326 lines
12 KiB
C#
326 lines
12 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Globalization;
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using System.Linq;
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using System.Reflection;
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using SimpleCore;
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using SimpleCore.PropType;
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using SimpleLite.RCS;
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using SimpleLite.RCS.CarTypes;
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using StandardScene.Signal.Site;
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namespace StandardScene.Signal.Plc
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{
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/// <summary>
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/// 信号插件访问 AGV / 站点的适配层。不引用 Magnetic.dll，按方法名反射启停和牵引棒。
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/// </summary>
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/// <remarks>
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/// MagCar / Mag2Car 上有对应 MethodMember（StartMag2Car、SetPin1Up 等）时生效；
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/// 没有 <c>IsActionFinish</c> 则视为动作已完成，避免非磁导航车卡在销钉等待。
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/// 启停回退顺序：StartMag2Car / StartMagCar → SendStart(0)。
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/// </remarks>
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public static class SignalCarAdapter
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{
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/// <summary>当前内核里的全部车；SimpleLib 异常时返回空，避免扫车线程崩掉。</summary>
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public static IEnumerable<Car> All()
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{
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try
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{
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return SimpleLib.GetAllCars().OfType<Car>();
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}
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catch
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{
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return Array.Empty<Car>();
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}
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}
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/// <summary>按车号取车；id≤0 返回 null。</summary>
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public static Car Find(int id)
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{
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if (id <= 0) return null;
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return SimpleLib.GetCar(id) as Car;
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}
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/// <summary>
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/// 当前站点：优先 <c>siteID</c>，否则 <c>GetLastSite()</c>。
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/// 握手 / 放行 / 限流都用这个号去对 JSON 里的 Sit。
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/// </summary>
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public static int PositionId(Car car)
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{
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if (car == null) return 0;
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try
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{
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if (car.siteID > 0) return car.siteID;
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var last = car.GetLastSite();
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return last > 0 ? last : 0;
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}
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catch
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{
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return 0;
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}
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}
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/// <summary>读车 status.enums["State"]，没有则空串。</summary>
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public static string GetState(Car car)
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{
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if (car?.status?.enums != null &&
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car.status.enums.TryGetValue("State", out var state) &&
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!string.IsNullOrWhiteSpace(state))
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return state;
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return "";
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}
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/// <summary>State 为「运行中」或 Running。</summary>
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public static bool IsMoving(Car car)
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{
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var state = GetState(car);
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return state == "运行中" ||
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string.Equals(state, "Running", StringComparison.OrdinalIgnoreCase);
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}
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/// <summary>
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/// 对齐反编译 <c>RunStatus==停止</c>：非运行中即视为可握手，含充电中 / 停止中 / WaitPass。
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/// 充电点必须把「充电中」算停稳，否则 TimedCharging 不会进 Handler。
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/// </summary>
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public static bool IsStopped(Car car)
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{
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if (car == null) return false;
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if (IsMoving(car)) return false;
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var state = GetState(car);
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if (state == "停止中" || state == "充电中" ||
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string.Equals(state, "Stopping", StringComparison.OrdinalIgnoreCase) ||
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string.Equals(state, "Charging", StringComparison.OrdinalIgnoreCase) ||
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string.Equals(state, "WaitPass", StringComparison.OrdinalIgnoreCase))
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return true;
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return !IsRunning(car);
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}
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/// <summary>正在充电（中英文 State）。</summary>
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public static bool IsCharging(Car car)
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{
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var state = GetState(car);
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return state == "充电中" ||
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string.Equals(state, "Charging", StringComparison.OrdinalIgnoreCase);
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}
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/// <summary>
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/// 车仍占资源：运行中，或有 pendingLocks，或 tags 含 occupied。
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/// 上线机构「到位后开始离开」用这个判断，比单纯看 State 更早切到离开中。
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/// </summary>
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public static bool IsRunning(Car car)
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{
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if (car == null) return false;
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if (IsMoving(car)) return true;
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if (car.status?.pendingLocks != null && car.status.pendingLocks.Length > 0)
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return true;
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if (car.tags != null && car.tags.Contains("occupied"))
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return true;
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return false;
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}
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/// <summary>电量百分比，读 enums["Soc"]；解析失败当 0。</summary>
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public static double Soc(Car car)
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{
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if (car?.status?.enums != null &&
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car.status.enums.TryGetValue("Soc", out var soc) &&
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double.TryParse(soc, NumberStyles.Float, CultureInfo.InvariantCulture, out var value))
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return value;
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return 0;
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}
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/// <summary>限流用的车组：fields["group"] 或 ["GroupID"]。</summary>
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public static string GroupId(Car car)
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{
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if (car?.fields == null) return "";
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if (car.fields.TryGetValue("group", out var g) && !string.IsNullOrWhiteSpace(g))
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return g;
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if (car.fields.TryGetValue("GroupID", out var g2) && !string.IsNullOrWhiteSpace(g2))
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return g2;
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return "";
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}
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/// <summary>当前停在给定站点集合上的全部车（按 PositionId）。</summary>
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public static IReadOnlyList<Car> CarsAt(IEnumerable<int> siteIds)
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{
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var set = new HashSet<int>(siteIds ?? Array.Empty<int>());
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if (set.Count == 0)
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return Array.Empty<Car>();
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return All().Where(c => set.Contains(PositionId(c))).ToList();
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}
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/// <summary>当前停在单个站点上的车。下线 RequestIn 用 JgPointId 查机构内是否已有车。</summary>
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public static IReadOnlyList<Car> CarsAt(int siteId)
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{
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if (siteId <= 0) return Array.Empty<Car>();
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return CarsAt(new[] { siteId });
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}
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/// <summary>读站点 fields 指定键。站点不存在或值为空返回 false。</summary>
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public static bool TryReadSiteField(int siteId, string key, out string value)
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{
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value = "";
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if (siteId <= 0 || string.IsNullOrWhiteSpace(key))
