</code> / <code>false</code> 或 <code>1</code> / <code>0</code></li>
|
||
</ul>
|
||
<hr/>
|
||
<h3>8.1 协议节点块（25 字节结构）</h3>
|
||
<p>每个站点在 <code>0xB1</code> 中对应一个节点，主要字段如下（与 <code>Fass2NodeMessage</code> 一致）：</p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>偏移</th>
|
||
<th>字段</th>
|
||
<th>类型</th>
|
||
<th>来源</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>0–1</td>
|
||
<td><code>Node</code></td>
|
||
<td>ushort</td>
|
||
<td>站点 <code>TagValue</code> 或 <code>site.id</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>2–3</td>
|
||
<td><code>Distance</code></td>
|
||
<td>ushort</td>
|
||
<td>上一站到本站的边长（mm 量级）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>4</td>
|
||
<td><code>StartStop</code></td>
|
||
<td>byte</td>
|
||
<td>站点 <code>Fass2_StartStop</code> / 默认规则</td>
|
||
</tr>
|
||
<tr>
|
||
<td>5</td>
|
||
<td><code>Direction</code></td>
|
||
<td>byte</td>
|
||
<td>站点或边 fields</td>
|
||
</tr>
|
||
<tr>
|
||
<td>6</td>
|
||
<td><code>Orientation</code></td>
|
||
<td>byte</td>
|
||
<td>边朝向计算或站点覆盖</td>
|
||
</tr>
|
||
<tr>
|
||
<td>7</td>
|
||
<td><code>Byroad</code></td>
|
||
<td>byte</td>
|
||
<td>分叉选择，站点或边</td>
|
||
</tr>
|
||
<tr>
|
||
<td>8–9</td>
|
||
<td><code>Speed</code></td>
|
||
<td>ushort</td>
|
||
<td>边 <code>Speed</code> 换算（0.1 m/min 单位）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>10</td>
|
||
<td><code>Obstacle</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>11</td>
|
||
<td><code>Audio</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>12</td>
|
||
<td><code>Light</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>13</td>
|
||
<td><code>Charge</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>14</td>
|
||
<td><code>Rest</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>15</td>
|
||
<td><code>Lift</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>16</td>
|
||
<td><code>Clamp</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>17</td>
|
||
<td><code>Tray</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>18</td>
|
||
<td><code>Roll</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
<tr>
|
||
<td>19</td>
|
||
<td><code>Shutdown</code></td>
|
||
<td>byte</td>
|
||
<td>站点</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p>状态机到站后，会比对车体上报状态帧中**同一节点块**的字段是否达到期望值；未达标则补发 <code>0xA1</code>。</p>
|
||
<hr/>
|
||
<h3>8.2 站点 fields 详细说明</h3>
|
||
<h4>8.2.1 节点与调度类</h4>
|
||
<h5>`TagValue`（int，可选）</h5>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>映射协议字段</td>
|
||
<td><code>Node</code>（节点号）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>何时配置</td>
|
||
<td>磁导航地标号与地图 <code>site.id</code> **不一致**时必须配置</td>
|
||
</tr>
|
||
<tr>
|
||
<td>车辆开关</td>
|
||
<td><code>Mag2Car.UseTagValueAsNode = true</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>示例</td>
|
||
<td><code>TagValue = 10086</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>注意</td>
|
||
<td>未配置且 <code>UseTagValueAsNode=false</code> 时，直接用 <code>site.id</code> 作为节点号</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h5>`goSite`（int，可选）</h5>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>映射协议字段</td>
|
||
<td>无（不参与 0xB1 组包）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>用途</td>
|
||
<td>LoopMission 在该站无任务匹配时，读取此字段作为默认下一目标</td>
|
||
</tr>
|
||
<tr>
|
||
<td>读取方</td>
|
||
<td>Core <code>AbstractLoopMission.LoopStartAction</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>示例</td>
|
||
<td>站 3 配 <code>goSite = 5</code>，车到站 3 且无 tasklist 匹配时，自动写 <code>goalSite=5</code></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h5>`Fass2_WaitMode`（string，预留）</h5>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>映射协议字段</td>
|
||
