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refactor: 插件 UI 从 WinForms 迁移到 CycleGUI，并修复代码质量问题

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将 StandardScene 各插件的配置/监控窗体从 WinForms 迁移到 CycleGUI（删除 .Designer.cs/.resx，重写为 PanelBuilder 立即模式 UI，新增 CycleUiHelper 统一对话框）。

同时修复代码审核中的问题：
- 后台文件写入加锁 + try/catch（ButtonBoxManager / DoorManager，对齐 LoopViewer.SaveTasks 模式）
- CoderFieldsMetadata.cs 启用 #nullable enable，消除 CS8632 警告
- DummyCar 移除已废弃的 rightClickAction()/SetPosition()
- CarRemoteHelper.OpenVehicleWebPage 的 Process.Start 加 try/catch
- 重命名名不副实的 Mstsc()（现为打开网页）
- 统一弃元命名为 _
- TrafficInterlockViewer 改用稳定 Id（GUID）做选择/编辑，替代行索引
- csproj 改用 $(CGUILibDir) 解析 CycleGUI，绝对路径收敛到 Directory.Build.props

构建：dotnet build StandardScene.sln → 0 错误，30 警告（均为历史遗留）。
注：static 单例状态重构（审核第 8 项）暂未处理，留待单独任务。
This commit is contained in:
zhaowei.huang
2026-06-26 15:00:53 +08:00
parent c8e540d272
commit a0dc1e6cd0
91 changed files with 3946 additions and 15419 deletions
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StandardScene.Magnetic/CarTypes/Kiva.cs
-692
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@@ -1,692 +0,0 @@
using LessokajiWeaverUtilities.Utilities;
using Newtonsoft.Json;
using SimpleLite;
using SimpleLite.RCS;
using SimpleLite.RCS.CarTypes;
using SimpleLite.CADTools;
using SimpleLite.Props;
using SimpleLite.UI;
using SimpleCore;
using SimpleCore.Compiler;
using SimpleCore.Extras;
using SimpleCore.Library;
using SimpleCore.PropType;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.Linq;
using System.Net.Http;
using System.Numerics;
using System.Reflection;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using StandardScene.Model;
using StandardScene.Coders;
using StandardScene.Magnetic.Coders;
using Track = SimpleCore.PropType.Track;
namespace StandardScene.CarTypes
{
// MagneticTrackCoder 已物理迁出至 StandardScene.Magnetic.Coders（scene.mag 平台）。
// Kiva 系字段袋（KivaCarFields/KivaSiteFields/KivaTrackFields/KivaPlanFields）下沉至
// 基座 StandardScene.Core\CarTypes\KivaFields.cs（ArmCar 等跨平台车型继承它们）。
//标定轮里程计
[TemplateTrackCoderSettings(
priority = 10,
useVerb = "track.CalibrateWheelEncoder && track.ReverseDst != dst.id",
blockVerb = "true",
templateString = "agv.CalibrateWheelEncoder(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id});",
siteFields = typeof(KivaSiteFields),
trackFields = typeof(KivaTrackFields))]
// 通用避障/IO/纠偏 coder 已抽离为 StandardScene.Coders.*（见类前 [ProgramTrackCoderSettings] 引用）
// 避障区尺寸(2参)切换 coder 已抽离为 StandardScene.Coders.AvoidanceParamLWCoder（方案 B；见下方 [ProgramTrackCoderSettings] 引用）
[ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceParamLWCoder))]
//plan.SegN 是指 当前路径所有点线的数量
//plan.SegN-2 就是终点倒数第二个站点
//[TemplateTrackCoderSettings(
// priority = 1,
// templateString = "agv.BasicGo(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
// "${track.id},${track.Speed},${track.Reverse||(track.ReverseDst==dst.id)}," +
// "${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection},${track.typeInfo});",
// siteFields = typeof(KivaSiteFields),
// trackFields = typeof(KivaTrackFields),
// planFields = typeof(KivaPlanFields))]
[TemplateTrackCoderSettings(
priority = 30,
useVerb = "dst.tag>0 && src.tag>0",
templateString = "agv.QrGo(${src.x},${src.y},${src.id},${src.tag},${dst.x},${dst.y},${dst.id},${dst.tag},${track.id}," +
"${track.Speed},${track.Reverse || (track.ReverseDst == dst.id)}," +
"${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection}," +
"${track.typeInfo});",
blockVerb = "true",
siteFields = typeof(KivaSiteFields),
trackFields = typeof(KivaTrackFields),
planFields = typeof(KivaPlanFields))]
//[TemplateTrackCoderSettings(
// priority = 2,
// useVerb = "track.ReverseDst==dst.id",
// templateString = "agv.BasicGo(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id},${track.id},${track.speed},0,true);",
// blockVerb = "true",
// siteFields = typeof(KivaSiteFields),
// trackFields = typeof(KivaTrackFields))]
[TemplateTrackCoderSettings(
priority = 20,
useVerb = "plan.action=='fetch' && dst.Shelf&&plan.curSeg==plan.segN-2",
templateString = "agv.Wait();" +
"agv.Fetch(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
"${dst.FetchSpeed},${dst.FetchLidarArea},${dst.FetchIOArea},${dst.FetchReverse}," +
"${dst.FetchBlindMoveDist},${dst.FetchLiftDownTarget},${dst.FetchLiftUpTarget}," +
"${dst.FetchUseQr},${dst.FetchQrMode},${dst.FetchIsUpQr},${dst.FetchUseDetector},${dst.FetchDetector},${dst.FetchDetectWidth},${dst.FetchDetectDepth}," +
"${plan.CarLength},${plan.CarWidth},${dst.FetchLeaveSrcEarly},${dst.FetchShieldObstacleDist});" +
"agv.Wait();",
blockVerb = "true",
siteFields = typeof(KivaSiteFields),
trackFields = typeof(KivaTrackFields),
planFields = typeof(KivaPlanFields))]
[TemplateTrackCoderSettings(
priority = 20,
useVerb = "plan.action=='put' && dst.Shelf&&plan.curSeg==plan.segN-2",
templateString = "agv.Wait();" +
"agv.Put(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
"${dst.PutSpeed},${dst.PutLidarArea},${dst.PutIOArea},${dst.PutReverse},${dst.PutSyncRotate}," +
