新增1.0和2.0两种协议车型车型

Directory.Build.props

@@ -1,5 +1,11 @@
 <Project>
   <PropertyGroup>
+    <!-- FASS2.0 与 stand 为兄弟目录：$(RepoRoot)stand\ -->
+    <StandRoot Condition="'$(StandRoot)' == ''">$([System.IO.Path]::GetFullPath('$(MSBuildThisFileDirectory)..\..\stand\'))</StandRoot>
+    <StandRefDir Condition="'$(StandRefDir)' == ''">$(StandRoot)ref\</StandRefDir>
+    <StandSimpleLiteDir Condition="'$(StandSimpleLiteDir)' == ''">$(StandRoot)SimpleLite\</StandSimpleLiteDir>
     <CGUILibDir Condition="'$(CGUILibDir)' == ''">D:\MDCS\Dependencies\Commons</CGUILibDir>
+    <LeegKeysSdkPath Condition="'$(LeegKeysSdkPath)' == '' and Exists('$(MSBuildThisFileDirectory)StandardScene.Core\Ref\leegKeys-sdk.dll')">$(MSBuildThisFileDirectory)StandardScene.Core\Ref\leegKeys-sdk.dll</LeegKeysSdkPath>
+    <LeegKeysSdkPath Condition="'$(LeegKeysSdkPath)' == ''">$(StandSimpleLiteDir)plugins\leegKeys-sdk.dll</LeegKeysSdkPath>
   </PropertyGroup>
 </Project>

StandardScene.Core/Chained/AbstractLoopMission.cs

@@ -1058,6 +1058,22 @@ namespace StandardScene.Chained
             }
             catch (Exception ex)
             {
+                try
+                {
+                    car.tags.Remove("occupied");
+                    if (car is Car trafficCar && car.GetLastSite() > 0)
+                    {
+                        var currentSite = SimpleLib.GetSite(car.GetLastSite());
+                        if (currentSite != null)
+                        {
+                            trafficCar.TrafficReset(currentSite, true, strict: false);
+                        }
+                    }
+                }
+                catch
+                {
+                }
+
                 // 记录异常并等待后重试
                 Diagnosis.Post(
                     $"{car.name}循环任务报错{ExceptionFormatter.FormatEx(ex)}--去往循环点id:{targetSite.id},name:{targetSite.name}",

StandardScene.Core/StandardScene.Core.csproj

@@ -25,32 +25,31 @@
 
   <!-- 程序集引用：SimpleComposer.exe -> SimpleLite.dll；SimpleCore 配套本地产物 -->
   <ItemGroup>
-    <Reference Include="SimpleLite">
+    <Reference Include="CommonUsage">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\SimpleLite.dll</HintPath>
+      <HintPath>$(StandRefDir)CommonUsage.dll</HintPath>
+    </Reference>
+    <Reference Include="CycleGUI">
+      <HintPath>$(StandRefDir)CycleGUI.dll</HintPath>
+    </Reference>
+    <Reference Include="LessokajiWeaverUtilities">
+      <HintPath>$(StandRefDir)LessokajiWeaverUtilities.dll</HintPath>
+    </Reference>
+    <Reference Include="MDCSToolBox">
+      <HintPath>$(StandRefDir)MDCSToolBox.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleCore">
+      <HintPath>$(StandRefDir)SimpleCore.dll</HintPath>
     </Reference>
     <!-- CycleGUI：插件 UI 已从 WinForms 迁移到 CycleGUI（DeliveryViewer 等）。
          Private=false：宿主 SimpleLite 已在默认 ALC 加载 CycleGUI，插件仅编译期引用、不随产物分发，避免重复 DLL。 -->
-    <Reference Include="CycleGUI">
+    <Reference Include="leegKeys-sdk">
-      <HintPath>$(CGUILibDir)\CycleGUI.dll</HintPath>
+      <HintPath>$(LeegKeysSdkPath)</HintPath>
-      <Private>false</Private>
     </Reference>
-    <Reference Include="SimpleCore">
+    <Reference Include="SimpleLite">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleCore\bin\Debug\netstandard2.0\SimpleCore.dll</HintPath>
+      <HintPath>$(StandSimpleLiteDir)SimpleLite.dll</HintPath>
-    </Reference>
-    <Reference Include="CommonUsage">
-      <HintPath>D:\MDCS\Dependencies\Commons\CommonUsage.dll</HintPath>
-    </Reference>
-    <Reference Include="MDCSToolBox">
-      <HintPath>D:\MDCS\Dependencies\Commons\MDCSToolBox.dll</HintPath>
     </Reference>
     <Reference Include="Topaz">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\tools\Topaz.dll</HintPath>
+      <HintPath>$(StandRefDir)Topaz.dll</HintPath>
-    </Reference>
-    <Reference Include="LessokajiWeaverUtilities">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\LessokajiWeaverUtilities.dll</HintPath>
-    </Reference>
-    <Reference Include="leegKeys-sdk">
-      <HintPath>Ref\leegKeys-sdk.dll</HintPath>
     </Reference>
   </ItemGroup>
 