<td>无（当前版本不直接写入节点块）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>规划值</td>
|
||
<td><code>None</code> / <code>Button</code> / <code>Plc</code> / <code>Api</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>当前状态</td>
|
||
<td>字段已定义，**等待放行联动逻辑待扩展**；可通过修改 <code>Fass2_StartStop</code> 或外部改 fields 触发重发</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.2 `Fass2_StartStop` — 启停模式（byte）</h4>
|
||
<p>映射协议字段：<code>StartStop</code>（节点块第 5 字节）</p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>值</th>
|
||
<th>含义（对齐 FASS 2.0 字典）</th>
|
||
<th>典型场景</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>1</code></td>
|
||
<td>过站（不停）</td>
|
||
<td>路径中间站、通道站</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>2</code></td>
|
||
<td>普通停车</td>
|
||
<td>工位、等待点、装卸点</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>11</code></td>
|
||
<td>管控启动</td>
|
||
<td>管控区入口，需授权后启动</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>12</code></td>
|
||
<td>管控停止</td>
|
||
<td>管控区停车等待</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>22</code></td>
|
||
<td>精准停止</td>
|
||
<td>装配、对接，精度要求高</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p>**默认规则**（未显式配置 <code>Fass2_StartStop</code> 时，<code>Fass2TaskBuilder</code> 自动决定）：</p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>站点位置</th>
|
||
<th>默认 <code>StartStop</code></th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>中间站</td>
|
||
<td><code>1</code>（过站）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>末站（goalSite）</td>
|
||
<td><code>2</code>（停车）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>末站 + <code>Fass2_PrecisionStop=true</code></td>
|
||
<td><code>22</code>（精准停）</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p>**动作完成判定**：若配置了非过站值，状态机要求上报 <code>Node.StartStop</code> 与期望值一致，且车体非运行态（<code>State≠1</code>），才推进下一段。</p>
|
||
<p>**与 <code>Fass2_PrecisionStop</code> 关系**：</p>
|
||
<ul>
|
||
<li>可直接写 <code>Fass2_StartStop = 22</code></li>
|
||
<li>或末站写 <code>Fass2_PrecisionStop = true</code>，由组包器自动设为 <code>22</code></li>
|
||
</ul>
|
||
<hr/>
|
||
<h4>8.2.3 `Fass2_PrecisionStop` — 精准停（bool）</h4>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>类型</td>
|
||
<td><code>true</code> / <code>false</code> / <code>1</code> / <code>0</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>效果</td>
|
||
<td>仅对**路径末站**生效，等价于 <code>StartStop = 22</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>优先级</td>
|
||
<td>低于显式 <code>Fass2_StartStop</code>（若同时配置，以 <code>Fass2_StartStop</code> 为准）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>示例</td>
|
||
<td>装配工位末站：<code>Fass2_PrecisionStop = true</code></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.4 `Fass2_Byroad` — 分叉选择（byte）</h4>
|
||
<p>映射协议字段：<code>Byroad</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>取值范围</td>
|
||
<td>通常 <code>0</code>–<code>3</code>，表示磁分叉/岔路选择序号</td>
|
||
</tr>
|
||
<tr>
|
||
<td>站点 vs 边</td>
|
||
<td>站点显式配置优先；未配置时继承**进入该站的边** <code>Fass2_Byroad</code> 或 <code>magSelect</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>典型场景</td>
|
||
<td>Y 型路口、多磁条岔口</td>
|
||
</tr>
|
||
<tr>
|
||
<td>完成判定</td>
|
||
<td>若期望值非 0，上报 <code>Node.Byroad</code> 须一致</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.5 `Fass2_Direction` — 车头旋转（byte）</h4>
|
||
<p>映射协议字段：<code>Direction</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>含义</td>
|
||
<td>到站后车头旋转指令（具体角度定义以车体协议为准）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>站点 vs 边</td>
|
||
<td>站点配置覆盖边配置</td>
|
||
</tr>
|
||
<tr>
|
||
<td>完成判定</td>
|
||
<td>上报 <code>Node.Direction</code> 与期望值一致</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.6 `Fass2_Orientation` — 行驶朝向（byte）</h4>
|
||
