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
@@ -0,0 +1,102 @@
+using StandardScene.Magnetic.Protocol;
+using StandardScene.Magnetic.Tasking;
+using System.Collections.Generic;
+using Xunit;
+
+namespace StandardScene.Magnetic.Tests.Tasking
+{
+    public class Fass2ControlStopStateMachineTests
+    {
+        [Fact]
+        public void ControlStop_TruncatesWindow_WaitsOccupancy_ThenReleases()
+        {
+            Fass2NodeMessage[] lastWindow = null;
+            Fass2NodeMessage lastPatch = null;
+            var canRelease = false;
+            var nodes = new List<Fass2NodeMessage>
+            {
+                new Fass2NodeMessage { Node = 1, StartStop = Fass2TaskBuilder.StartStopPass, Distance = 100 },
+                new Fass2NodeMessage { Node = 2, StartStop = Fass2TaskBuilder.StartStopControlStop },
+                new Fass2NodeMessage { Node = 3, StartStop = Fass2TaskBuilder.StartStopPass }
+            };
+            var plan = new Fass2TaskPlan
+            {
+                StartSiteId = 10,
+                GoalSiteId = 12,
+                SiteIds = new List<int>(),
+                Nodes = nodes,
+                FieldsSignature = "keep"
+            };
+
+            var machine = new Fass2TaskStateMachine(new Fass2TaskCallbacks
+            {
+                BuildPlan = (_, __, ___) => plan,
+                SendNodes = (window, _) => lastWindow = window,
+                SendAction = (patch, _) => lastPatch = patch,
+                SendControl = (_, __) => { },
+                ResolveNodeId = id => (ushort)id,
+                AllocateTaskId = () => 1UL,
+                AllocateActionId = () => 9UL,
+                CheckControlRelease = _ => new Fass2ControlReleaseCheck
+                {
+                    CanRelease = canRelease,
+                    AreaId = "DockA",
+                    Capacity = 1,
+                    OthersInArea = canRelease ? 0 : 1,
+                    ReleaseStartStop = Fass2TaskBuilder.StartStopControlStart,
+                    Reason = canRelease ? "area clear" : "area occupied"
+                }
+            })
+            {
+                StartBeforeMove = false,
+                LockCount = 4,
+                ResendIntervalMs = 60_000,
+                ActionRetryIntervalMs = 0
+            };
+
+            machine.Begin(10, 12);
+            machine.Tick(Report(1, moving: true, startStop: 1));
+
+            Assert.Equal(Fass2TaskPhase.Moving, machine.Context.Phase);
+            Assert.NotNull(lastWindow);
+            Assert.Equal(2, lastWindow.Length);
+            Assert.Equal(Fass2TaskBuilder.StartStopControlStop, lastWindow[1].StartStop);
+
+            machine.Tick(Report(2, moving: false, startStop: 12));
+            Assert.Equal(Fass2TaskPhase.AtStation, machine.Context.Phase);
+            Assert.Equal(1, machine.Context.CurrentIndex);
+
+            lastPatch = null;
+            machine.Tick(Report(2, moving: false, startStop: 12));
+            Assert.True(machine.Context.WaitingForRelease);
+            Assert.Null(lastPatch);
+            Assert.Equal(-1, machine.Context.ControlReleasedIndex);
+
+            canRelease = true;
+            machine.Tick(Report(2, moving: false, startStop: 12));
+            Assert.NotNull(lastPatch);
+            Assert.Equal(Fass2TaskBuilder.StartStopControlStart, lastPatch.StartStop);
+            Assert.Equal(1, machine.Context.ControlReleasedIndex);
+            Assert.Equal(Fass2TaskBuilder.StartStopControlStart, nodes[1].StartStop);
+            Assert.True(lastWindow.Length >= 2);
+            Assert.Equal((ushort)3, lastWindow[lastWindow.Length - 1].Node);
+
+            machine.Tick(Report(2, moving: false, startStop: 11));
+            Assert.Equal(Fass2TaskPhase.AtStation, machine.Context.Phase);
+            Assert.Equal(1, machine.Context.CurrentIndex);
+        }
+
+        private static Fass2StateReport Report(ushort node, bool moving, byte startStop)
+        {
+            return new Fass2StateReport
+            {
+                State = (byte)(moving ? 1 : 2),
+                Node = new Fass2NodeMessage
+                {
+                    Node = node,
+                    StartStop = startStop
+                }
+            };
+        }
+    }
+}