"${dst.PutBlindMoveDist},${dst.PutLiftDownTarget},${dst.PutLiftUpTarget}," +
"${dst.PutUseQr},${dst.PutQrMode},${dst.PutIsUpQr},${dst.PutUseDetector},${dst.PutDetector}," +
"${dst.PutDetectWidth},${dst.PutDetectDepth},${dst.PutLeaveSrcEarly},${dst.PutShieldObstacleDist});" +
"agv.Wait();",
blockVerb = "true",
siteFields = typeof(KivaSiteFields),
trackFields = typeof(KivaTrackFields),
planFields = typeof(KivaPlanFields))]
[TemplateTrackCoderSettings(
priority = 22,
useVerb = "src.Shelf&&plan.curSeg==1",
templateString = "agv.LeaveShelf(${src.x},${src.y},${src.id},${dst.x},${dst.y},${dst.id}," +
"${src.LeaveShelfSpeed},${src.LeaveShelfLidarArea},${src.LeaveShelfIOArea},${src.LeaveShelfReverse},${src.LeaveShelfSyncRotate}," +
"${src.LeaveShelfBlindMoveDist},${src.LeaveShelfLiftDownTarget},${src.LeaveShelfRecoveryObstacleDist},);",
blockVerb = "true",
siteFields = typeof(KivaSiteFields),
trackFields = typeof(KivaTrackFields),
planFields = typeof(KivaPlanFields))]
[TemplateSiteCoderSettings(
priority = 25,
useVerb = "plan.action=='fetch'&& plan.segN == 1 &&dst.Shelf",
templateString =
"agv.FetchInPlace(${dst.FetchUseQr},${dst.FetchQrMode},${dst.FetchIsUpQr},${dst.FetchLiftUpTarget},${plan.CarLength},${plan.CarWidth});" +
"agv.Wait();",
blockVerb = "true",
siteFields = typeof(KivaSiteFields),
trackFields = typeof(KivaTrackFields),
planFields = typeof(KivaPlanFields))]
//[TemplateSiteCoderSettings(
// priority = 100,
// useVerb = "plan.curSeg == 0",
// templateString = "agv.StartingMission();agv.Wait();",
// blockVerb = "false",
// siteFields = typeof(KivaSiteFields),
// trackFields = typeof(KivaTrackFields),
// planFields = typeof(KivaPlanFields))]
[ProgramTrackCoderSettings(priority = 5, program = typeof(KivaCarTrackCoder))]
[ProgramTrackCoderSettings(priority = 19, program = typeof(MagneticTrackCoder))]
[ProgramTrackCoderSettings(priority = 17, program = typeof(LidarAreaSwitchCoder))]
[ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceDistanceCoder))]
[ProgramTrackCoderSettings(priority = 20, program = typeof(IoAreaSwitchCoder))]
[ProgramTrackCoderSettings(priority = 20, program = typeof(TrackingErrThreshCoder))]
[CarType(Name = "Kiva", editor = typeof(Kiva))]
[I18N.DocumentTranslation(Name = "Kiva", locale = "en")]
[EnvelopConfig(centerX = 0, centerY = 0, lengthX = 950, lengthY = 650)]
public class Kiva : GhostCar, IScriptErrorRecoverable
{
/// <summary>脚本异常自恢复（AbstractLoopMission 经 IScriptErrorRecoverable 调用），转调 newReset。</summary>
public void RecoverReset(int resetSiteId = 0) => newReset(resetSiteId);
[FieldMember] public float CarLength = 2000;
[FieldMember] public float CarWidth = 1400;
public class RotateSiteEnvelope : SiteEnvelopeDefinition<Kiva>
{
public override bool Use() => true;
public override void Prompt()
{
if (curSeg == 0)
{
return;
}
if (plan.codeArr == null)
{
return;
}
var carConfig = usingCar.GetType().GetCustomAttribute<EnvelopConfigAttribute>();
var carLength = carConfig.lengthX;
var carWidth = carConfig.lengthY;
var code = plan.codeArr[curSeg - 1];
if (code.Contains("Fetch"))
{
var lengthX = plan.fields.TryGetValue("MaterialLength", out var materialLength)
? (int.TryParse(materialLength, out var lengthResult) ? lengthResult > 0 ? lengthResult : carLength : carLength)
: carLength;
var lengthY = plan.fields.TryGetValue("MaterialWidth", out var materialWidth)
? (int.TryParse(materialWidth, out var widthResult) ? widthResult > 0 ? widthResult : carWidth : carWidth)
: carWidth;
reshape(lengthX, lengthY, 0, 0);
}
else if (code.Contains("Put"))
{
reshape(carLength, carWidth, 0, 0);
}
}
public override bool Block() => false;
public override int priority => 1;
}
public static async Task<Kiva> Create()
{
var kiva = new Kiva()
{
lstatus = "连接中",
address = "127.0.0.1",
name = $"Kiva",
haveCoordination = true,
speed = 1,
};
return kiva;
}
private const float DrawWidth = 950, DrawLength = 650;
private readonly Pen orientPen = new Pen(Color.White, 3);
private bool twinkle = false;
protected override void draw(Graphics eGraphics)
{
try
{
var DrawWidth = CarLength;
var DrawLength = CarWidth;
var lineCap = new AdjustableArrowCap(5, 5, true);
orientPen.CustomEndCap = lineCap;
orientPen.StartCap = LineCap.RoundAnchor;
var alarmLevel = Commons.GetCarStatus(this, "AlarmLevel");
var soc = Commons.CarValue((Car)this, "Soc");
var electricCurrent = Commons.CarValue((Car)this, "ElectricCurrent");
var thresSpeed = Commons.CarValue(this, "ThresSpeed");
LadderLogic.FlipFlop(ref twinkle, 500, true, false);
Rectangle destRect = new Rectangle(
(int)((int)(-DrawWidth / 2)),
(int)((int)(-DrawLength / 2)),
(int)((int)DrawWidth),
(int)((int)DrawLength)
);
if (int.TryParse(alarmLevel, out var alarm) && alarm > 0)
{
eGraphics.FillRectangle(twinkle ? Brushes.DarkRed : Brushes.Green, destRect);
}
else if (alarmLevel == "-1" || this.siteID == -1)
eGraphics.FillRectangle(Brushes.LightSeaGreen, destRect);
else if (electricCurrent > 1)
eGraphics.FillRectangle(Brushes.YellowGreen, destRect);