<p>映射协议字段：<code>Orientation</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>含义</td>
|
||
<td>进出该站时的前进/后退/横移朝向（0–255，对应 0°–360° 量化）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>默认</td>
|
||
<td>由边几何计算：<code>atan2(Δy, Δx)</code> + <code>Reverse</code> + <code>CarDirectionBias</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>覆盖</td>
|
||
<td>站点或边显式配置 <code>Fass2_Orientation</code> 时直接使用</td>
|
||
</tr>
|
||
<tr>
|
||
<td>完成判定</td>
|
||
<td>非 0 期望值时须上报一致</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.7 `Fass2_Lift` — 顶升/举升（byte）</h4>
|
||
<p>映射协议字段：<code>Lift</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>值</th>
|
||
<th>含义（对齐 backend 字典）</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>1</code></td>
|
||
<td>上升到位</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>2</code></td>
|
||
<td>下降到位</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>3</code></td>
|
||
<td>上升中</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>4</code></td>
|
||
<td>下降中</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>典型场景</td>
|
||
<td>顶升搬运、装卸高度切换</td>
|
||
</tr>
|
||
<tr>
|
||
<td>配置建议</td>
|
||
<td>工位停车（<code>StartStop=2</code>）+ <code>Fass2_Lift=1</code> 或 <code>2</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>完成判定</td>
|
||
<td>上报 <code>Node.Lift</code> 等于配置值；未完成自动 <code>0xA1</code> 补发</td>
|
||
</tr>
|
||
<tr>
|
||
<td>注意</td>
|
||
<td>一般配**到位值**（1/2），不要配中间态（3/4）除非明确需要</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.8 `Fass2_Roll` — 滚筒（byte）</h4>
|
||
<p>映射协议字段：<code>Roll</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>用途</td>
|
||
<td>滚筒输送启停/方向</td>
|
||
</tr>
|
||
<tr>
|
||
<td>取值</td>
|
||
<td>以现场车体协议为准（写入节点块第 19 字节）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>完成判定</td>
|
||
<td>期望值非 0 时须上报一致</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.9 `Fass2_Charge` — 充电（byte）</h4>
|
||
<p>映射协议字段：<code>Charge</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>值</th>
|
||
<th>含义</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>1</code></td>
|
||
<td>停止充电</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>2</code></td>
|
||
<td>开始充电</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>典型场景</td>
|
||
<td>充电站、<code>LoopMission</code> 充电触发任务</td>
|
||
</tr>
|
||
<tr>
|
||
<td>配置建议</td>
|
||
<td>充电工位：<code>Fass2_StartStop=2</code> + <code>Fass2_Charge=2</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>离站</td>
|
||
<td>下一任务或离站前可配 <code>Fass2_Charge=1</code></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.10 `Fass2_Rest` — 休眠（byte）</h4>
|
||
<p>映射协议字段：<code>Rest</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>值</th>
|
||
<th>含义</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>1</code></td>
|
||
<td>停止睡眠</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>2</code></td>
|
||
<td>开始睡眠</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>典型场景</td>
|
||
<td>长时间待机工位、低功耗停车区</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.11 `Fass2_Obstacle` — 避障区（byte）</h4>
|
||
<p>映射协议字段：<code>Obstacle</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>用途</td>
|
||
<td>切换车体避障区域/模式</td>
|
||
</tr>
|
||
<tr>
|
||
<td>取值</td>
|
||
<td>以车体协议定义为准（区域编号）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>典型场景</td>
|
||
<td>进入狭窄通道、人机混行区</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.12 `Fass2_Audio` / `Fass2_Light` — 声光（byte）</h4>
|
||
<table>
|
||
<thead><tr>
|
||
<th>字段</th>
|
||
<th>协议字段</th>
|
||
<th>用途</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>Fass2_Audio</code></td>
|
||
<td><code>Audio</code></td>
|
||
<td>提示音、播报</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Light</code></td>
|
||