StandardScene.Devices/StandardScene.Devices.csproj

@@ -30,23 +30,23 @@
 
   <!-- 与 Core 一致的本地契约/工具 dll + Leeg 按钮盒 SDK（leegiot）；Modbus/TCP 经 Core 的 Utils/TCP 间接使用，无需 NuGet -->
   <ItemGroup>
-    <Reference Include="SimpleLite">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\SimpleLite.dll</HintPath>
-    </Reference>
-    <Reference Include="SimpleCore">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleCore\bin\Debug\netstandard2.0\SimpleCore.dll</HintPath>
-    </Reference>
     <Reference Include="CommonUsage">
-      <HintPath>D:\MDCS\Dependencies\Commons\CommonUsage.dll</HintPath>
+      <HintPath>$(StandRefDir)CommonUsage.dll</HintPath>
-    </Reference>
-    <Reference Include="Topaz">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\tools\Topaz.dll</HintPath>
-    </Reference>
-    <Reference Include="LessokajiWeaverUtilities">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\LessokajiWeaverUtilities.dll</HintPath>
     </Reference>
     <Reference Include="leegKeys-sdk">
-      <HintPath>..\StandardScene.Core\Ref\leegKeys-sdk.dll</HintPath>
+      <HintPath>$(LeegKeysSdkPath)</HintPath>
+    </Reference>
+    <Reference Include="LessokajiWeaverUtilities">
+      <HintPath>$(StandRefDir)LessokajiWeaverUtilities.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleCore">
+      <HintPath>$(StandRefDir)SimpleCore.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleLite">
+      <HintPath>$(StandSimpleLiteDir)SimpleLite.dll</HintPath>
+    </Reference>
+    <Reference Include="Topaz">
+      <HintPath>$(StandRefDir)Topaz.dll</HintPath>
     </Reference>
   </ItemGroup>
 

StandardScene.Fass2Simulator/App.xaml

@@ -0,0 +1,9 @@
+<Application x:Class="StandardScene.Fass2Simulator.App"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml">
+    <Application.Resources>
+        <SolidColorBrush x:Key="PanelBrush" Color="#F4F6F8"/>
+        <SolidColorBrush x:Key="AccentBrush" Color="#2563EB"/>
+        <SolidColorBrush x:Key="BorderBrush" Color="#D0D7DE"/>
+    </Application.Resources>
+</Application>

StandardScene.Fass2Simulator/App.xaml.cs

@@ -0,0 +1,43 @@
+using System;
+using System.Windows;
+
+namespace StandardScene.Fass2Simulator
+{
+    public partial class App : Application
+    {
+        protected override void OnStartup(StartupEventArgs e)
+        {
+            if (HasTestArg(e.Args))
+            {
+                var code = Fass2SimSelfTests.Run(e.Args);
+                Shutdown(code);
+                return;
+            }
+
+            base.OnStartup(e);
+            Exit += (_, __) => Fass2SimFileLogger.Shutdown();
+            var window = new MainWindow();
+            MainWindow = window;
+            window.Show();
+        }
+
+        private static bool HasTestArg(string[] args)
+        {
+            if (args == null)
+            {
+                return false;
+            }
+
+            foreach (var arg in args)
+            {
+                if (string.Equals(arg, "--motion-test", StringComparison.OrdinalIgnoreCase)
+                    || string.Equals(arg, "--action-test", StringComparison.OrdinalIgnoreCase))
+                {
+                    return true;
+                }
+            }
+
+            return false;
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimActionEngine.cs