else if (thresSpeed <= 0)
{
eGraphics.FillRectangle(twinkle ? Brushes.YellowGreen : Brushes.Green, destRect);
}
else if (soc < 25)
{
eGraphics.FillRectangle(twinkle ? Brushes.DarkRed : Brushes.LightSeaGreen, destRect);
}
else
eGraphics.FillRectangle(Brushes.Green, destRect);
eGraphics.DrawEllipse(Pens.Yellow, -160, -160, 320, 320);
eGraphics.DrawLine(orientPen, 0, 0, 480, 0);
}
catch (Exception e)
{
Diagnosis.Post("绘制小车异常" + ExceptionFormatter.FormatEx(e), "绘制小车异常", true);
}
}
private bool LoopTestRunning = false;
[MethodMember(Name = "循环测试")]
[I18N.DocumentTranslation(Name = "Loop Test", locale = "en")]
public async void LoopTest()
{
LoopTestRunning = true;
var a = SimpleLib.GetAllSites().First(s => s.name == "A");
var b = SimpleLib.GetAllSites().First(s => s.name == "B");
var plan1 = new SegmentPlan() { usingCar = this };
plan1.fields["action"] = "fetch";
plan1.FindRoute(SimpleLib.GetSite(GetLastSite()), a);
await plan1.Compile("fetch").Queue();
var plan2 = new SegmentPlan() { usingCar = this };
plan2.fields["action"] = "go";
plan2.FindRoute(SimpleLib.GetSite(GetLastSite()), b);
await plan2.Compile("go").Queue();
var plan3 = new SegmentPlan() { usingCar = this };
plan3.fields["action"] = "put";
plan3.FindRoute(SimpleLib.GetSite(GetLastSite()), a);
await plan3.Compile("put").Queue();
var plan4 = new SegmentPlan() { usingCar = this };
plan4.fields["action"] = "go";
plan4.FindRoute(SimpleLib.GetSite(GetLastSite()), b);
await plan4.Compile("go").Queue();
}
[MethodMember(Name = "循环停止测试")]
[I18N.DocumentTranslation(Name = "Stop Loop Test", locale = "en")]
public void LoopTestStop()
{
LoopTestRunning = false;
}
public override string SetDisplayInfo()
{
try
{
var str = $"{name}({id})\n";
status.enums.TryGetValue("ChassisMode", out var manual);
var ms = manual == "0" ? "自动" : "手动";
status.enums.TryGetValue("Soc", out var soc);
str = $"{str}{ms}|soc:{soc}";
var alarmStr = Commons.GetCarStatus(this, "AlarmInfo");
if (alarmStr != "")
str = $"{str}|{alarmStr}";
//if (status.enums.TryGetValue("mAlarm", out var mAlarm) && mAlarm != "")
// str = $"{str}|M:{mAlarm}";
//var hasC = status.enums.TryGetValue("cAlarm", out var cAlarm) && cAlarm != "";
//if (mAlarm != "" && hasC)
// str = $"{str}|";
//if (hasC)
// str = $"{str}C:{cAlarm}";
//var L_step = status.enums.TryGetValue("ls", out var ls) && ls != "";
//if (L_step)
//{
// str = $"{str}|ls:{ls}";
//}
if (status.enums.TryGetValue("ElectricCurrent", out var electricCurrent) &&
!string.IsNullOrEmpty(electricCurrent))
{
var charging = float.Parse(electricCurrent) * 0.01f > 0 ? "充电中" : "未充电";
str = $"{str}|charge:{charging}";
}
var thresSpeed = Commons.CarValue(this, "ThresSpeed");
str = $"{str}{((thresSpeed <= 0) ? "|避障触发" : "")}";
return str;
}
catch (Exception e)
{
Console.WriteLine(e);
return "bad car";
}
}
[MethodMember(Name = "进入小车远程", Description = "进入小车远程桌面")]
public void Mstsc()
{
var ip = this.address;
// 启动mstsc并传递IP地址
Process.Start(
new ProcessStartInfo
{
FileName = "mstsc",
Arguments = $"/v:{ip}",
UseShellExecute = false,
CreateNoWindow = true
}
);
}
[MethodMember(Name = "显示车辆监控", Description = "打开车辆状态监控窗口")]
public void ShowVehicleMonitor()
{
VehicleMonitor.ShowMonitor();
}
[MethodMember(Name = "模拟电量", Description = "/")]
public void SimarSoc()
{
if (InputBox.ShowDialog("模拟电量", "模拟电量Soc", "0", InputBox.Buttons.OkCancel) == SimpleLite.DialogResult.Cancel) return;
string value = InputBox.ResultValue;
try
{
status.enums["Soc"] = (60 + int.Parse(value)).ToString();
status.enums["Voltage"] = (50 + int.Parse(value)).ToString();
status.enums["ElectricCurrent"] = (40 + int.Parse(value)).ToString();
}
catch (Exception)
{
}
}
[MethodMember(Name = "立即强制结束new", Description = "立刻终止小车运行，重启C，并让小车下线")]
[I18N.DocumentTranslation(Name = "Force Stop new", Description = "Stop car & reset clumsy", locale = "en")]
public new async void ForceStop()
{
try
{
NoSchedule(true);
siteID = -1;
Commons.ClearTags(tags);
new Thread(() =>
{
try
{
AppendDebug("restarting clumsy");
Get("reset");
AppendDebug("wait for any pending task to flush.");
try
{
status.programs.task.Wait();
}
catch
{
}
AppendDebug("Clumsy Restarted");
NoSchedule(true);
siteID = -1;
Commons.DeleteTag(tags, "occupied");
}
catch (Exception ex)
{
MessageBox.Show(
$@"未能立即强制结束小车{name}({id})，原因：{ExceptionFormatter.FormatEx(ex)}"
);
}
})
{
Name = $"ForceStop:{name}({id})"
}.Start();
}
catch (Exception e)
{
Console.WriteLine(e);
throw;
}
}
[MethodMember(Name = "返厂检修new", Description = "不再刷新小车状态，当然也不再被调度")]
[I18N.DocumentTranslation(Name = "Blown new", Description = "Car no longer refresh status and scheduling", locale = "en")]
public new void Blown()
{
AppendDebug("ui-blown");
Diagnosis.Post($"Car {name}({id}) blown");
NoSchedule();
siteID = -1;
tags.Clear();
status.usage.AddUsage(
"base",
new CarUsage.CarUsageInfo { scheduling = false, refreshing = false }
);
lstatus = "返厂检修";
}
[MethodMember(Name = "现场检修new ", Description = "让小车不再被调度，但仍然刷新状态，并且当前点不再使用")]
[I18N.DocumentTranslation(Name = "Repair new", Description = "Car no longer scheduling but still refresh status", locale = "en")]