<td><code>Light</code></td>
|
||
<td>警示灯、状态灯</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p>取值以车体协议为准，一般为模式/曲目/灯色编号。</p>
|
||
<hr/>
|
||
<h4>8.2.13 `Fass2_Clamp` — 夹抱（byte）</h4>
|
||
<p>映射协议字段：<code>Clamp</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>用途</td>
|
||
<td>夹紧/松开机构</td>
|
||
</tr>
|
||
<tr>
|
||
<td>典型场景</td>
|
||
<td>夹抱式 AGV、治具锁紧</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.14 `Fass2_Tray` — 托盘（byte）</h4>
|
||
<p>映射协议字段：<code>Tray</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>用途</td>
|
||
<td>托盘旋转/伸缩等机构</td>
|
||
</tr>
|
||
<tr>
|
||
<td>典型场景</td>
|
||
<td>多工位转台、托盘调角</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.15 `Fass2_Shutdown` — 关机（byte）</h4>
|
||
<p>映射协议字段：<code>Shutdown</code></p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>项目</th>
|
||
<th>说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>用途</td>
|
||
<td>到站后车体软关机/深度待机</td>
|
||
</tr>
|
||
<tr>
|
||
<td>注意</td>
|
||
<td>与全局 <code>0x06</code> 关机指令不同；此为**任务节点内**动作</td>
|
||
</tr>
|
||
<tr>
|
||
<td>风险</td>
|
||
<td>配置后车体可能下线，需人工或远程重启</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h4>8.2.16 站点 fields 速查总表</h4>
|
||
<table>
|
||
<thead><tr>
|
||
<th>字段键</th>
|
||
<th>类型</th>
|
||
<th>协议字段</th>
|
||
<th>是否参与动作闭环</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>TagValue</code></td>
|
||
<td>int</td>
|
||
<td><code>Node</code></td>
|
||
<td>否（仅节点映射）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>goSite</code></td>
|
||
<td>int</td>
|
||
<td>—</td>
|
||
<td>否（Loop 调度用）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_StartStop</code></td>
|
||
<td>byte</td>
|
||
<td><code>StartStop</code></td>
|
||
<td>是</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_PrecisionStop</code></td>
|
||
<td>bool</td>
|
||
<td><code>StartStop</code>→22</td>
|
||
<td>是</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Byroad</code></td>
|
||
<td>byte</td>
|
||
<td><code>Byroad</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Direction</code></td>
|
||
<td>byte</td>
|
||
<td><code>Direction</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Orientation</code></td>
|
||
<td>byte</td>
|
||
<td><code>Orientation</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Lift</code></td>
|
||
<td>byte</td>
|
||
<td><code>Lift</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Roll</code></td>
|
||
<td>byte</td>
|
||
<td><code>Roll</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Charge</code></td>
|
||
<td>byte</td>
|
||
<td><code>Charge</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Obstacle</code></td>
|
||
<td>byte</td>
|
||
<td><code>Obstacle</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Audio</code></td>
|
||
<td>byte</td>
|
||
<td><code>Audio</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Light</code></td>
|
||
<td>byte</td>
|
||
<td><code>Light</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Rest</code></td>
|
||
<td>byte</td>
|
||
<td><code>Rest</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Clamp</code></td>
|
||
<td>byte</td>
|
||
<td><code>Clamp</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Tray</code></td>
|
||
<td>byte</td>
|
||
<td><code>Tray</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Shutdown</code></td>
|
||
<td>byte</td>
|
||
<td><code>Shutdown</code></td>
|
||
<td>是（非 0 时）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_WaitMode</code></td>
|
||
<td>string</td>
|
||
<td>—</td>
|
||
<td>预留</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h3>8.3 路径 Track fields 详细说明</h3>
|
||
<p>路径 fields 主要影响**进入该站的那段边**（距离、速度、朝向、分叉）。</p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>字段键</th>
