242 lines
9.6 KiB
C#
242 lines
9.6 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using SimpleCore.Library;
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using SimpleLite.RCS.CarTypes;
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using StandardScene.Signal.Model;
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using StandardScene.Signal.Plc;
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namespace StandardScene.Signal.Logic
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{
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/// <summary>
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/// 1s 扫全场车，对齐反编译 <c>DefaultPlugin.ExcuteThreadMethod</c> + <c>StarSignManage</c>。
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/// </summary>
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/// <remarks>
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/// 每辆车每拍只看当前站点：
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/// <list type="number">
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/// <item>停稳：先按握手点类型分发 Handler，再执行放行点（放行点不读 PLC，可能把还在等允许进入的车开走，站点不要两边都配）。</item>
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/// <item>行驶中：仅 JGControl + RequestIn 调用 <c>RequestInJudge</c>，PLC 未允许进入则停车。</item>
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/// </list>
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/// 握手点解析优先站点 fields（<see cref="SignalCarAdapter.TryReadSignalStop"/>），没有再查 JSON。
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/// </remarks>
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public sealed class CarScanWorker : IDisposable
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{
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/// <summary>取当前全部机构运行态；由 Mission 提供，内部会拷贝列表。</summary>
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private readonly Func<IReadOnlyList<PlcStationRuntime>> _runtimes;
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/// <summary>扫车间隔，下限 100ms，默认跟进程 TickMs=1000。</summary>
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private readonly int _tickMs;
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/// <summary>保护握手点 / 放行点字典，热替换配置时与扫车拍互斥。</summary>
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private readonly object _configLock = new object();
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/// <summary>站点 → 握手点。同一站点多条配置只留第一条。</summary>
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private Dictionary<int, HandshakePointModel> _handshake = new Dictionary<int, HandshakePointModel>();
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/// <summary>站点 → 放行点。同一站点多条配置只留第一条。</summary>
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private Dictionary<int, ReleasePointModel> _release = new Dictionary<int, ReleasePointModel>();
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/// <summary>限流区域上次记日志的车号，避免同一区域每秒刷屏。</summary>
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private readonly Dictionary<string, int> _rateFlowLog = new Dictionary<string, int>();
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/// <summary>车辆没有 GetChargeTime 时，用首次看到「充电中」的时刻估算秒数。</summary>
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private readonly Dictionary<int, DateTime> _chargeStarted = new Dictionary<int, DateTime>();
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/// <summary>未知 SignalType 的日志节流（同站点 10s 一次）。</summary>
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private readonly Dictionary<int, DateTime> _unknownTypeLog = new Dictionary<int, DateTime>();
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private CancellationTokenSource _cts;
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private Thread _thread;
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private int _tickCount;
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public CarScanWorker(Func<IReadOnlyList<PlcStationRuntime>> runtimes, int tickMs)
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{
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_runtimes = runtimes ?? throw new ArgumentNullException(nameof(runtimes));
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_tickMs = Math.Max(100, tickMs);
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}
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/// <summary>已完成的扫车拍数，写入进程 status 供监视。</summary>
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public int TickCount => _tickCount;
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/// <summary>
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/// 热替换握手点 / 放行点。过滤掉站点号无效或信号类型为空的握手点。
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/// 不中断线程，下一拍生效。
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/// </summary>
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public void ReplaceConfig(IEnumerable<HandshakePointModel> handshake, IEnumerable<ReleasePointModel> release)
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{
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lock (_configLock)
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{
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_handshake = (handshake ?? Array.Empty<HandshakePointModel>())
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.Where(x => x != null && x.Sit > 0 && !string.IsNullOrWhiteSpace(x.SignalType))
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.GroupBy(x => x.Sit)
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.ToDictionary(g => g.Key, g => g.First());
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_release = (release ?? Array.Empty<ReleasePointModel>())
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.Where(x => x != null && x.Sit > 0)
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.GroupBy(x => x.Sit)
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.ToDictionary(g => g.Key, g => g.First());
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}
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}
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/// <summary>启动后台扫车线程。重复 Start 若线程仍活则忽略。</summary>
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public void Start()
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{
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if (_thread != null && _thread.IsAlive) return;
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_cts = new CancellationTokenSource();
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_thread = new Thread(Loop)
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{
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IsBackground = true,
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Name = "SignalScan"
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};
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_thread.Start();
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Diagnosis.Log("扫车握手线程已启动", "Signal", true);
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}
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/// <summary>取消令牌并最多等 2s 退出。不抛异常，供进程停止时调用。</summary>
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public void Stop()
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{
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try { _cts?.Cancel(); }
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catch { }
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try { _thread?.Join(2000); }
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catch { }
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_thread = null;
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Diagnosis.Log("扫车握手线程已停止", "Signal", true);
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}
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public void Dispose() => Stop();
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private void Loop()
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{
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var token = _cts.Token;
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while (!token.IsCancellationRequested)
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{
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try
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{
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ScanOnce();
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Interlocked.Increment(ref _tickCount);
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}
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catch (Exception ex)
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{