@@ -0,0 +1,351 @@
+using System;
+using System.Collections.Generic;
+
+namespace StandardScene.Fass2Simulator
+{
+    /// <summary>
+    /// 到站动作闭环：0xB1 登记期望 → 0xA1 或定时器补全字段 → 供调度 AtStation 判定完成。
+    /// </summary>
+    public sealed class Fass2SimActionEngine
+    {
+        private readonly Fass2SimVehicle _vehicle;
+        private readonly Fass2SimConfig _config;
+        private readonly Fass2SimNodeProfileStore _profiles;
+        private readonly object _syncRoot = new object();
+        private readonly List<PendingAction> _pendingActions = new List<PendingAction>();
+
+        private Fass2SimNodeMessage _expectedStation;
+
+        public Fass2SimActionEngine(Fass2SimVehicle vehicle, Fass2SimConfig config, Fass2SimNodeProfileStore profiles)
+        {
+            _vehicle = vehicle;
+            _config = config;
+            _profiles = profiles ?? new Fass2SimNodeProfileStore();
+        }
+
+        public event Action StationActionsCompleted;
+
+        public void OnStationArrival(Fass2SimNodeMessage station)
+        {
+            if (station == null)
+            {
+                return;
+            }
+
+            lock (_syncRoot)
+            {
+                _pendingActions.Clear();
+                _expectedStation = Clone(station);
+
+                ApplyArrivalFields(station);
+                _vehicle.State = 2;
+
+                var pending = Fass2SimActionResolver.DescribePending(_expectedStation, _vehicle.CopySnapshotUnsafe());
+                if (string.IsNullOrEmpty(pending))
+                {
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> 站点 node={station.Node} 无待执行动作");
+                    NotifyStationCompleteIfReady();
+                    return;
+                }
+
+                Fass2SimLog.WriteLine($"[{Now()}]    -> 站点 node={station.Node} 待动作: {pending}");
+
+                if (_config.AutoCompleteStationActions)
+                {
+                    SchedulePatch(Clone(station), 0, 0, ResolveActionDelayMs(station.Node));
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> AutoComplete 已排队，delay={ResolveActionDelayMs(station.Node)}ms");
+                }
+            }
+        }
+
+        public void OnActionCommand(ulong actionId, Fass2SimNodeMessage patch)
+        {
+            if (patch == null)
+            {
+                return;
+            }
+
+            lock (_syncRoot)
+            {
+                if (patch.Node != 0 && patch.Node != _vehicle.Node)
+                {
+                    Fass2SimLog.WriteLine(
+                        $"[{Now()}]    -> 0xA1 节点不匹配: patch={patch.Node}, current={_vehicle.Node}，仍尝试应用");
+                }
+
+                var delay = ResolveActionDelayMs(patch.Node != 0 ? patch.Node : _vehicle.Node);
+                SchedulePatch(patch, actionId, 0, delay);
+                Fass2SimLog.WriteLine(
+                    $"[{Now()}]    -> 0xA1 actionId={actionId} 已排队，delay={delay}ms, pending={DescribePatch(patch)}");
+            }
+        }
+
+        public void Tick(int deltaMs)
+        {
+            if (deltaMs <= 0)
+            {
+                return;
+            }
+
+            List<PendingAction> due = null;
+            lock (_syncRoot)
+            {
+                for (var i = _pendingActions.Count - 1; i >= 0; i--)
+                {
+                    _pendingActions[i].RemainingMs -= deltaMs;
+                    if (_pendingActions[i].RemainingMs <= 0)
+                    {
+                        due ??= new List<PendingAction>();
+                        due.Add(_pendingActions[i]);
+                        _pendingActions.RemoveAt(i);
+                    }
+                }
+            }
+
+            if (due == null)
+            {
+                return;
+            }
+
+            foreach (var action in due)
+            {
+                lock (_syncRoot)
+                {
+                    ApplyPatch(action.Patch);
+                    if (action.ActionId > 0)
+                    {
+                        Fass2SimLog.WriteLine(
+                            $"[{Now()}]    -> 动作完成 actionId={action.ActionId}, node={_vehicle.Node}, fields={DescribePatch(action.Patch)}");
+                    }
+                    else
+                    {
+                        Fass2SimLog.WriteLine(
+                            $"[{Now()}]    -> 自动动作完成 node={_vehicle.Node}, fields={DescribePatch(action.Patch)}");
+                    }
+
+                    var pending = Fass2SimActionResolver.DescribePending(_expectedStation, _vehicle.CopySnapshotUnsafe());
+                    if (!string.IsNullOrEmpty(pending))
+                    {
+                        Fass2SimLog.WriteLine($"[{Now()}]    -> 仍有待动作: {pending}");
+                    }
+
+                    NotifyStationCompleteIfReady();
+                }
+            }
+        }
+
+        public bool IsStationComplete()
+        {
+            lock (_syncRoot)
+            {
+                return IsStationCompleteLocked();
+            }
+        }
+
+        public bool CanLeaveStation()
+        {
+            lock (_syncRoot)
+            {
+                return IsStationCompleteLocked();
+            }
+        }
+
+        public Fass2SimNodeMessage ExpectedStation
+        {
+            get
+            {
+                lock (_syncRoot)
+                {
+                    return _expectedStation;
+                }
+            }
+        }
+
+        private bool IsStationCompleteLocked()
+        {
+            if (_pendingActions.Count > 0)
+            {
+                return false;