|
||
<th>类型</th>
|
||
<th>映射</th>
|
||
<th>详细说明</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>Speed</code></td>
|
||
<td>float</td>
|
||
<td><code>Speed</code></td>
|
||
<td>边速度。<code>≤1</code> 按 **m/s**（协议值 = speed×600）；<code>>1</code> 按 **m/min**（协议值 = speed×10）。未配置默认 0.2 m/s</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Reverse</code></td>
|
||
<td>bool</td>
|
||
<td><code>Orientation</code></td>
|
||
<td><code>true</code> 时朝向 +180°</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>CarDirectionBias</code></td>
|
||
<td>float</td>
|
||
<td><code>Orientation</code></td>
|
||
<td>朝向偏置（度），叠加到几何朝向</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>EnableCarAbsoluteDirection</code></td>
|
||
<td>bool</td>
|
||
<td><code>Orientation</code></td>
|
||
<td><code>true</code> 时用 <code>CarAbsoluteDirection</code> 代替几何计算</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>CarAbsoluteDirection</code></td>
|
||
<td>float</td>
|
||
<td><code>Orientation</code></td>
|
||
<td>绝对朝向（度，0–360）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Byroad</code></td>
|
||
<td>byte</td>
|
||
<td><code>Byroad</code></td>
|
||
<td>边级分叉；站点未配 <code>Fass2_Byroad</code> 时生效</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>magSelect</code></td>
|
||
<td>byte</td>
|
||
<td><code>Byroad</code></td>
|
||
<td>磁导航 coder 分叉序号；<code>Fass2_Byroad</code> 为空时作为 Byroad 备选</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Direction</code></td>
|
||
<td>byte</td>
|
||
<td><code>Direction</code></td>
|
||
<td>边级车头旋转；站点未覆盖时生效</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Fass2_Orientation</code></td>
|
||
<td>byte</td>
|
||
<td><code>Orientation</code></td>
|
||
<td>边级朝向；站点未覆盖时生效</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Magnet</code></td>
|
||
<td>bool</td>
|
||
<td>—</td>
|
||
<td><code>true</code> 启用 <code>MagneticTrackCoder</code>（<code>agv.MagGo</code> 等），与 <code>Mag2Go</code> 模板独立</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>ReverseDst</code></td>
|
||
<td>int</td>
|
||
<td>—</td>
|
||
<td>倒车目的地站 ID；磁 coder 跳过该边</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p>**距离 <code>Distance</code>**：由地图坐标自动计算（上一站与本站欧氏距离，mm 取整），一般无需手配。</p>
|
||
<hr/>
|
||
<h3>8.4 组包优先级与默认规则</h3>
|
||
<p>当同一协议字段在站点和边都有配置时：</p>
|
||
<pre><code>
|
||
站点 Fass2_* > 边 Fass2_* > 边通用字段（Speed/Reverse/magSelect）> 系统默认
|
||
</code></pre>
|
||
<p>**<code>StartStop</code> 决定逻辑**：</p>
|
||
<pre><code>
|
||
1. 若站点有 Fass2_StartStop → 直接用
|
||
2. 否则若是路径末站且 Fass2_PrecisionStop=true → 22
|
||
3. 否则若是路径末站 → 2
|
||
4. 否则 → 1（过站）
|
||
</code></pre>
|
||
<p>**<code>Byroad</code> 决定逻辑**：</p>
|
||
<pre><code>
|
||
1. 站点 Fass2_Byroad
|
||
2. 边 Fass2_Byroad
|
||
3. 边 magSelect
|
||
4. 0
|
||
</code></pre>
|
||
<p>**fields 变化重发**：任务执行中，若**尚未到达的站点** <code>Fass2_*</code> 签名变化，状态机会从当前站重新 <code>BuildTaskPlan</code> 并分配新 <code>taskId</code>。</p>
|
||
<hr/>
|
||
<h3>8.5 典型场景配置示例</h3>
|
||
<h4>场景 A：通道过站（无动作）</h4>
|
||
<p>站点 fields：**无需配置**（中间站默认 <code>StartStop=1</code>）</p>
|
||
<hr/>
|
||
<h4>场景 B：普通停车工位</h4>
|
||
<pre><code>
|
||
Fass2_StartStop = 2
|
||
</code></pre>
|
||
<hr/>
|
||
<h4>场景 C：精准对接工位（末站）</h4>
|
||
<pre><code>
|
||
Fass2_PrecisionStop = true
|
||
</code></pre>
|
||
<p>或</p>
|
||
<pre><code>
|
||
Fass2_StartStop = 22
|
||
</code></pre>
|
||
<hr/>
|
||
<h4>场景 D：顶升装卸工位</h4>
|
||
<pre><code>
|
||
Fass2_StartStop = 2
|
||
Fass2_Lift = 1 # 到站升起到位
|
||
</code></pre>
|
||
<p>离站下一任务可在目标站配 <code>Fass2_Lift = 2</code> 下降，或通过后续路径站点 fields 覆盖。</p>
|
||
<hr/>
|
||
<h4>场景 E：充电工位</h4>
|
||
<pre><code>
|
||
Fass2_StartStop = 2
|
||
Fass2_Charge = 2 # 开始充电
|
||
</code></pre>
|
||
<hr/>
|
||
<h4>场景 F：Y 型磁分叉口</h4>
|
||
