2.0协议完善加简单交管配置

2026-08-14 09:49:23 +08:00
parent a28bc68e23
commit 1e780c2b65
51 changed files with 4013 additions and 393 deletions
@@ -7,15 +7,15 @@ namespace StandardScene.Magnetic.Tasking
 {
    /// <summary>
    /// 比对期望节点与上报节点，判定到站与动作是否完成（对齐 backend <c>CarResponseService</c>）。
+    /// 默认只闭环机构类动作；轨迹字段（Speed/Orientation 等）需显式开启。
    /// </summary>
    public static class Fass2ActionResolver
    {
-        private static readonly (string Name, Func<Fass2NodeMessage, byte> Get, Action<Fass2NodeMessage, byte> Set)[] ActionFields =
+        /// <summary>是否在停车站比对 Speed/Orientation/Direction/Byroad 等轨迹字段。</summary>
+        public static bool VerifyTrajectoryFields { get; set; }
+
+        private static readonly (string Name, Func<Fass2NodeMessage, byte> Get, Action<Fass2NodeMessage, byte> Set)[] MechanismFields =
        {
-            ("StartStop", n => n.StartStop, (n, v) => n.StartStop = v),
-            ("Direction", n => n.Direction, (n, v) => n.Direction = v),
-            ("Orientation", n => n.Orientation, (n, v) => n.Orientation = v),
-            ("Byroad", n => n.Byroad, (n, v) => n.Byroad = v),
            ("Obstacle", n => n.Obstacle, (n, v) => n.Obstacle = v),
            ("Audio", n => n.Audio, (n, v) => n.Audio = v),
            ("Light", n => n.Light, (n, v) => n.Light = v),
@@ -28,6 +28,13 @@ namespace StandardScene.Magnetic.Tasking
            ("Shutdown", n => n.Shutdown, (n, v) => n.Shutdown = v)
        };

+        private static readonly (string Name, Func<Fass2NodeMessage, byte> Get, Action<Fass2NodeMessage, byte> Set)[] TrajectoryFields =
+        {
+            ("Direction", n => n.Direction, (n, v) => n.Direction = v),
+            ("Orientation", n => n.Orientation, (n, v) => n.Orientation = v),
+            ("Byroad", n => n.Byroad, (n, v) => n.Byroad = v)
+        };
+
        public static bool IsAtNode(Fass2StateReport report, ushort targetNode)
        {
            return report?.Node != null && report.Node.Node == targetNode;
@@ -35,7 +42,7 @@ namespace StandardScene.Magnetic.Tasking

        public static bool IsVehicleMoving(byte vehicleState)
        {
-            return vehicleState == 1;
+            return vehicleState is 1 or 5;
        }

        public static bool RequiresActionWait(Fass2NodeMessage expected)
@@ -45,12 +52,28 @@ namespace StandardScene.Magnetic.Tasking
                return false;
            }

-            if (expected.StartStop is Fass2TaskBuilder.StartStopStop or Fass2TaskBuilder.StartStopPrecision)
+            if (expected.StartStop is Fass2TaskBuilder.StartStopStop
+                or Fass2TaskBuilder.StartStopPrecision
+                or Fass2TaskBuilder.StartStopControlStop
+                or Fass2TaskBuilder.StartStopControlStart)
            {
                return true;
            }

-            foreach (var field in ActionFields)
+            foreach (var field in MechanismFields)
+            {
+                if (field.Get(expected) != 0)
+                {
+                    return true;
+                }
+            }
+
+            if (!VerifyTrajectoryFields)
+            {
+                return false;
+            }
+
+            foreach (var field in TrajectoryFields)
            {
                if (field.Get(expected) != 0)
                {
@@ -83,12 +106,16 @@ namespace StandardScene.Magnetic.Tasking
                return true;
            }

-            // 过站(StartStop=1) 只要求到点且非运行态，不要求 Orientation 等轨迹字段到位。
            if (expected.StartStop == Fass2TaskBuilder.StartStopPass)
            {
                return true;
            }

+            if (expected.StartStop == Fass2TaskBuilder.StartStopControlStop)
+            {
+                return false;
+            }
+
            return ListPendingFields(expected, actual).Count == 0;
        }

@@ -105,18 +132,25 @@ namespace StandardScene.Magnetic.Tasking
                pending.Add("StartStop");
            }

-            if (expected.Speed != 0 && actual.Speed != expected.Speed)
+            if (VerifyTrajectoryFields)
            {
-                pending.Add("Speed");
-            }
-
-            foreach (var field in ActionFields)
-            {
-                if (field.Name == "StartStop")
+                if (expected.Speed != 0 && actual.Speed != expected.Speed)
                {
-                    continue;
+                    pending.Add("Speed");
                }

+                foreach (var field in TrajectoryFields)
+                {
+                    var expectedValue = field.Get(expected);
+                    if (expectedValue != 0 && field.Get(actual) != expectedValue)
+                    {
+                        pending.Add(field.Name);
+                    }
+                }
+            }
+
+            foreach (var field in MechanismFields)
+            {
                var expectedValue = field.Get(expected);
                if (expectedValue != 0 && field.Get(actual) != expectedValue)
                {
@@ -143,19 +177,27 @@ namespace StandardScene.Magnetic.Tasking
                hasPatch = true;
            }

-            if (expected.Speed != 0 && (actual == null || actual.Speed != expected.Speed))
+            if (VerifyTrajectoryFields)
            {
-                patch.Speed = expected.Speed;
-                hasPatch = true;
-            }
-
-            foreach (var field in ActionFields)
-            {
-                if (field.Name == "StartStop")
+                if (expected.Speed != 0 && (actual == null || actual.Speed != expected.Speed))
                {
-                    continue;
+                    patch.Speed = expected.Speed;
+                    hasPatch = true;
                }

+                foreach (var field in TrajectoryFields)
+                {
+                    var expectedValue = field.Get(expected);
+                    if (expectedValue != 0 && (actual == null || field.Get(actual) != expectedValue))
+                    {
+                        field.Set(patch, expectedValue);
+                        hasPatch = true;
+                    }
+                }
+            }
+
+            foreach (var field in MechanismFields)
+            {
                var expectedValue = field.Get(expected);
                if (expectedValue != 0 && (actual == null || field.Get(actual) != expectedValue))
                {