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Diagnosis.Log($"检测信号停止的AGV是否可以放行异常：{ex.Message}", "Signal", true);
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}
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try { Thread.Sleep(_tickMs); }
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catch (ThreadInterruptedException) { break; }
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}
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}
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/// <summary>
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/// 一拍：拷贝配置字典 → 按机构名查找闭包 → 遍历全部车。
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/// 查找机构时忽略大小写，与 JSON 里 JgName 对齐。
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/// </summary>
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internal void ScanOnce()
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{
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Dictionary<int, HandshakePointModel> handshake;
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Dictionary<int, ReleasePointModel> release;
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lock (_configLock)
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{
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handshake = _handshake;
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release = _release;
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}
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PlcStationRuntime Find(string name, string dockId)
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{
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if (string.IsNullOrWhiteSpace(name))
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return null;
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var list = _runtimes() ?? Array.Empty<PlcStationRuntime>();
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var ofStation = list.Where(x =>
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string.Equals(x.JgName, name, StringComparison.OrdinalIgnoreCase)).ToList();
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if (ofStation.Count == 0)
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return null;
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if (!string.IsNullOrWhiteSpace(dockId))
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{
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var hit = ofStation.FirstOrDefault(x =>
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string.Equals(x.DockId, dockId.Trim(), StringComparison.OrdinalIgnoreCase));
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if (hit != null)
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return hit;
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}
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return ofStation.FirstOrDefault(x =>
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string.Equals(x.DockId, PlcConfigLoader.DefaultDockId, StringComparison.OrdinalIgnoreCase))
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?? ofStation[0];
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}
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foreach (var car in SignalCarAdapter.All())
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{
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if (car == null) continue;
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var sit = SignalCarAdapter.PositionId(car);
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var spec = ResolveSpec(sit, handshake);
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if (SignalCarAdapter.IsStopped(car))
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{
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if (spec != null)
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DispatchStopped(car, spec, Find);
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ReleasePointHandler.OnStopped(car, sit, release);
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}
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else if (spec != null && spec.Is("JGControl"))
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{
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JgControlHandler.OnMoving(car, spec, Find);
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}
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}
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}
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/// <summary>
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/// 站点 fields 有 SignalType 则用地图点配置（老 SignalStop）；
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/// 否则用 handshake-points.json。fields 存在但类型为空视为本站不握手。
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/// </summary>
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private SignalStopSpec ResolveSpec(int sit, IReadOnlyDictionary<int, HandshakePointModel> handshake)
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{
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if (sit <= 0) return null;
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if (SignalCarAdapter.TryReadSignalStop(sit, out var type, out var parms))
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{
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if (string.IsNullOrWhiteSpace(type))
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return null;
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return SignalStopSpec.Parse(type, parms);
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}
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if (handshake != null && handshake.TryGetValue(sit, out var model))
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return SignalStopSpec.From(model);
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return null;
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}
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/// <summary>
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/// 停稳分发。TimedCharging 优先：充电点不应再走机构逻辑。
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/// 未识别的 SignalType 按站点节流打日志，避免刷屏。
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/// </summary>
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private void DispatchStopped(Car car, SignalStopSpec spec, Func<string, string, PlcStationRuntime> find)
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{
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if (spec.Is("TimedCharging"))
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{
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TimedChargeHandler.OnStopped(car, spec, _chargeStarted);
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return;
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}
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if (spec.Is("JGControl"))
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{
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JgControlHandler.OnStopped(car, spec, find, _rateFlowLog);
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return;
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}
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if (spec.Is("PointControl"))
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{
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PointControlHandler.OnStopped(car, spec, find);
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return;
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}
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if (spec.Is("RateFlowControl"))
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{
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RateFlowHandler.OnStopped(car, spec, _rateFlowLog);
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return;
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}
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var sit = SignalCarAdapter.PositionId(car);
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if (_unknownTypeLog.TryGetValue(sit, out var last) && (DateTime.Now - last).TotalSeconds < 10)
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return;
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_unknownTypeLog[sit] = DateTime.Now;
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Diagnosis.Log($"信号类型【{spec.SignalType}】未找到匹配的业务处理模块", "Signal", true);
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}
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}
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}
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