<p>**站点**（推荐在岔口站配）：</p>
|
||
<pre><code>
|
||
Fass2_Byroad = 1 # 选择磁条 1
|
||
</code></pre>
|
||
<p>或在该站**进入边**上配：</p>
|
||
<pre><code>
|
||
magSelect = 1
|
||
# 或
|
||
Fass2_Byroad = 1
|
||
</code></pre>
|
||
<hr/>
|
||
<h4>场景 G：磁地标与站 ID 不同</h4>
|
||
<p>**站点**：</p>
|
||
<pre><code>
|
||
TagValue = 10086
|
||
</code></pre>
|
||
<p>**车辆**：</p>
|
||
<pre><code>
|
||
UseTagValueAsNode = true
|
||
</code></pre>
|
||
<hr/>
|
||
<h4>场景 H：Loop 默认下一跳</h4>
|
||
<p>**站点 3**（车到 3 后若 tasklist 无匹配，自动去 5）：</p>
|
||
<pre><code>
|
||
goSite = 5
|
||
</code></pre>
|
||
<hr/>
|
||
<h4>场景 I：完整工位（停车 + 顶升 + 精准）</h4>
|
||
<pre><code>
|
||
TagValue = 2001
|
||
Fass2_StartStop = 22
|
||
Fass2_Lift = 1
|
||
Fass2_Obstacle = 2
|
||
</code></pre>
|
||
<hr/>
|
||
<p>**配置禁忌（新手易错）**：</p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>错误</th>
|
||
<th>后果</th>
|
||
<th>建议</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>中间站误配 <code>StartStop=2</code></td>
|
||
<td>路径中间不必要的停车</td>
|
||
<td>仅工位/末站停车</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Lift=3/4</code>（运动中）作为目标</td>
|
||
<td>动作可能永不完成</td>
|
||
<td>用到位值 <code>1</code>/<code>2</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>TagValue</code> 重复</td>
|
||
<td>节点映射错乱</td>
|
||
<td>全图唯一</td>
|
||
</tr>
|
||
<tr>
|
||
<td>只配站点不配 <code>UseTagValueAsNode</code></td>
|
||
<td>下发节点号仍是 site.id</td>
|
||
<td>成对配置</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h2>9. LoopMission 环线任务</h2>
|
||
<h3>9.1 运行流程</h3>
|
||
<pre><code>
|
||
1. 车到站 N，LoopMission 检测可用
|
||
2. 匹配 tasklist：currentStationId = N → 分配 targetStationId
|
||
3. 写 tags：goalSite = 目标站 ID
|
||
4. LoopStartAction 调用 GoSite
|
||
5. Mag2Car 拦截 → 全程任务到 goalSite
|
||
6. 到达后 GoSite 清理 goalSite / occupied / loopAssigned
|
||
7. 下一轮任务匹配
|
||
</code></pre>
|
||
<h3>9.2 相关 tags</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>标签</th>
|
||
<th>含义</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>goalSite</code></td>
|
||
<td>当前要去的目标站 ID</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>loopAssigned</code></td>
|
||
<td>分配时间戳</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>occupied</code></td>
|
||
<td>车辆占用中，值如 <code>go5</code></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>9.3 与 Core 的关系</h3>
|
||
<ul>
|
||
<li>**不需要改 Core**；<code>LoopMission</code> 逻辑完全沿用</li>
|
||
<li><code>磁导航FASS2环线</code> 仅为场景标识，行为与 <code>LoopMission</code> 相同</li>
|
||
<li>真正区别在 **车型** 是否 <code>Mag2Car</code> 且 <code>EnableLoopTaskDrive=true</code></li>
|
||
</ul>
|
||
<h3>9.4 关闭 Loop 拦截（恢复多段脚本）</h3>
|
||
<pre><code>
|
||
EnableLoopTaskDrive = false
|
||
</code></pre>
|
||
<p>Loop 仍走 Compile 多行 <code>Mag2Go</code>，每行一段边。</p>
|
||
<hr/>
|
||
<h2>10. 任务状态机与协议下发</h2>
|
||
<h3>10.1 状态流转</h3>
|
||
<pre><code>
|
||
Idle → Planning → Moving → AtStation → SegmentDone → … → Complete
|
||
↓
|
||
Fault（急停/故障/超时）
|
||
</code></pre>
|
||
<h3>10.2 单帧最多 10 站 — 不冲突</h3>
|
||
<ul>
|
||
<li>**规划**：全程可能有 20+ 站，存在内存 <code>Plan</code> 里</li>
|
||
<li>**下发**：每次只发滑动窗口 <code>min(LockCount, 剩余, 10)</code> 站</li>
|
||
<li>**推进**：当前站动作完成 → <code>CurrentIndex++</code> → 再发下一段</li>
|
||
<li>**同一 taskId**：全程复用，周期重发当前窗口</li>
|
||
</ul>
|
||
<p>示例（15 站路径，<code>LockCount=4</code>）：</p>
|
||
<pre><code>
|
||
第1次 0xB1：站 1,2,3,4
|
||
到站 1 后： 站 2,3,4,5
|
||
到站 2 后： 站 3,4,5,6
|
||
…直到 goalSite
|
||
</code></pre>
|
||
<p>若车体需要首帧更多预发，可将 <code>LockCount</code> 调至 **10**（不超过协议上限）。</p>
|
||
<h3>10.3 动作闭环</h3>
|
||
<p>到站后比对上报 25B 节点与期望：</p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>场景</th>
|
||
<th>完成条件</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>过站</td>
|
||
<td>到达节点且非运行态（<code>State≠1</code>）</td>
|
||
</tr>
|
||
<tr>
|
||
