217 lines
9.5 KiB
C#
217 lines
9.5 KiB
C#
using System;
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using System.Linq;
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using SimpleCore.Library;
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using StandardScene.Signal.Model;
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namespace StandardScene.Signal.Plc
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{
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/// <summary>
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/// PLC 字节含义转换，以及按机构类型自动推进离站状态机。对齐反编译 <c>PLCManager</c>。
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/// </summary>
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/// <remarks>
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/// 由 <see cref="PlcStationWorker"/> 每 200ms 在已持有 <see cref="PlcStationRuntime.Sync"/> 时调用。
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/// 写字节含义见 <see cref="SignalWriteValue"/>：无状态 → 进入中 → 到位 → 离开中 → 已离开 → 清零。
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/// 「已离开」可由本侧写成功，或 PLC 回读写值变成已离开（对方清过）触发清空。
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/// </remarks>
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public static class PlcStationLogic
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{
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/// <summary>PLC 读字节 → 调度侧枚举。仅 1=允许进入、2=允许离开，其余当无状态。</summary>
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public static SignalReadValue ConvertRead(byte val) => val switch
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{
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1 => SignalReadValue.允许进入,
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2 => SignalReadValue.允许离开,
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_ => SignalReadValue.无状态
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};
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/// <summary>PLC 写地址回读字节 → 调度侧枚举。1~4 对应进入中/到位/离开中/已离开。</summary>
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public static SignalWriteValue ConvertWrite(byte val) => val switch
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{
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1 => SignalWriteValue.进入中,
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2 => SignalWriteValue.到位,
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3 => SignalWriteValue.离开中,
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4 => SignalWriteValue.已离开,
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_ => SignalWriteValue.无状态
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};
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/// <summary>
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/// 判断站点是否落在机构配置的包含列表里。
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/// 列表支持逗号、分号、空格分隔，与 JSON 里 <c>JgInContains</c> / <c>JgContains</c> 一致。
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/// </summary>
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public static bool ContainsSite(string csv, int siteId)
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{
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if (string.IsNullOrWhiteSpace(csv) || siteId <= 0)
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return false;
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return csv.Split(new[] { ',', ';', ' ' }, StringSplitOptions.RemoveEmptyEntries)
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.Any(s => int.TryParse(s.Trim(), out var n) && n == siteId);
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}
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/// <summary>按 <see cref="PlcStationModel.LineType"/> 分发四套离站逻辑；未知类型不处理。</summary>
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public static void AutoLeave(PlcStationRuntime rt)
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{
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if (rt?.Config == null) return;
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switch (rt.Config.LineType)
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{
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case SignalLineType.上线机构:
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AutoLeaveUpLine(rt);
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break;
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case SignalLineType.单牵引下线机构:
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AutoLeaveDownLine(rt, pin2: false);
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break;
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case SignalLineType.双牵引下线机构:
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AutoLeaveDownLine(rt, pin2: true);
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break;
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case SignalLineType.等待通行机构:
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AutoLeaveWaitSit(rt);
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break;
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}
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}
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/// <summary>
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/// 离站完成：写字节清无状态、清空机构内车号。
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/// 若仍挂着 RequestInAgvNo（上线途中 PLC 已报已离开），一并清掉以免卡死下一辆。
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/// </summary>
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private static void ClearLeft(PlcStationRuntime rt, bool fromReadback)
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{
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rt.WriteSignal = SignalWriteValue.无状态;
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rt.InAgvNo = 0;
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if (rt.RequestInAgvNo > 0)
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{
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Diagnosis.Log(
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$"{rt.Config.JgName} {(fromReadback ? "回读已离开" : "写已离开成功")}，清空请求进入车 {rt.RequestInAgvNo}",
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"JGControl", true);
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rt.RequestInAgvNo = 0;
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}
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else
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Diagnosis.Log($"{rt.Config.JgName} 已离开，清空信号", "JGControl", true);
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}
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/// <summary>
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/// 上线机构：进站过程由扫车 RequestIn/Arrived 启动，离站由本方法跟车位推进。
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/// 进入中且车已离开 JgInContains → 视为到位；
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/// 到位且车在跑 → 离开中；
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/// 离开中且车已不在 JgContains → 已离开。
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/// </summary>
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private static void AutoLeaveUpLine(PlcStationRuntime rt)
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{
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if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
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ClearLeft(rt, fromReadback: false);
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if (rt.ReadWriteSignal == SignalWriteValue.已离开)
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ClearLeft(rt, fromReadback: true);
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if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.进入中)
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{
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var car = SignalCarAdapter.Find(rt.RequestInAgvNo);
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if (car == null) return;
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if (!ContainsSite(rt.Config.JgInContains, SignalCarAdapter.PositionId(car)))
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{
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rt.WriteSignal = SignalWriteValue.到位;
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rt.InAgvNo = car.id;