+            }
+
+            if (_expectedStation == null)
+            {
+                return true;
+            }
+
+            return Fass2SimActionResolver.IsStationActionComplete(
+                _expectedStation,
+                _vehicle.CopySnapshotUnsafe(),
+                _vehicle.State);
+        }
+
+        private void NotifyStationCompleteIfReady()
+        {
+            if (!IsStationCompleteLocked())
+            {
+                return;
+            }
+
+            if (_expectedStation != null)
+            {
+                Fass2SimLog.WriteLine($"[{Now()}]    -> 站点 node={_expectedStation.Node} 动作已全部完成");
+            }
+
+            StationActionsCompleted?.Invoke();
+        }
+
+        private void ApplyArrivalFields(Fass2SimNodeMessage station)
+        {
+            if (station.StartStop > 0)
+            {
+                _vehicle.StartStop = station.StartStop;
+            }
+
+            if (station.Orientation > 0)
+            {
+                _vehicle.Orientation = station.Orientation;
+            }
+
+            if (station.Direction > 0)
+            {
+                _vehicle.Direction = station.Direction;
+            }
+
+            if (station.Byroad > 0)
+            {
+                _vehicle.Byroad = station.Byroad;
+            }
+        }
+
+        private void SchedulePatch(Fass2SimNodeMessage patch, ulong actionId, int source, int delayMs)
+        {
+            _pendingActions.Add(new PendingAction
+            {
+                Patch = Clone(patch),
+                ActionId = actionId,
+                RemainingMs = Math.Max(0, delayMs)
+            });
+        }
+
+        private void ApplyPatch(Fass2SimNodeMessage patch)
+        {
+            if (patch.Node != 0)
+            {
+                _vehicle.Node = patch.Node;
+            }
+
+            if (patch.StartStop > 0)
+            {
+                _vehicle.StartStop = patch.StartStop;
+            }
+            if (patch.Speed > 0)
+            {
+                _vehicle.Speed = patch.Speed;
+            }
+            if (patch.Direction > 0)
+            {
+                _vehicle.Direction = patch.Direction;
+            }
+            if (patch.Orientation > 0)
+            {
+                _vehicle.Orientation = patch.Orientation;
+            }
+            if (patch.Byroad > 0)
+            {
+                _vehicle.Byroad = patch.Byroad;
+            }
+            if (patch.Obstacle > 0)
+            {
+                _vehicle.Obstacle = patch.Obstacle;
+            }
+            if (patch.Audio > 0)
+            {
+                _vehicle.Audio = patch.Audio;
+            }
+            if (patch.Light > 0)
+            {
+                _vehicle.Light = patch.Light;
+            }
+            if (patch.Charge > 0)
+            {
+                _vehicle.Charge = patch.Charge;
+            }
+            if (patch.Rest > 0)
+            {
+                _vehicle.Rest = patch.Rest;
+            }
+            if (patch.Lift > 0)
+            {
+                _vehicle.Lift = patch.Lift;
+            }
+            if (patch.Clamp > 0)
+            {
+                _vehicle.Clamp = patch.Clamp;
+            }
+            if (patch.Tray > 0)
+            {
+                _vehicle.Tray = patch.Tray;
+            }
+            if (patch.Roll > 0)
+            {
+                _vehicle.Roll = patch.Roll;
+            }
+            if (patch.Shutdown > 0)
+            {
+                _vehicle.Shutdown = patch.Shutdown;
+            }
+        }
+
+        private int ResolveActionDelayMs(ushort nodeId)
+        {
+            return _profiles.ResolveActionDelayMs(nodeId, _config.ActionDelayMs);
+        }
+
+        private static Fass2SimNodeMessage Clone(Fass2SimNodeMessage source)
+        {
+            return new Fass2SimNodeMessage
+            {
+                Node = source.Node,
+                Distance = source.Distance,
+                StartStop = source.StartStop,
+                Direction = source.Direction,
+                Orientation = source.Orientation,
+                Byroad = source.Byroad,
+                Speed = source.Speed,
+                Obstacle = source.Obstacle,
+                Audio = source.Audio,
+                Light = source.Light,
+                Charge = source.Charge,
+                Rest = source.Rest,
+                Lift = source.Lift,
+                Clamp = source.Clamp,
+                Tray = source.Tray,
+                Roll = source.Roll,
+                Shutdown = source.Shutdown
+            };
+        }
+
+        private static string DescribePatch(Fass2SimNodeMessage patch)
+        {
+            var parts = new List<string>();
+            if (patch.StartStop > 0) parts.Add($"StartStop={patch.StartStop}");
+            if (patch.Lift > 0) parts.Add($"Lift={patch.Lift}");
+            if (patch.Charge > 0) parts.Add($"Charge={patch.Charge}");
+            if (patch.Roll > 0) parts.Add($"Roll={patch.Roll}");
+            if (patch.Speed > 0) parts.Add($"Speed={patch.Speed}");
+            return parts.Count == 0 ? "(empty)" : string.Join(",", parts);
+        }
+
+        private static string Now()
+        {
+            return DateTime.Now.ToString("HH:mm:ss.fff");
+        }
+
+        private sealed class PendingAction
+        {
+            public Fass2SimNodeMessage Patch { get; set; }
+            public ulong ActionId { get; set; }
+            public int RemainingMs { get; set; }
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimActionResolver.cs