<td>停车</td>
|
||
<td><code>StartStop</code> 匹配</td>
|
||
</tr>
|
||
<tr>
|
||
<td>顶升/充电等</td>
|
||
<td>对应字段在状态帧中达标</td>
|
||
</tr>
|
||
<tr>
|
||
<td>未完成</td>
|
||
<td>自动补发 <code>0xA1</code>，按 <code>ActionRetryIntervalMs</code> 节流</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>10.4 车辆状态枚举（调试看）</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>枚举键</th>
|
||
<th>含义</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>TaskPhase</code></td>
|
||
<td>任务阶段（Idle/Moving/AtStation/…）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>TaskGoal</code></td>
|
||
<td>目标站 ID</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>TaskIndex</code></td>
|
||
<td>当前站点索引</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>State</code></td>
|
||
<td>车体状态文字</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>CurrentNode</code></td>
|
||
<td>当前节点号</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>Task</code></td>
|
||
<td>车体上报的任务号</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>10.5 重启恢复（可选）</h3>
|
||
<p>任务上下文会写入 <code>car.tags</code>（<code>Fass2Task_*</code> 前缀）。重启后 <code>keepAlive</code> 尝试恢复，需等车体再次 UDP 上报后状态机继续推进。</p>
|
||
<hr/>
|
||
<h2>11. 状态查看与手动操作</h2>
|
||
<p>车辆右键方法（界面中）：</p>
|
||
<table>
|
||
<thead><tr>
|
||
<th>方法</th>
|
||
<th>协议</th>
|
||
<th>用途</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>查询状态</td>
|
||
<td><code>0x00</code></td>
|
||
<td>TCP 模式主动查；UDP 模式看缓存</td>
|
||
</tr>
|
||
<tr>
|
||
<td>启动</td>
|
||
<td><code>0x01</code></td>
|
||
<td>启动车体</td>
|
||
</tr>
|
||
<tr>
|
||
<td>停止</td>
|
||
<td><code>0x02</code></td>
|
||
<td>停止</td>
|
||
</tr>
|
||
<tr>
|
||
<td>急停</td>
|
||
<td><code>0x03</code></td>
|
||
<td>急停</td>
|
||
</tr>
|
||
<tr>
|
||
<td>重置UDP监听</td>
|
||
<td>—</td>
|
||
<td>重新注册 UDP 会话</td>
|
||
</tr>
|
||
<tr>
|
||
<td>重置TCP连接</td>
|
||
<td>—</td>
|
||
<td>关闭长连接（TCP 模式）</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<p>日志前缀：<code>[Mag2Car:车名(id)]</code>，任务状态机：<code>task-sm</code>。</p>
|
||
<hr/>
|
||
<h2>12. 常见问题排查</h2>
|
||
<h3>Q1：车显示离线（UDP）</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>可能原因</th>
|
||
<th>处理</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>车体未上报</td>
|
||
<td>查车体是否发往 <code>ListenPort</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>VehicleCode</code> 不匹配</td>
|
||
<td>对照上报帧 <code>Car</code> 字段</td>
|
||
</tr>
|
||
<tr>
|
||
<td>超时</td>
|
||
<td>调大 <code>UdpOfflineTimeoutMs</code> 或查网络</td>
|
||
</tr>
|
||
<tr>
|
||
<td>IP/端口错误</td>
|
||
<td>核对 <code>address</code>、<code>Port</code></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>Q2：发了 0xB1 车不动</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>可能原因</th>
|
||
<th>处理</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>未启动</td>
|
||
<td>确认 <code>StartBeforeMove</code> 或手动点启动</td>
|
||
</tr>
|
||
<tr>
|
||
<td>节点号不对</td>
|
||
<td>检查 <code>UseTagValueAsNode</code> 与 <code>TagValue</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>TCP/UDP 模式搞反</td>
|
||
<td>确认 <code>CommMode</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>状态机 Fault</td>
|
||
<td>看 <code>TaskPhase</code>、<code>TaskFault</code></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>Q3：Loop 不分配任务</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>可能原因</th>
|
||
<th>处理</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>进程未启动</td>
|
||
<td>启动 LoopMission / 磁导航FASS2环线</td>
|
||
</tr>
|
||
<tr>
|
||
<td>tasklist 不匹配</td>
|
||
<td><code>currentStationId</code> 要等于车所在站</td>
|
||
</tr>
|
||
<tr>
|
||
<td>车不可用</td>
|
||
<td><code>Commons.SelectCar</code> 条件</td>
|
||
</tr>
|
||
<tr>
|
||
<td>已有 <code>goalSite</code></td>
|
||
<td>等上一次完成</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>Q4：到站但不继续</h3>