public new void Repair()
{
AppendDebug("ui-repair");
Diagnosis.Post($"Repair Car {name}({id})");
NoSchedule();
siteID = -1;
Commons.DeleteTag(tags, "occupied");
lstatus = "现场检修";
}
public void newReset(int resetId = 0)
{
//if (!status.programs.task.IsCompleted &&
// MessageBox.Show($"小车{name}({id})当前有任务：{status.programs.printStatus()}，确认初始化？", "确认",
// MessageBoxButtons.YesNo) == DialogResult.No) return;
try
{
if (GetLastSite() != -1 && Commons.GetVehicleStatus((Car)this)!= VehicleStatus.NeedInit)
{
Diagnosis.Post($"Car{id}初始化失败：已初始化");
return;
}
var debug = "ui invoke reset. ";
// todo: 找点和线段的最近点。。。
// lock
UISite site1 = null;
float dist = float.MaxValue;
List<(float, Site, Site)> trackList = new List<(float, Site, Site)>();
if (resetId == 0)
{
(float bias, Vector2 hPnt, float fd) Project2DLine(
Vector2 pnt,
Vector2 segSt,
Vector2 segEnd
)
{
var dir = Vector2.Normalize(segEnd - segSt);
var fd = Vector2.Dot(pnt - segSt, dir);
var hPnt = segSt + fd * dir;
var bias = dir.X * (pnt.Y - segSt.Y) - (pnt.X - segSt.X) * dir.Y;
return (bias, hPnt, fd);
}
foreach (var allTrack in SimpleLib.GetAllTracks())
{
var s = SimpleLib.GetSite(allTrack.siteA);
var e = SimpleLib.GetSite(allTrack.siteB);
var (b, h, fd) = Project2DLine(
new Vector2(x, y),
new Vector2(s.x, s.y),
new Vector2(e.x, e.y)
);
b = Math.Abs(b);
if (fd < 0 || fd > 1)
continue;
if (dist > b)
{
UISite ss;
if (fd < 0.5)
ss = (UISite)s;
else
ss = (UISite)e;
foreach (var ccar in SimpleLib.GetAllCars())
{
if (ccar == this)
continue;
if (ccar.status.holdingLocks.Contains(s.id))
goto next;
}
dist = b;
site1 = ss;
next:
;
}
}
float radius = 5000;
//根据小车为圆心找到半径radius内的站点
var surroundSites = SimpleLib.GetAllSites().ToList().FindAll(p => LessMath.dist(x, y, p.x, p.y) <= radius);
foreach (var allTrack in SimpleLib.GetAllTracks())
{
var s = SimpleLib.GetSite(allTrack.siteA);
var e = SimpleLib.GetSite(allTrack.siteB);
if (!surroundSites.Contains(s) && !surroundSites.Contains(e) && surroundSites.Count != 0) continue;
var (b, h, fd) = Project2DLine(new Vector2(x, y), new Vector2(s.x, s.y), new Vector2(e.x, e.y));
b = Math.Abs(b);
double pathAngle = Double.NaN;
if (allTrack.direction == 1)
pathAngle = Math.Atan2((e.y - s.y), (e.x - s.x)) / Math.PI * 180;
else if (allTrack.direction == 2)
pathAngle = Math.Atan2((e.y - s.y), (e.x - s.x)) / Math.PI * 180 + 180;
else
trackList.Add((b, s, e));
if (Math.Abs(this.th - pathAngle) < 30)
trackList.Add((b, s, e));
foreach (var ccar in SimpleLib.GetAllCars())
{
if (ccar == this) continue;
if (ccar.status.holdingLocks.Contains(s.id)) goto next;
}
next:;
}
//var sites = trackList.OrderBy(p => p.Item1).ToArray();
List<(double, Site)> distList = new List<(double, Site)>();
foreach (var site in trackList)
{
if (site.Item2.fields.ContainsKey("no_reset") || site.Item3.fields.ContainsKey("no_reset"))
continue;
foreach (var ccar in SimpleLib.GetAllCars())
{
if (ccar == this) continue;
if (ccar.status.holdingLocks.Contains(site.Item2.id) || ccar.status.holdingLocks.Contains(site.Item3.id)) goto next;
}
distList.Add((LessMath.dist(site.Item2.x, site.Item2.y, x, y), site.Item2));
distList.Add((LessMath.dist(site.Item3.x, site.Item3.y, x, y), site.Item3));
next:;
}
site1 = (UISite)distList.OrderBy(p => p.Item1).First().Item2;
//foreach (var site in SimpleLib.GetAllSites())
//{
// if (site.fields.ContainsKey("no_reset"))
// continue;
// foreach (var ccar in SimpleLib.GetAllCars())
// {
// if (ccar == this)
// continue;
// if (ccar.status.holdingLocks.Contains(site.id))
// goto next;
// }
// var d = LessMath.dist(site.x, site.y, x, y);
// if (d < dist)
// {
// dist = (float)d;
// site1 = (UISite)site;
// }
// next:
// ;
//}
TrafficReset(site1, true, strict: false);
}
else
{
TrafficReset(SimpleLib.GetSite(resetId), true, strict: false);
}
siteID = site1.id;
lstatus = "上线";
debug += $"site={site1.id}";
AppendDebug(debug);
G.pushStatus($"Car {name}({id}) reset to Site {site1.id}");
}
catch (Exception e)
{
Diagnosis.Post($"{this.name}---初始化失败--{e.Message}", $"{this.name}", true);
}
}
HttpClient hc = new HttpClient() { Timeout = TimeSpan.FromMilliseconds(300) };
// [MethodMember(name = "小车暂停", desc = "小车暂停")]
public void EmergencyStop(string reason)
{
Diagnosis.Post($"car{name}:EmergencyStop");
hc.GetStringAsync($"http://{address}:8008/setValue?FieldName=ISRelease&Value=1");
}
//[MethodMember(name = "小车暂停恢复", desc = "小车暂停恢复")]
public void EmergencyRelease()
{
Diagnosis.Post($"car{name}:EmergencyStop release");
hc.GetStringAsync($"http://{address}:8008/setValue?FieldName=ISRelease&Value=0");
}
//[MethodMember(name = "小车重启C", desc = "小车重启Clumsy")]
public void ResetClumsy()
{
Diagnosis.Post($"car{name}-{address}:ResetClumsy");
hc.GetStringAsync($"http://{address}:8008/reset");
}
}
/// <summary>
/// 专门用于控制turn的问题
/// </summary>
public class KivaCarTrackCoder : ITrackCoder
{
public bool toBlock()
{
return false;
}
/// <summary>
/// 用于记录上一路径的角度
/// </summary>
public static double lastTh = -1;