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rt.RequestInAgvNo = 0;
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Diagnosis.Log($"AGV{car.id} 已到达机构 {rt.Config.JgName}", "JGControl", true);
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}
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}
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else if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.到位)
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{
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var car = SignalCarAdapter.Find(rt.InAgvNo);
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if (car == null || SignalCarAdapter.IsRunning(car))
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rt.WriteSignal = SignalWriteValue.离开中;
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}
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else if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.离开中)
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{
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var car = SignalCarAdapter.Find(rt.InAgvNo);
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if (car == null || !ContainsSite(rt.Config.JgContains, SignalCarAdapter.PositionId(car)))
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rt.WriteSignal = SignalWriteValue.已离开;
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}
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}
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/// <summary>
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/// 下线机构：车已在机构内（InAgvNo），等允许离开后升销钉、停充、启动，写离开中；
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/// 车离开 JgContains 后写已离开。
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/// <paramref name="pin2"/> 为 true 时双牵引，需销钉1+2都到位。
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/// </summary>
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private static void AutoLeaveDownLine(PlcStationRuntime rt, bool pin2)
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{
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if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
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{
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ClearLeft(rt, fromReadback: false);
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return;
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}
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if (rt.ReadWriteSignal == SignalWriteValue.已离开)
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ClearLeft(rt, fromReadback: true);
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if (rt.InAgvNo == 0) return;
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var car = SignalCarAdapter.Find(rt.InAgvNo);
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if (car == null) return;
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var pos = SignalCarAdapter.PositionId(car);
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if (rt.ReadSignal == SignalReadValue.允许离开 && pos == rt.Config.JgPointId)
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{
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if (rt.WriteSignal == SignalWriteValue.离开中) return;
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var pinOk = SignalCarAdapter.IsActionFinish(car, "SetPin1Up")
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&& (!pin2 || SignalCarAdapter.IsActionFinish(car, "SetPin2Up"))
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&& SignalCarAdapter.IsActionFinish(car, "StopCharge");
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if (pinOk)
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{
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SignalCarAdapter.StopCharge(car);
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SignalCarAdapter.Start(car);
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rt.WriteSignal = SignalWriteValue.离开中;
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Diagnosis.Log($"{rt.Config.JgName} 允许离开，通知 AGV{car.id} 启动，写离开中", "JGControl", true);
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}
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else
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{
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SignalCarAdapter.Control(car, "SetPin1Up");
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if (pin2) SignalCarAdapter.Control(car, "SetPin2Up");
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SignalCarAdapter.Control(car, "StopCharge");
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}
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}
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else if (!string.IsNullOrEmpty(rt.Config.JgContains)
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&& !ContainsSite(rt.Config.JgContains, pos)
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&& rt.ReadWriteSignal != SignalWriteValue.已离开)
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{
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rt.WriteSignal = SignalWriteValue.已离开;
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}
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}
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/// <summary>
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/// 等待通行机构：无销钉，允许离开且停在 JgPointId 时停充并启动，写离开中；
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/// 离开包含地标后写已离开。
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/// </summary>
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private static void AutoLeaveWaitSit(PlcStationRuntime rt)
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{
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if (rt.WriteSuccess && rt.WriteSignal == SignalWriteValue.已离开)
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{
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ClearLeft(rt, fromReadback: false);
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return;
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}
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if (rt.ReadWriteSignal == SignalWriteValue.已离开)
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ClearLeft(rt, fromReadback: true);
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if (rt.InAgvNo == 0) return;
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var car = SignalCarAdapter.Find(rt.InAgvNo);
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if (car == null) return;
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var pos = SignalCarAdapter.PositionId(car);
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if (rt.ReadSignal == SignalReadValue.允许离开 && pos == rt.Config.JgPointId)
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{
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if (rt.WriteSignal == SignalWriteValue.离开中) return;
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if (SignalCarAdapter.IsActionFinish(car, "StopCharge"))
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{
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SignalCarAdapter.Start(car);
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rt.WriteSignal = SignalWriteValue.离开中;
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Diagnosis.Log($"{rt.Config.JgName} 允许离开，通知 AGV{car.id} 启动，写离开中", "JGControl", true);
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}
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else
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SignalCarAdapter.Control(car, "StopCharge");
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}
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else if (!string.IsNullOrEmpty(rt.Config.JgContains)
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&& !ContainsSite(rt.Config.JgContains, pos)
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&& rt.ReadWriteSignal != SignalWriteValue.已离开)
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{
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rt.WriteSignal = SignalWriteValue.已离开;
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}
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}
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}
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}
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