@@ -0,0 +1,142 @@
+using System;
+using System.Collections.Generic;
+
+namespace StandardScene.Fass2Simulator
+{
+    /// <summary>
+    /// 对齐 <c>Fass2ActionResolver</c> 的到站动作判定（独立副本，避免引用 Magnetic）。
+    /// </summary>
+    public static class Fass2SimActionResolver
+    {
+        public const byte StartStopPass = 1;
+        public const byte StartStopStop = 2;
+        public const byte StartStopPrecision = 22;
+
+        private static readonly (string Name, Func<Fass2SimNodeMessage, byte> Get)[] ActionFields =
+        {
+            ("Direction", n => n.Direction),
+            ("Orientation", n => n.Orientation),
+            ("Byroad", n => n.Byroad),
+            ("Obstacle", n => n.Obstacle),
+            ("Audio", n => n.Audio),
+            ("Light", n => n.Light),
+            ("Charge", n => n.Charge),
+            ("Rest", n => n.Rest),
+            ("Lift", n => n.Lift),
+            ("Clamp", n => n.Clamp),
+            ("Tray", n => n.Tray),
+            ("Roll", n => n.Roll),
+            ("Shutdown", n => n.Shutdown)
+        };
+
+        public static bool RequiresActionWait(Fass2SimNodeMessage expected)
+        {
+            if (expected == null)
+            {
+                return false;
+            }
+
+            if (expected.StartStop is StartStopStop or StartStopPrecision)
+            {
+                return true;
+            }
+
+            foreach (var field in ActionFields)
+            {
+                if (field.Get(expected) != 0)
+                {
+                    return true;
+                }
+            }
+
+            return expected.Speed != 0;
+        }
+
+        public static bool IsStationActionComplete(Fass2SimNodeMessage expected, Fass2SimVehicleSnapshot actual, byte vehicleState)
+        {
+            if (expected == null || actual == null)
+            {
+                return false;
+            }
+
+            if (actual.Node != expected.Node)
+            {
+                return false;
+            }
+
+            if (vehicleState == 1)
+            {
+                return false;
+            }
+
+            if (!RequiresActionWait(expected))
+            {
+                return true;
+            }
+
+            if (expected.StartStop == StartStopPass)
+            {
+                return true;
+            }
+
+            return ListPendingFields(expected, actual).Count == 0;
+        }
+
+        public static List<string> ListPendingFields(Fass2SimNodeMessage expected, Fass2SimVehicleSnapshot actual)
+        {
+            var pending = new List<string>();
+            if (expected == null || actual == null)
+            {
+                return pending;
+            }
+
+            if (expected.StartStop != 0 && actual.StartStop != expected.StartStop)
+            {
+                pending.Add("StartStop");
+            }
+
+            if (expected.Speed != 0 && actual.Speed != expected.Speed)
+            {
+                pending.Add("Speed");
+            }
+
+            foreach (var field in ActionFields)
+            {
+                var expectedValue = field.Get(expected);
+                if (expectedValue != 0 && GetActualField(actual, field.Name) != expectedValue)
+                {
+                    pending.Add(field.Name);
+                }
+            }
+
+            return pending;
+        }
+
+        public static string DescribePending(Fass2SimNodeMessage expected, Fass2SimVehicleSnapshot actual)
+        {
+            var pending = ListPendingFields(expected, actual);
+            return pending.Count == 0 ? string.Empty : string.Join(",", pending);
+        }
+
+        private static byte GetActualField(Fass2SimVehicleSnapshot actual, string name)
+        {
+            switch (name)
+            {
+                case "Direction": return actual.Direction;
+                case "Orientation": return actual.Orientation;
+                case "Byroad": return actual.Byroad;
+                case "Obstacle": return actual.Obstacle;
+                case "Audio": return actual.Audio;
+                case "Light": return actual.Light;
+                case "Charge": return actual.Charge;
+                case "Rest": return actual.Rest;
+                case "Lift": return actual.Lift;
+                case "Clamp": return actual.Clamp;
+                case "Tray": return actual.Tray;
+                case "Roll": return actual.Roll;
+                case "Shutdown": return actual.Shutdown;
+                default: return 0;
+            }
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimBootstrap.cs