public bool Code(SegmentPlan plan, Track track, Site src, Site dst, int i)
{
var trackInfo = StringDictConvert<KivaTrackFields>.Convert(track.fields);
var srcInfo = StringDictConvert<KivaSiteFields>.Convert(src.fields);
Console.WriteLine($@"srcInfo.Turn:{srcInfo.Turn},i={1}");
if (!srcInfo.Turn) //不包含旋转指令，直接跳过
{
return true;
}
if (i == 1)
{
return true;
}
var lastSite = plan.segments[i - 3] as Site;
if (lastSite == null)
{
return true;
}
var lastPathDir = Math.Round(Math.Atan2(src.y - lastSite.y, src.x - lastSite.x) / Math.PI * 2) * 90;
var curPathDir = Math.Round(Math.Atan2(dst.y - src.y, dst.x - src.x) / Math.PI * 2) * 90;
if (Math.Abs(curPathDir - lastPathDir) < 45)
{
return true;
}
var angleTarget = trackInfo.ReverseDst == dst.id || trackInfo.Reverse ? curPathDir + 180 : curPathDir;
plan.codeArr[i] += $"agv.Wait(); agv.SyncRotate({angleTarget}); agv.Wait(); ";
return true;
}
}
}
StandardScene.Magnetic/CarTypes/MagCar.cs
+202
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using LessokajiWeaverUtilities.Utilities;
using SimpleLite;
using SimpleLite.RCS;
using SimpleLite.RCS.CarTypes;
using SimpleLite.Props;
using SimpleLite.UI;
using SimpleCore;
using SimpleCore.Compiler;
using SimpleCore.Library;
using SimpleCore.PropType;
using StandardScene.Magnetic.Coders;
using StandardScene.Utils;
using System;
using System.Diagnostics;
using System.Drawing;
using System.Net.Sockets;
using System.Threading;
using System.Threading.Tasks;
namespace StandardScene.CarTypes
{
/// <summary>
/// 磁导航专用车型（scene.mag 平台）。
/// <para>与激光/二维码车（Kiva、叉车等走 HTTP:8008）不同：磁导航车与下位机通过 <b>UDP 协议</b> 交互；
/// 路径由 <see cref="MagneticTrackCoder"/> 生成 <c>agv.MagGo</c> / <c>agv.NaiveMagGo</c> 脚本
/// （按 <c>track.Magnet</c> 触发）。本类只承载磁导航相关能力。</para>
/// <para>⚠ UDP 报文的端口 / 字节布局 / 命令码因下位机协议而异，下方以常量 + TODO 标注，
/// 待按实际磁导航 AGV 协议填充 <see cref="ParseStatus"/> 与各控制命令的编码。</para>
/// </summary>
[ProgramTrackCoderSettings(priority = 19, program = typeof(MagneticTrackCoder))]
[CarType(Name = "磁导航车", editor = typeof(MagCar))]
[I18N.DocumentTranslation(Name = "Magnetic AGV", locale = "en")]
[EnvelopConfig(centerX = 0, centerY = 0, lengthX = 1000, lengthY = 600)]
public class MagCar : GhostCar
{
// ── 磁导航 UDP 通信参数（默认值待按实际下位机协议确认）──────────────────
/// <summary>下位机 UDP 命令端口（RCS → AGV 下发）。</summary>
[FieldMember] public int UdpCommandPort = 5000;
/// <summary>本机 UDP 状态监听端口（AGV → RCS 上报）。</summary>
[FieldMember] public int UdpStatusPort = 5001;
[FieldMember] public float CarLength = 1000;
[FieldMember] public float CarWidth = 600;
private UdpClient _udp;
private CancellationTokenSource _cts;
private readonly object _sendLock = new object();
public static async Task<MagCar> Create()
{
var car = new MagCar
{
lstatus = "连接中",
address = "127.0.0.1",
name = "磁导航车",
haveCoordination = true,
speed = 1,
};
car.StartUdp();
return car;
}
// ── UDP 通信：协作式停止 + 单帧异常隔离（参考 ChargeUdpService 范式）─────────
/// <summary>启动磁导航 UDP 通信（幂等：会先停止已有连接）。</summary>
public void StartUdp()
{
StopUdp();
_cts = new CancellationTokenSource();
var token = _cts.Token;
Task.Run(() => ReceiveLoop(token), token);
}
/// <summary>停止磁导航 UDP 通信并释放资源。</summary>
public void StopUdp()
{
try { _cts?.Cancel(); } catch { /* 取消令牌释放兜底 */ }
try { _udp?.Close(); } catch { /* 关闭套接字兜底 */ }
_udp = null;
_cts = null;
}
private async Task ReceiveLoop(CancellationToken token)
{
try
{
_udp = new UdpClient(UdpStatusPort);
}
catch (Exception ex)
{
// 多车共用监听端口时此处会绑定失败——若实际协议为单端口多车，应改为单例监听 + 按来源 IP 分发
Diagnosis.Log($"磁导航车{name}({id}) UDP 监听端口 {UdpStatusPort} 绑定失败: {ex.Message}", "MagCar", true);
return;
}
while (!token.IsCancellationRequested)
{
try
{
var result = await _udp.ReceiveAsync();
// 多车共用监听端口时按来源 IP 过滤，仅处理本车报文
if (!string.IsNullOrEmpty(address) &&
!string.Equals(result.RemoteEndPoint.Address.ToString(), address, StringComparison.Ordinal))
continue;
ParseStatus(result.Buffer);
}
catch (Exception e)
{
// 单帧异常（越界 / 半包 / 套接字关闭）不得中断本车 UDP 接收循环
if (token.IsCancellationRequested) break;
Diagnosis.Log($"磁导航车{name}({id}) UDP 接收异常: {e.Message}", "MagCar", true);
}
}
}
/// <summary>
/// 解析下位机 UDP 状态报文并写入 <c>status.enums</c>。
/// TODO（待协议确认）：下方字节偏移为占位，请按实际磁导航 AGV 协议替换。
/// </summary>
private void ParseStatus(byte[] data)
{
if (data == null || data.Length < 4) return; // 长度校验，避免半包 / 越界
// —— 按实际协议填充，例如：——
// status.enums["ChassisMode"] = data[?].ToString();
// status.enums["Soc"] = data[?].ToString();
// status.enums["AlarmLevel"] = data[?].ToString();
// status.enums["AlarmInfo"] = ...;
// 若磁导航上报绝对位姿，可在此回填 x / y / th（坐标系需与地图一致）。
}
/// <summary>向下位机发送 UDP 命令。TODO：命令字节编码按实际协议实现。</summary>
private void SendUdp(byte[] payload)
{
if (payload == null || payload.Length == 0) return;
try
{
lock (_sendLock)
{
using var sender = new UdpClient();
sender.Send(payload, payload.Length, address, UdpCommandPort);
}
}
catch (Exception e)
{
Diagnosis.Log($"磁导航车{name}({id}) UDP 发送失败: {e.Message}", "MagCar", true);
}
}
protected override void draw(Graphics eGraphics)
{
try
{
var w = CarLength;
var h = CarWidth;
var rect = new Rectangle((int)(-w / 2), (int)(-h / 2), (int)w, (int)h);