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return false;
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try
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{
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var site = SimpleLib.GetSite(siteId);
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if (site?.fields == null)
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return false;
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if (!site.fields.TryGetValue(key, out var raw) || string.IsNullOrWhiteSpace(raw))
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return false;
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value = raw;
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return true;
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}
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catch
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{
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return false;
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}
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}
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/// <summary>
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/// 地图点是否自带 SignalStop（SignalType 字段存在且非空）。
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/// SignalParams 可缺省。有类型则扫车不再查 handshake-points.json。
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/// </summary>
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public static bool TryReadSignalStop(int siteId, out string signalType, out string signalParams)
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{
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signalType = "";
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signalParams = "";
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if (!TryReadSiteField(siteId, SignalSiteFields.SignalType, out signalType))
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return false;
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TryReadSiteField(siteId, SignalSiteFields.SignalParams, out signalParams);
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return true;
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}
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/// <summary>
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/// 已充电秒数。优先反射 GetChargeTime（int/double/TimeSpan）；
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/// 没有则从首次看到充电中的时刻算，离开充电态时清字典。
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/// </summary>
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public static int ChargeSeconds(Car car, IDictionary<int, DateTime> startedAt)
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{
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if (car == null) return 0;
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var mi = car.GetType().GetMethod("GetChargeTime", BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
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if (mi != null)
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{
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try
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{
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var r = mi.Invoke(car, null);
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if (r is int i) return i;
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if (r is double d) return (int)d;
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if (r is TimeSpan ts) return (int)ts.TotalSeconds;
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}
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catch
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{
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}
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}
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if (IsCharging(car))
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{
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if (!startedAt.ContainsKey(car.id))
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startedAt[car.id] = DateTime.Now;
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return (int)(DateTime.Now - startedAt[car.id]).TotalSeconds;
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}
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startedAt.Remove(car.id);
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return 0;
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}
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/// <summary>类型名恰好为 MagCar（不含 Mag2Car）。磁条交管只放行这种车。</summary>
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public static bool IsMagCar(Car car)
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{
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if (car == null) return false;
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return string.Equals(car.GetType().Name, "MagCar", StringComparison.Ordinal);
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}
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/// <summary>放行：Mag2 → Mag → SendStart(0)。</summary>
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public static void Start(Car car)
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{
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if (car == null) return;
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if (TryInvoke(car, "StartMag2Car") || TryInvoke(car, "StartMagCar"))
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return;
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TryInvoke(car, "SendStart", new object[] { (ushort)0 });
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}
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/// <summary>仅 MagCar 发 FASS 1.0 启动（0x01）。不调 StartMag2Car。</summary>
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public static void StartMagCar(Car car)
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{
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if (!IsMagCar(car)) return;
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if (TryInvoke(car, "StartMagCar"))
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return;
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TryInvoke(car, "SendStart", new object[] { (ushort)0 });
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}
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/// <summary>急停：Mag2 → Mag → SendStop(0)。机构未允许进入时调用。</summary>
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public static void Stop(Car car)
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{
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if (car == null) return;
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if (TryInvoke(car, "StopMag2Car") || TryInvoke(car, "StopMagCar"))
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return;
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TryInvoke(car, "SendStop", new object[] { (ushort)0 });
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}
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/// <summary>停充。握手放行前通常先停充再启动。</summary>
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public static void StopCharge(Car car)
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{
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if (car == null) return;
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TryInvoke(car, "StopCharge");
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}
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/// <summary>
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/// 销钉/停充等动作是否完成。车类型没有 IsActionFinish 时返回 true（非磁导航不阻塞）。
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/// 反射异常也当完成，避免把产线卡死。
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/// </summary>
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public static bool IsActionFinish(Car car, string action)
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{
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if (car == null) return false;
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if (string.IsNullOrWhiteSpace(action)) return true;
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var mi = car.GetType().GetMethod("IsActionFinish", BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
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if (mi == null)
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return true;
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try
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{
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var r = mi.Invoke(car, new object[] { action });
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return r is true;
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}
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catch
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{
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return true;
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}
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}
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/// <summary>下发动作：先按动作名直接调 MethodMember，没有再 ImmediateCommand(action)。</summary>
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public static void Control(Car car, string action)
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{
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if (car == null || string.IsNullOrWhiteSpace(action)) return;
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if (TryInvoke(car, action)) return;
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TryInvoke(car, "ImmediateCommand", new object[] { action });
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}
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/// <summary>
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/// 按名称找实例方法。无参与带参分开匹配，重载参数个数不对就跳过。
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/// 调用抛错返回 false，让上层试下一个名字。
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/// </summary>
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private static bool TryInvoke(object target, string name, object[] args = null)
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{
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var type = target.GetType();
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var methods = type.GetMethods(BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic)
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.Where(m => string.Equals(m.Name, name, StringComparison.Ordinal));
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foreach (var mi in methods)
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{
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var ps = mi.GetParameters();
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if (args == null)
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{
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if (ps.Length != 0) continue;
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try { mi.Invoke(target, null); return true; }
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catch { return false; }
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}
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if (ps.Length != args.Length) continue;
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try { mi.Invoke(target, args); return true; }
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catch { return false; }
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}
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return false;
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}
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}
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}
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