@@ -0,0 +1,77 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using Microsoft.Extensions.Configuration;
+using Newtonsoft.Json;
+
+namespace StandardScene.Fass2Simulator
+{
+    public static class Fass2SimBootstrap
+    {
+        public static Fass2SimConfig LoadConfig()
+        {
+            var basePath = AppContext.BaseDirectory;
+            var builder = new ConfigurationBuilder()
+                .SetBasePath(basePath)
+                .AddJsonFile("appsettings.json", optional: true, reloadOnChange: false);
+
+            var configuration = builder.Build();
+            var config = new Fass2SimConfig();
+            configuration.GetSection("Fass2Simulator").Bind(config);
+            return config;
+        }
+
+        public static Fass2SimNodeProfileStore LoadNodeProfiles(Fass2SimConfig config)
+        {
+            var store = new Fass2SimNodeProfileStore();
+            var path = ResolveNodeProfilesPath(config.NodeProfilesPath);
+            if (!File.Exists(path))
+            {
+                return store;
+            }
+
+            try
+            {
+                var json = File.ReadAllText(path);
+                var profiles = JsonConvert.DeserializeObject<Dictionary<string, Fass2SimNodeProfile>>(json)
+                    ?? new Dictionary<string, Fass2SimNodeProfile>();
+                store.Load(profiles);
+                Fass2SimLog.WriteLine($"[{DateTime.Now:HH:mm:ss}] 已加载节点配置: {path} ({profiles.Count} 项)");
+            }
+            catch (Exception ex)
+            {
+                Fass2SimLog.WriteLine($"[{DateTime.Now:HH:mm:ss}] 加载节点配置失败: {ex.Message}");
+            }
+
+            return store;
+        }
+
+        public static Fass2SimRuntime CreateRuntime(Fass2SimConfig config)
+        {
+            var profiles = LoadNodeProfiles(config);
+            return new Fass2SimRuntime(config, profiles);
+        }
+
+        public static (Fass2SimVehicle vehicle, Fass2SimMotionEngine motion, Fass2SimActionEngine actions) CreateTestStack(
+            Fass2SimConfig config)
+        {
+            var vehicle = new Fass2SimVehicle(config);
+            var actions = new Fass2SimActionEngine(vehicle, config, new Fass2SimNodeProfileStore());
+            var motion = new Fass2SimMotionEngine(vehicle, config, actions);
+            actions.StationActionsCompleted += motion.OnStationActionsCompleted;
+            return (vehicle, motion, actions);
+        }
+
+        private static string ResolveNodeProfilesPath(string configuredPath)
+        {
+            if (string.IsNullOrWhiteSpace(configuredPath))
+            {
+                return Path.Combine(AppContext.BaseDirectory, "sim-nodes.json");
+            }
+
+            return Path.IsPathRooted(configuredPath)
+                ? configuredPath
+                : Path.Combine(AppContext.BaseDirectory, configuredPath);
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimCommandHandler.cs

@@ -0,0 +1,131 @@
+using System;
+
+namespace StandardScene.Fass2Simulator
+{
+    public sealed class Fass2SimCommandHandler
+    {
+        private readonly Fass2SimVehicle _vehicle;
+        private readonly Fass2SimMotionEngine _motion;
+        private readonly Fass2SimActionEngine _actions;
+        private readonly bool _logRawFrames;
+        private long _stateResponseCount;
+
+        public Fass2SimCommandHandler(
+            Fass2SimVehicle vehicle,
+            Fass2SimMotionEngine motion,
+            Fass2SimActionEngine actions,
+            bool logRawFrames)
+        {
+            _vehicle = vehicle;
+            _motion = motion;
+            _actions = actions;
+            _logRawFrames = logRawFrames;
+        }
+
+        public void Handle(byte[] packet, string remote)
+        {
+            if (!Fass2SimProtocol.TryGetCommand(packet, out var command, out var expectedLength))
+            {
+                Fass2SimLog.WriteLine($"[{Now()}] RX 非法报文 from {remote}, len={packet?.Length ?? 0}");
+                return;
+            }
+
+            if (packet.Length != expectedLength)
+            {
+                Fass2SimLog.WriteLine(
+                    $"[{Now()}] RX 长度不匹配 from {remote}: cmd={Fass2SimProtocol.CommandName(command)} actual={packet.Length} expected={expectedLength}");
+                return;
+            }
+
+            if (packet[expectedLength - 1] != Fass2SimProtocol.End)
+            {
+                Fass2SimLog.WriteLine($"[{Now()}] RX 帧尾错误 from {remote}: cmd={Fass2SimProtocol.CommandName(command)}");
+                return;
+            }
+
+            _vehicle.RecordCommandReceived();
+            _vehicle.LastCommand = command;
+
+            if (command == Fass2SimProtocol.CmdStateResponse)
+            {
+                _vehicle.RecordAckReceived();
+                LogStateResponseAck(remote);
+                return;
+            }
+
+            if (_logRawFrames)
+            {
+                Fass2SimLog.WriteLine($"[{Now()}] RX {Fass2SimProtocol.CommandName(command)} from {remote}: {Fass2SimProtocol.ToHex(packet)}");
+            }
+            else
+            {
+                Fass2SimLog.WriteLine($"[{Now()}] RX {Fass2SimProtocol.CommandName(command)} from {remote}");
+            }
+
+            switch (command)
+            {
+                case Fass2SimProtocol.CmdStart:
+                    _vehicle.State = 1;
+                    _motion.OnStartCommand();
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> State={Fass2SimProtocol.StateText(_vehicle.State)}");
+                    break;
+                case Fass2SimProtocol.CmdStop:
+                    _vehicle.State = 2;
+                    _motion.OnStopCommand();
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> State={Fass2SimProtocol.StateText(_vehicle.State)}");
+                    break;
+                case Fass2SimProtocol.CmdEmergencyStop:
+                    _vehicle.State = 3;
+                    _motion.OnStopCommand();
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> State={Fass2SimProtocol.StateText(_vehicle.State)}");
+                    break;
+                case Fass2SimProtocol.CmdQuery:
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> TCP 查询（UDP 模式通常不发 0x00）");
+                    break;
+                case Fass2SimProtocol.CmdNodes:
+                    if (Fass2SimProtocol.TryParseNodes(packet, out var taskId, out var nodes))
+                    {
+                        _motion.OnNodesCommand(taskId, nodes);
+                    }
+                    else
+                    {
+                        Fass2SimLog.WriteLine($"[{Now()}]    -> 0xB1 解析失败");
+                    }
+                    break;
+                case Fass2SimProtocol.CmdAction:
+                    if (Fass2SimProtocol.TryParseAction(packet, out var actionId, out var patch))
+                    {
+                        _actions.OnActionCommand(actionId, patch);
+                    }
+                    else
+                    {
+                        Fass2SimLog.WriteLine($"[{Now()}]    -> 0xA1 解析失败");
+                    }
+                    break;
+                default:
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> 暂未处理");
+                    break;
+            }
+        }
+
+        private void LogStateResponseAck(string remote)
+        {
+            _stateResponseCount++;
+            if (_stateResponseCount == 1)
+            {
+                Fass2SimLog.WriteLine($"[{Now()}] RX StateResponse(0x10) from {remote}，调度在线（后续 0x10 仅写文件日志）");
+                return;
+            }
+
+            if (_stateResponseCount % 200 == 0)
+            {
+                Fass2SimLog.WriteFileOnly($"[{Now()}] 0x10 累计应答 {_stateResponseCount} 次");
+            }
+        }
+
+        private static string Now()
+        {
+            return DateTime.Now.ToString("HH:mm:ss.fff");
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimConfig.cs