eGraphics.FillRectangle(Brushes.SteelBlue, rect);
eGraphics.DrawRectangle(Pens.White, rect);
using var orientPen = new Pen(Color.White, 3);
eGraphics.DrawLine(orientPen, 0, 0, (int)(w / 2), 0); // 朝向指示
}
catch (Exception e)
{
Diagnosis.Post("绘制磁导航车异常" + ExceptionFormatter.FormatEx(e), "绘制小车异常", true);
}
}
public override string SetDisplayInfo()
{
try
{
var str = $"{name}({id})\n";
status.enums.TryGetValue("ChassisMode", out var manual);
var ms = manual == "0" ? "自动" : "手动";
status.enums.TryGetValue("Soc", out var soc);
str = $"{str}{ms}|soc:{soc}";
var alarmStr = Commons.GetCarStatus(this, "AlarmInfo");
if (!string.IsNullOrEmpty(alarmStr))
str = $"{str}|{alarmStr}";
return str;
}
catch (Exception e)
{
Console.WriteLine(e);
return "bad car";
}
}
[MethodMember(Name = "进入小车管理界面", Description = "在浏览器中打开小车 Web 页面")]
[I18N.DocumentTranslation(Name = "Open vehicle management page", Description = "Open the car's management page in browser", locale = "en")]
public void OpenVehicleManagementPage()
{
CarRemoteHelper.OpenVehicleWebPage(address);
}
[MethodMember(Name = "显示车辆监控", Description = "打开车辆状态监控窗口")]
public void ShowVehicleMonitor() => CarRemoteHelper.OpenVehicleWebPage(address);
[MethodMember(Name = "重连通信", Description = "重启磁导航 UDP 通信")]
[I18N.DocumentTranslation(Name = "Reconnect", Description = "Restart magnetic UDP link", locale = "en")]
public void ReconnectUdp() => StartUdp();
}
}
StandardScene.Magnetic/CarTypes/MultiWheelLifterCar.cs
-396
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@@ -1,396 +0,0 @@
using CommonUsage.Mathematics;
using LessokajiWeaverUtilities.Utilities;
using Nancy.Helpers;
using Newtonsoft.Json;
using SimpleLite;
using SimpleLite.RCS;
using SimpleLite.RCS.CarTypes;
using SimpleLite.CADTools;
using SimpleLite.Props;
using SimpleLite.UI;
using SimpleCore;
using SimpleCore.Compiler;
using SimpleCore.Library;
using SimpleCore.PropType;
using StandardScene.Model;
using StandardScene.Coders;
using StandardScene.Magnetic.Coders;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Net.Http;
using System.Numerics;
using System.Runtime;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using Track = SimpleCore.PropType.Track;
namespace StandardScene.CarTypes
{
// 磁循迹器已与 Kiva 版去重合并为唯一 StandardScene.Magnetic.Coders.MagneticTrackCoder。
// 原 MWL 版 NaiveMagGo 缺少 ${track.Speed}，合并后统一为含 Speed 的版本（用户确认）。
// MultiWheelLifter 系字段袋下沉至基座 StandardScene.Core\CarTypes\MultiWheelLifterFields.cs
// （MultiVehicleCar 等跨平台车型引用它们）。
[TemplateTrackCoderSettings(
priority = 30,
useVerb = "track.SleepTime!=0",
templateString = "agv.Wait();agv.Sleep(${track.SleepTime});agv.Wait();",
blockVerb = "false",
siteFields = typeof(MultiWheelLifterSiteFields),
trackFields = typeof(MultiWheelLifterTrackFields),
planFields = typeof(MultiWheelLifterPlanFields))]
[TemplateTrackCoderSettings(
priority = 30,
useVerb = "track.TrayTarget!=0",
templateString = "agv.Wait();agv.TrayControl(${track.TrayTarget});agv.Wait();",
blockVerb = "false",
siteFields = typeof(MultiWheelLifterSiteFields),
trackFields = typeof(MultiWheelLifterTrackFields),
planFields = typeof(MultiWheelLifterPlanFields))]
//调整方向+钻车
[TemplateTrackCoderSettings(
priority = 19,
useVerb = "dst.name=='FetchSite'&&plan.action=='fetch'",
templateString = "agv.Wait();agv.RotateToTarget(${plan.AngleTarget});agv.Wait();agv.TireFollowing(${plan.TireNum},${plan.FrontLidarDetect},${plan.FirstTire});agv.Wait();",
blockVerb = "false",
siteFields = typeof(MultiWheelLifterSiteFields),
trackFields = typeof(MultiWheelLifterTrackFields),
planFields = typeof(MultiWheelLifterPlanFields))]
//[TemplateTrackCoderSettings(
// priority = 19,
// useVerb = "dst.FetchPlace && plan.action=='fetch'",
// templateString = "agv.Wait();agv.RotateToTarget(${plan.AngleTarget});agv.Wait();",
// blockVerb = "false",
// siteFields = typeof(MultiWheelLifterSiteFields),
// trackFields = typeof(MultiWheelLifterTrackFields),
// planFields = typeof(MultiWheelLifterPlanFields))]
//下使能+夹抱+上使能
[TemplateTrackCoderSettings(
priority = 18,
useVerb = "dst.name=='FetchSite'&&plan.action=='fetch'",
templateString = "agv.DriverDisable();agv.Wait();agv.ClamptoTarget(${dst.ClampClose});agv.Wait();agv.DriverAble();agv.Wait();",
blockVerb = "true",
siteFields = typeof(MultiWheelLifterSiteFields),
trackFields = typeof(MultiWheelLifterTrackFields),
planFields = typeof(MultiWheelLifterPlanFields))]
[TemplateTrackCoderSettings(
priority = 19,
useVerb = "dst.tag>0 && src.tag>0",
templateString = "agv.QrGo(${src.x},${src.y},${src.id},${src.tag},${dst.x},${dst.y},${dst.id},${dst.tag},${track.id}," +
"${track.Speed},${track.Reverse || (track.ReverseDst == dst.id)}," +
"${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection}," +
"${track.typeInfo});",
blockVerb = "true",
siteFields = typeof(MultiWheelLifterSiteFields),
trackFields = typeof(MultiWheelLifterTrackFields),
planFields = typeof(MultiWheelLifterPlanFields))]
// 通用避障/IO coder 已抽离为 StandardScene.Coders.*（见类前 [ProgramTrackCoderSettings] 引用）