|
||
<table>
|
||
<thead><tr>
|
||
<th>可能原因</th>
|
||
<th>处理</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>动作未完成</td>
|
||
<td>看 <code>Lift</code>/<code>StartStop</code> 等是否与配置一致</td>
|
||
</tr>
|
||
<tr>
|
||
<td>状态机 AtStation</td>
|
||
<td>等 <code>0xA1</code> 或检查车体动作</td>
|
||
</tr>
|
||
<tr>
|
||
<td>超时</td>
|
||
<td>调大 <code>MoveTimeoutSeconds</code></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<h3>Q5：Loop 和多段脚本哪个在生效？</h3>
|
||
<p>看日志：</p>
|
||
<ul>
|
||
<li><code>loop goal drive intercept</code> → 全程任务（阶段 4）</li>
|
||
<li><code>script begin</code> + 多行 <code>Mag2Go</code> → 多段脚本</li>
|
||
</ul>
|
||
<h3>Q6：与 MagCar 混用注意事项</h3>
|
||
<ul>
|
||
<li><code>EventCarMission</code> **只控制 MagCar**</li>
|
||
<li>同场景两种车型时，tasklist 和车辆类型要对应</li>
|
||
<li>FASS 1.0 用 <code>MagCar</code>，FASS 2.0 用 <code>Mag2Car</code></li>
|
||
</ul>
|
||
<hr/>
|
||
<h2>13. 参数推荐与检查清单</h2>
|
||
<h3>13.1 首次联调推荐配置</h3>
|
||
<pre><code>
|
||
CommMode = Udp
|
||
EnableTaskStateMachine = true
|
||
EnableLoopTaskDrive = true
|
||
LockCount = 4 （车体需更多预发可改 10）
|
||
StartBeforeMove = true
|
||
EnableDetailLog = true
|
||
LogRawFrame = true
|
||
MoveTimeoutSeconds = 120
|
||
</code></pre>
|
||
<h3>13.2 上线前检查清单</h3>
|
||
<ul>
|
||
<li>[ ] 插件 <code>StandardScene.Magnetic.dll</code> 已加载</li>
|
||
<li>[ ] 车型为 <code>Mag2Car</code>（不是 <code>MagCar</code>）</li>
|
||
<li>[ ] <code>VehicleCode</code>、IP、端口与车体一致</li>
|
||
<li>[ ] UDP 能收到 100B，日志有 <code>0x10</code> 应答</li>
|
||
<li>[ ] 关键站点 <code>TagValue</code> / <code>Fass2_*</code> 已配置</li>
|
||
<li>[ ] LoopMission 已启动，<code>tasklist.json</code> 路径正确</li>
|
||
<li>[ ] 单车手动 Go 一站成功后再开环线</li>
|
||
</ul>
|
||
<hr/>
|
||
<h2>14. 术语表</h2>
|
||
<table>
|
||
<thead><tr>
|
||
<th>术语</th>
|
||
<th>解释</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td><code>0xB1</code></td>
|
||
<td>路径/任务下发命令，最多 10 个站点节点</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>0xA1</code></td>
|
||
<td>单站点动作下发</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>0x10</code></td>
|
||
<td>UDP 状态应答（时间戳）</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>goalSite</code></td>
|
||
<td>LoopMission 给车分配的目标站标签</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>LockCount</code></td>
|
||
<td>每次下发的滑动窗口站数</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>TaskBuilder</code></td>
|
||
<td>将地图路径+fields 拼成节点序列</td>
|
||
</tr>
|
||
<tr>
|
||
<td><code>状态机</code></td>
|
||
<td>控制规划→下发→到站→推进的自动流程</td>
|
||
</tr>
|
||
<tr>
|
||
<td>PCB/UDP</td>
|
||
<td>车体主动上报，调度被动接收</td>
|
||
</tr>
|
||
<tr>
|
||
<td>PLC/TCP</td>
|
||
<td>调度主动查询车体</td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<h2>附录：相关源码路径</h2>
|
||
<table>
|
||
<thead><tr>
|
||
<th>模块</th>
|
||
<th>路径</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody><tr>
|
||
<td>车型</td>
|
||
<td><code>CarTypes/Mag2Car.cs</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>协议</td>
|
||
<td><code>Protocol/Fass2Protocol.cs</code>、<code>Fass2UdpHub.cs</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>组包</td>
|
||
<td><code>Tasking/Fass2TaskBuilder.cs</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>状态机</td>
|
||
<td><code>Tasking/Fass2TaskStateMachine.cs</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>动作判定</td>
|
||
<td><code>Tasking/Fass2ActionResolver.cs</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>环线 Mission</td>
|
||
<td><code>Chained/Mag2LoopMission.cs</code></td>
|
||
</tr>
|
||
<tr>
|
||
<td>站点字段常量</td>
|
||
<td><code>Tasking/Fass2SiteFields.cs</code></td>
|
||
</tr>
|
||
</tbody>
|
||
</table>
|
||
<hr/>
|
||
<p>*文档随代码演进，若参数或行为有变更，以源码为准。*</p>
|
||
|
||
</body>
|
||
</html> |