@@ -0,0 +1,30 @@
+using System.Collections.Generic;
+
+namespace StandardScene.Fass2Simulator
+{
+    public sealed class Fass2SimConfig
+    {
+        public ushort VehicleCode { get; set; } = 1;
+        public string VehicleListenAddress { get; set; } = "0.0.0.0";
+        public int VehicleListenPort { get; set; } = 5000;
+        public string SchedulerHost { get; set; } = "127.0.0.1";
+        public int SchedulerListenPort { get; set; } = 20103;
+        public int ReportIntervalMs { get; set; } = 200;
+        public ushort InitialNode { get; set; } = 1;
+        public byte InitialState { get; set; } = 0;
+        public byte BatteryCharge { get; set; } = 100;
+        public ushort CarLength { get; set; } = 1200;
+        public ushort CarWidth { get; set; } = 800;
+        public bool LogRawFrames { get; set; }
+        public double DefaultSpeed { get; set; } = 500;
+        public double DefaultSegmentDistance { get; set; } = 1000;
+        public double SecondsPerSegment { get; set; } = 2;
+        public bool AutoContinueOnPass { get; set; } = true;
+        public int ActionDelayMs { get; set; } = 1000;
+        public bool AutoCompleteStationActions { get; set; }
+        public string NodeProfilesPath { get; set; } = "sim-nodes.json";
+        public bool EnableFileLog { get; set; } = true;
+        public string LogDirectory { get; set; } = "logs";
+        public Dictionary<string, Fass2SimNodeProfile> NodeProfiles { get; set; } = new Dictionary<string, Fass2SimNodeProfile>();
+    }
+}

StandardScene.Fass2Simulator/Fass2SimFileLogger.cs

@@ -0,0 +1,140 @@
+using System;
+using System.IO;
+using System.Text;
+
+namespace StandardScene.Fass2Simulator
+{
+    public static class Fass2SimFileLogger
+    {
+        private static readonly object SyncRoot = new object();
+        private static StreamWriter _writer;
+        private static bool _enabled = true;
+        private static string _logDirectory;
+
+        public static string CurrentFilePath { get; private set; }
+
+        public static void Configure(Fass2SimConfig config)
+        {
+            _enabled = config == null || config.EnableFileLog;
+            _logDirectory = ResolveLogDirectory(config?.LogDirectory);
+        }
+
+        public static void BeginSession(Fass2SimConfig config)
+        {
+            if (config == null || !config.EnableFileLog)
+            {
+                return;
+            }
+
+            lock (SyncRoot)
+            {
+                CloseWriter();
+                Directory.CreateDirectory(_logDirectory);
+                var fileName = $"car{config.VehicleCode}_{DateTime.Now:yyyyMMdd_HHmmss}.log";
+                CurrentFilePath = Path.Combine(_logDirectory, fileName);
+                _writer = new StreamWriter(CurrentFilePath, false, new UTF8Encoding(encoderShouldEmitUTF8Identifier: false))
+                {
+                    AutoFlush = true
+                };
+
+                WriteDirect("===== FASS2 车体模拟器会话开始 =====");
+                WriteDirect($"时间: {DateTime.Now:yyyy-MM-dd HH:mm:ss}");
+                WriteDirect($"车号: {config.VehicleCode}");
+                WriteDirect($"车体监听: {config.VehicleListenAddress}:{config.VehicleListenPort}");
+                WriteDirect($"调度目标: {config.SchedulerHost}:{config.SchedulerListenPort}");
+                WriteDirect($"上报周期: {config.ReportIntervalMs} ms");
+                WriteDirect($"日志文件: {CurrentFilePath}");
+                WriteDirect("====================================");
+            }
+        }
+
+        public static void Write(string message)
+        {
+            if (!_enabled || string.IsNullOrEmpty(message))
+            {
+                return;
+            }
+
+            lock (SyncRoot)
+            {
+                if (_writer == null)
+                {
+                    EnsureDefaultWriter();
+                }
+
+                if (_writer == null)
+                {
+                    return;
+                }
+
+                _writer.WriteLine(message);
+            }
+        }
+
+        public static void Shutdown()
+        {
+            lock (SyncRoot)
+            {
+                if (_writer != null)
+                {
+                    WriteDirect($"===== 会话结束 {DateTime.Now:yyyy-MM-dd HH:mm:ss} =====");
+                }
+
+                CloseWriter();
+            }
+        }
+
+        public static string GetLogDirectory()
+        {
+            return _logDirectory ?? ResolveLogDirectory("logs");
+        }
+
+        private static void EnsureDefaultWriter()
+        {
+            if (!_enabled)
+            {
+                return;
+            }
+
+            Directory.CreateDirectory(_logDirectory);
+            var fileName = $"app_{DateTime.Now:yyyyMMdd}.log";
+            CurrentFilePath = Path.Combine(_logDirectory, fileName);
+            _writer = new StreamWriter(CurrentFilePath, true, new UTF8Encoding(encoderShouldEmitUTF8Identifier: false))
+            {
+                AutoFlush = true
+            };
+            WriteDirect($"[{DateTime.Now:HH:mm:ss}] 文件日志已启用: {CurrentFilePath}");
+        }
+
+        private static void WriteDirect(string message)
+        {
+            _writer?.WriteLine(message);
+        }
+
+        private static void CloseWriter()
+        {
+            try
+            {
+                _writer?.Flush();
+                _writer?.Dispose();
+            }
+            catch
+            {
+            }
+
+            _writer = null;
+        }
+
+        private static string ResolveLogDirectory(string configuredPath)
+        {
+            if (string.IsNullOrWhiteSpace(configuredPath))
+            {
+                return Path.Combine(AppContext.BaseDirectory, "logs");
+            }
+
+            return Path.IsPathRooted(configuredPath)
+                ? configuredPath
+                : Path.Combine(AppContext.BaseDirectory, configuredPath);
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimLog.cs