// 避障区尺寸(4参,含中心点)切换 coder 已抽离为 StandardScene.Coders.AvoidanceParamCoder（见类前 [ProgramTrackCoderSettings] 引用）
// 纠偏阈值 coder 已抽离为 StandardScene.Coders.TrackingErrThreshCoder
[ProgramTrackCoderSettings(priority = 19, program = typeof(MagneticTrackCoder))]
[ProgramTrackCoderSettings(priority = 27, program = typeof(LidarAreaSwitchCoder))]
[ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceDistanceCoder))]
[ProgramTrackCoderSettings(priority = 20, program = typeof(IoAreaSwitchCoder))]
[ProgramTrackCoderSettings(priority = 20, program = typeof(TrackingErrThreshCoder))]
[ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceParamCoder))]
[EnvelopConfig(lengthX = 3000, lengthY = 1300, centerX = 0, centerY = 0)]
[CarType(Name = "多舵轮顶升车")]
[I18N.DocumentTranslation(Name = "MultiWheel Lifter Car", locale = "en")]
public class MultiWheelLifterCar : GhostCar
{
[FieldMember]public float CarLength = 2000;
[FieldMember] public float CarWidth = 1400;
public static async Task<MultiWheelLifterCar> Create()
{
var car = new MultiWheelLifterCar()
{
lstatus = "连接中",
address = "127.0.0.1",
name = "多舵轮顶升车"
};
return car;
}
[MethodMember(Name = "进入小车远程", Description = "进入小车远程桌面")]
[I18N.DocumentTranslation(Name = "Open remote desktop",Description = "Open the car's remote desktop", locale = "en")]
public void Mstsc()
{
var ip = this.address;
// 启动mstsc并传递IP地址
Process.Start(
new ProcessStartInfo
{
FileName = "mstsc",
Arguments = $"/v:{ip}",
UseShellExecute = false,
CreateNoWindow = true
}
);
}
public void newTrafficReset(int resetId = 0)
{
//if (!status.programs.task.IsCompleted &&
// MessageBox.Show($"小车{name}({id})当前有任务：{status.programs.printStatus()}，确认初始化？", "确认",
// MessageBoxButtons.YesNo) == DialogResult.No) return;
try
{
if (GetLastSite() != -1 && Commons.GetVehicleStatus((Car)this) != VehicleStatus.NeedInit)
{
Diagnosis.Post($"Car{id}初始化失败：已初始化");
return;
}
var debug = "ui invoke reset. ";
// todo: 找点和线段的最近点。。。
// lock
UISite site1 = null;
float dist = float.MaxValue;
List<(float, Site, Site)> trackList = new List<(float, Site, Site)>();
if (resetId == 0)
{
(float bias, Vector2 hPnt, float fd) Project2DLine(
Vector2 pnt,
Vector2 segSt,
Vector2 segEnd
)
{
var dir = Vector2.Normalize(segEnd - segSt);
var fd = Vector2.Dot(pnt - segSt, dir);
var hPnt = segSt + fd * dir;
var bias = dir.X * (pnt.Y - segSt.Y) - (pnt.X - segSt.X) * dir.Y;
return (bias, hPnt, fd);
}
foreach (var allTrack in SimpleLib.GetAllTracks())
{
var s = SimpleLib.GetSite(allTrack.siteA);
var e = SimpleLib.GetSite(allTrack.siteB);
var (b, h, fd) = Project2DLine(
new Vector2(x, y),
new Vector2(s.x, s.y),
new Vector2(e.x, e.y)
);
b = Math.Abs(b);
if (fd < 0 || fd > 1)
continue;
if (dist > b)
{
UISite ss;
if (fd < 0.5)
ss = (UISite)s;
else
ss = (UISite)e;
foreach (var ccar in SimpleLib.GetAllCars())
{
if (ccar == this)
continue;
if (ccar.status.holdingLocks.Contains(s.id))
goto next;
}
dist = b;
site1 = ss;
next:
;
}
}
float radius = 5000;
//根据小车为圆心找到半径radius内的站点
var surroundSites = SimpleLib.GetAllSites().ToList().FindAll(p => LessMath.dist(x, y, p.x, p.y) <= radius);
foreach (var allTrack in SimpleLib.GetAllTracks())
{
var s = SimpleLib.GetSite(allTrack.siteA);
var e = SimpleLib.GetSite(allTrack.siteB);
if (!surroundSites.Contains(s) && !surroundSites.Contains(e) && surroundSites.Count != 0) continue;
var (b, h, fd) = Project2DLine(new Vector2(x, y), new Vector2(s.x, s.y), new Vector2(e.x, e.y));
b = Math.Abs(b);
double pathAngle = Double.NaN;
if (allTrack.direction == 1)
pathAngle = Math.Atan2((e.y - s.y), (e.x - s.x)) / Math.PI * 180;
else if (allTrack.direction == 2)
pathAngle = Math.Atan2((e.y - s.y), (e.x - s.x)) / Math.PI * 180 + 180;
else
trackList.Add((b, s, e));
if (Math.Abs(this.th - pathAngle) < 30)
trackList.Add((b, s, e));
foreach (var ccar in SimpleLib.GetAllCars())
{
if (ccar == this) continue;
if (ccar.status.holdingLocks.Contains(s.id)) goto next;
}
next:;
}
//var sites = trackList.OrderBy(p => p.Item1).ToArray();
List<(double, Site)> distList = new List<(double, Site)>();
foreach (var site in trackList)
{
if (site.Item2.fields.ContainsKey("no_reset") || site.Item3.fields.ContainsKey("no_reset"))
continue;
foreach (var ccar in SimpleLib.GetAllCars())
{
if (ccar == this) continue;
if (ccar.status.holdingLocks.Contains(site.Item2.id) || ccar.status.holdingLocks.Contains(site.Item3.id)) goto next;
}
distList.Add((LessMath.dist(site.Item2.x, site.Item2.y, x, y), site.Item2));
distList.Add((LessMath.dist(site.Item3.x, site.Item3.y, x, y), site.Item3));
next:;
}
site1 = (UISite)distList.OrderBy(p => p.Item1).First().Item2;
//foreach (var site in SimpleLib.GetAllSites())
//{
// if (site.fields.ContainsKey("no_reset"))
// continue;
// foreach (var ccar in SimpleLib.GetAllCars())
// {
// if (ccar == this)
// continue;
// if (ccar.status.holdingLocks.Contains(site.id))
// goto next;
// }
// var d = LessMath.dist(site.x, site.y, x, y);
// if (d < dist)
// {
// dist = (float)d;
// site1 = (UISite)site;
// }
// next:
// ;
//}
TrafficReset(site1, true, strict: false);
}
else
{
TrafficReset(SimpleLib.GetSite(resetId), true, strict: false);
}
siteID = site1.id;
lstatus = "上线";
debug += $"site={site1.id}";
AppendDebug(debug);
G.pushStatus($"Car {name}({id}) reset to Site {site1.id}");
}
catch (Exception e)
{
Diagnosis.Post($"{this.name}---初始化失败--{e.Message}", $"{this.name}", true);
}
}
protected override void draw(Graphics eGraphics)
{
var HalfCarLength = CarLength / 2;
var HalfCarWidth = CarWidth / 2;
eGraphics.FillRectangle(Brushes.Gray, -HalfCarLength, -HalfCarWidth, HalfCarLength * 2, HalfCarWidth * 2);
eGraphics.DrawRectangle(Pens.White, -HalfCarLength, -HalfCarWidth, HalfCarLength * 2, HalfCarWidth * 2);
eGraphics.DrawLine(Pens.White, HalfCarLength - HalfCarWidth, -HalfCarWidth, HalfCarLength, 0);
eGraphics.DrawLine(Pens.White, HalfCarLength - HalfCarWidth, HalfCarWidth, HalfCarLength, 0);
}
public override string SetDisplayInfo()
{
try
{
var str = $"{name}({id})\n";
status.enums.TryGetValue("ChassisMode", out var manual);
var ms = manual == "0" ? "自动" : "手动";
status.enums.TryGetValue("Soc", out var soc);
str = $"{str}{ms}|soc:{soc}";
var alarmStr = Commons.GetCarStatus(this, "AlarmInfo");
if (alarmStr != "")
str = $"{str}|{alarmStr}";
if (status.enums.TryGetValue("ElectricCurrent", out var electricCurrent) &&
!string.IsNullOrEmpty(electricCurrent))
{
var charging = float.Parse(electricCurrent) * 0.01f > 0 ? "充电中" : "未充电";
str = $"{str}|charge:{charging}";
}
var thresSpeed = Commons.CarValue(this, "ThresSpeed");
str = $"{str}{((thresSpeed <= 0) ? "|避障触发" : "")}";
return str;
}
catch (Exception e)
{
Console.WriteLine(e);
return "bad car";
}
}
private bool _running = false;
[MethodMember(Name = "测试", Description = "循环")]
[I18N.DocumentTranslation(Name = "Test", Description = "Looping", locale = "en")]
public async void Test()
{
var siteA = SimpleLib.GetAllSites().First(s => s.name == "A");
var siteB = SimpleLib.GetAllSites().First(s => s.name == "B");
_running = true;
while (_running)
{
var plan = new SegmentPlan() { usingCar = this };
plan.FindRoute(SimpleLib.GetSite(this.GetLastSite()), siteA);
await plan.Compile("GoA").Queue();
var planB = new SegmentPlan() { usingCar = this };
planB.FindRoute(SimpleLib.GetSite(this.GetLastSite()), siteB);
await planB.Compile("GoB").Queue();
await Task.Delay(1000);
}
}
[MethodMember(Name = "停止测试")]
[I18N.DocumentTranslation(Name = "Stop Test", Description = "Stop Looping", locale = "en")]
public void Stop()
{
_running = false;
}
HttpClient hc = new HttpClient() { Timeout = TimeSpan.FromMilliseconds(300) };
[MethodMember(Name = "小车暂停", Description = "小车暂停")]
[I18N.DocumentTranslation(Name = "Emergency Stop",Description = "Emergency Stop the car", locale = "en")]
public void EmergencyStop(string reason)
{
Diagnosis.Post($"car{name}:EmergencyStop");
hc.GetStringAsync($"http://{address}:8008/setValue?FieldName=ISRelease&Value=1");
}
[MethodMember(Name = "小车暂停恢复", Description = "小车暂停恢复")]
[I18N.DocumentTranslation(Name = "Emergency Release",Description = "Release Emergency Stop of the car", locale = "en")]
public void EmergencyRelease()
{
Diagnosis.Post($"car{name}:EmergencyStop release");
hc.GetStringAsync($"http://{address}:8008/setValue?FieldName=ISRelease&Value=0");
}
[MethodMember(Name = "小车重启C", Description = "小车重启Clumsy")]
[I18N.DocumentTranslation(Name = "Reset Clumsy",Description = "Reset Clumsy of the car", locale = "en")]
public void ResetClumsy()
{
Diagnosis.Post($"car{name}-{address}:ResetClumsy");
hc.GetStringAsync($"http://{address}:8008/reset");
}
}
}
StandardScene.Magnetic/MagneticSceneProfile.cs
+5 -4
View File
@@ -6,7 +6,9 @@ using StandardScene.CarTypes;
namespace StandardScene.Magnetic
{
/// <summary>
/// scene.mag 平台画像：磁导航场景插件（磁条循迹为主，兼容二维码地标段）。
/// scene.mag 平台画像：磁导航场景插件。
/// <para>车型为磁导航专用 <see cref="MagCar"/>（与下位机通过 UDP 协议交互）；路径由
/// MagneticTrackCoder 生成 agv.MagGo / agv.NaiveMagGo 脚本（按 track.Magnet 触发）。</para>
/// 宿主（SimpleLite）加载本 dll 后反射实例化并 OnActivate / 注册。
/// </summary>
public sealed class MagneticSceneProfile : NavigationProfileBase
@@ -19,13 +21,12 @@ namespace StandardScene.Magnetic
public override IReadOnlyList<Type> CarTypes => new[]
{
typeof(Kiva),
typeof(MultiWheelLifterCar),
typeof(MagCar),
};
public override void OnActivate(ISceneContext context)
{
context.Log($"{DisplayName} 已激活（车型：Kiva / 多舵轮顶升车）");
context.Log($"{DisplayName} 已激活（车型：磁导航车 MagCar）");
}
}
}
StandardScene.Magnetic/StandardScene.Magnetic.csproj
-1
View File
@@ -3,7 +3,6 @@
<PropertyGroup>
<TargetFramework>net8.0-windows</TargetFramework>
<OutputType>Library</OutputType>
<UseWindowsForms>true</UseWindowsForms>
<RootNamespace>StandardScene.Magnetic</RootNamespace>
<AssemblyName>StandardScene.Magnetic</AssemblyName>
<LangVersion>latest</LangVersion>
StandardScene.Magnetic/StandardScene.Magnetic.scene.json
+1 -1
View File
@@ -6,7 +6,7 @@
"coreVersion": ">=1.0.0",
"requiresCore": "StandardScene.dll",
"provides": {
"carTypes": [ "Kiva", "MultiWheelLifterCar" ],
"carTypes": [ "MagCar" ],
"missionTypes": []
}
}