@@ -0,0 +1,33 @@
+using System;
+
+namespace StandardScene.Fass2Simulator
+{
+    public static class Fass2SimLog
+    {
+        public static event Action<string> MessageWritten;
+
+        public static void WriteLine(string message)
+        {
+            if (string.IsNullOrEmpty(message))
+            {
+                return;
+            }
+
+            Fass2SimFileLogger.Write(message);
+            MessageWritten?.Invoke(message);
+        }
+
+        /// <summary>
+        /// 高频日志只写文件，避免 UI 线程被 BeginInvoke 淹没。
+        /// </summary>
+        public static void WriteFileOnly(string message)
+        {
+            if (string.IsNullOrEmpty(message))
+            {
+                return;
+            }
+
+            Fass2SimFileLogger.Write(message);
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimMotionEngine.cs

@@ -0,0 +1,319 @@
+using System;
+
+namespace StandardScene.Fass2Simulator
+{
+    /// <summary>
+    /// 按 0xB1 节点序列模拟行驶：距离推进 → 到站更新 Node/字段 → State 切为停止供调度判定到站。
+    /// </summary>
+    public sealed class Fass2SimMotionEngine
+    {
+        private readonly Fass2SimVehicle _vehicle;
+        private readonly Fass2SimConfig _config;
+        private readonly Fass2SimActionEngine _actions;
+        private readonly object _syncRoot = new object();
+
+        private ulong _activeTaskId;
+        private Fass2SimNodeMessage[] _windowNodes = Array.Empty<Fass2SimNodeMessage>();
+        private Fass2SimNodeMessage _segmentTarget;
+        private double _segmentProgress;
+        private double _segmentLength;
+        private bool _segmentActive;
+
+        public Fass2SimMotionEngine(Fass2SimVehicle vehicle, Fass2SimConfig config, Fass2SimActionEngine actions)
+        {
+            _vehicle = vehicle;
+            _config = config;
+            _actions = actions;
+        }
+
+        public void OnNodesCommand(ulong taskId, Fass2SimNodeMessage[] nodes)
+        {
+            if (nodes == null || nodes.Length == 0)
+            {
+                Fass2SimLog.WriteLine($"[{Now()}]    -> 0xB1 节点为空，忽略");
+                return;
+            }
+
+            lock (_syncRoot)
+            {
+                var taskChanged = _activeTaskId != taskId;
+                _activeTaskId = taskId;
+                _windowNodes = nodes;
+                _vehicle.Task = taskId;
+
+                ApplyCurrentNodeFields(nodes);
+                LogNodes(nodes);
+
+                if (_vehicle.State == 3)
+                {
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> 急停中，不启动运动");
+                    return;
+                }
+
+                if (_segmentActive)
+                {
+                    if (taskChanged)
+                    {
+                        Fass2SimLog.WriteLine($"[{Now()}]    -> 新 taskId，重置路段");
+                        ResetSegment();
+                    }
+                    else
+                    {
+                        return;
+                    }
+                }
+
+                TryStartNextSegment();
+            }
+        }
+
+        public void OnStartCommand()
+        {
+            lock (_syncRoot)
+            {
+                if (_vehicle.State == 3)
+                {
+                    return;
+                }
+
+                TryStartNextSegment();
+            }
+        }
+
+        public void OnStopCommand()
+        {
+            lock (_syncRoot)
+            {
+                ResetSegment();
+            }
+        }
+
+        public void OnStationActionsCompleted()
+        {
+            lock (_syncRoot)
+            {
+                TryResumeFromStation();
+            }
+        }
+
+        public void Tick(int deltaMs)
+        {
+            if (deltaMs <= 0)
+            {
+                return;
+            }
+
+            lock (_syncRoot)
+            {
+                if (!_segmentActive || _segmentTarget == null || _vehicle.State != 1)
+                {
+                    return;
+                }
+
+                var speed = ResolveSpeed(_segmentTarget);
+                var deltaDistance = speed * deltaMs / 1000.0;
+                _segmentProgress += deltaDistance;
+                _vehicle.Distance = (ushort)Math.Min(ushort.MaxValue, Math.Round(_segmentProgress));
+
+                if (_segmentProgress < _segmentLength)
+                {
+                    return;
+                }
+
+                ArriveAtTarget();
+            }
+        }
+
+        private void TryStartNextSegment()
+        {
+            if (_vehicle.State != 1 && _vehicle.State != 2)
+            {
+                return;
+            }
+
+            if (_vehicle.State == 2 && !_actions.CanLeaveStation())
+            {
+                return;
+            }
+
+            var target = ResolveNextTarget(_windowNodes, _vehicle.Node);
+            if (target == null)
+            {
+                if (_vehicle.State == 2)
+                {
+                    Fass2SimLog.WriteLine($"[{Now()}]    -> 窗口内无下一段，等待下一帧 0xB1");
+                }
+                return;
+            }
+
+            _segmentTarget = target;
+            _segmentLength = ResolveSegmentLength(target);
+            _segmentProgress = 0;
+            _segmentActive = true;
+            _vehicle.State = 1;
+            _vehicle.Distance = 0;
+
+            if (target.Speed > 0)
+            {
+                _vehicle.Speed = target.Speed;
+            }
+
+            Fass2SimLog.WriteLine(
+                $"[{Now()}]    -> 开始路段: {_vehicle.Node} -> {target.Node}, dist={_segmentLength:F0}mm, speed={ResolveSpeed(target):F0}mm/s");
+        }
+
+        private void ArriveAtTarget()
+        {
+            var target = _segmentTarget;
+            _vehicle.Node = target.Node;
+            _vehicle.Distance = 0;
+            ResetSegment();
+            _actions.OnStationArrival(target);
+
+            Fass2SimLog.WriteLine(
+                $"[{Now()}]    -> 到站 node={target.Node}, StartStop={target.StartStop}, state={Fass2SimProtocol.StateText(_vehicle.State)}");
+
+            TryResumeFromStation();
+        }
+
+        private void TryResumeFromStation()
+        {
+            if (!_config.AutoContinueOnPass)
+            {
+                return;
+            }
+
+            var expected = _actions.ExpectedStation;
+            if (expected == null || expected.StartStop != Fass2SimActionResolver.StartStopPass)
+            {
+                return;
+            }
+
+            if (_vehicle.State != 2 || !_actions.CanLeaveStation() || !HasNextTarget(_vehicle.Node))
+            {
+                return;
+            }
+
+            _vehicle.State = 1;
+            TryStartNextSegment();
+        }
+
+        private void ResetSegment()
+        {
+            _segmentTarget = null;
+            _segmentProgress = 0;
+            _segmentLength = 0;
+            _segmentActive = false;
+        }
+
+        private bool HasNextTarget(ushort currentNode)
+        {
+            return ResolveNextTarget(_windowNodes, currentNode) != null;
+        }
+
+        private static Fass2SimNodeMessage ResolveNextTarget(Fass2SimNodeMessage[] nodes, ushort currentNode)
+        {
+            if (nodes == null || nodes.Length == 0)
+            {
+                return null;
+            }
+
+            var startIndex = 0;
+            for (var i = 0; i < nodes.Length; i++)
+            {
+                if (nodes[i].Node == currentNode)
+                {
+                    startIndex = i + 1;
+                }
+            }
+
+            for (var i = startIndex; i < nodes.Length; i++)
+            {
+                var node = nodes[i];
+                if (node.Node == 0 || node.Node == currentNode)
+                {
+                    continue;
+                }
+
+                return node;
+            }
+
+            return null;
+        }
+
+        private void ApplyCurrentNodeFields(Fass2SimNodeMessage[] nodes)
+        {
+            foreach (var node in nodes)
+            {
+                if (node.Node == _vehicle.Node && node.StartStop > 0)
+                {
+                    _vehicle.StartStop = node.StartStop;
+                }
+            }
+        }
+
+        private double ResolveSegmentLength(Fass2SimNodeMessage target)
+        {
+            if (target.Distance > 0)
+            {
+                return target.Distance;
+            }
+
+            if (_config.DefaultSegmentDistance > 0)
+            {
+                return _config.DefaultSegmentDistance;
+            }
+
+            var speed = ResolveSpeed(target);
+            return Math.Max(100, speed * _config.SecondsPerSegment);
+        }
+
+        private double ResolveSpeed(Fass2SimNodeMessage target)
+        {
+            if (target.Speed > 0)
+            {
+                return target.Speed;
+            }
+
+            if (_vehicle.Speed > 0)
+            {
+                return _vehicle.Speed;
+            }
+
+            return _config.DefaultSpeed;
+        }
+
+        private void LogNodes(Fass2SimNodeMessage[] nodes)
+        {
+            var summary = string.Join(" -> ", Array.ConvertAll(nodes, n => n.Node.ToString()));
+            Fass2SimLog.WriteLine($"[{Now()}]    -> 0xB1 taskId={_activeTaskId}, nodes=[{summary}]");
+        }
+
+        private static string Now()
+        {
+            return DateTime.Now.ToString("HH:mm:ss.fff");
+        }
+
+        /// <summary>
+        /// 供界面展示路段进度：行驶中返回目标节点与路段长度，到站后 node 才会在协议里跳变。
+        /// </summary>
+        public bool TryGetSegmentStatus(out ushort targetNode, out int segmentLengthMm, out int progressMm)
+        {
+            lock (_syncRoot)
+            {
+                if (!_segmentActive || _segmentTarget == null)
+                {
+                    targetNode = 0;
+                    segmentLengthMm = 0;
+                    progressMm = 0;
+                    return false;
+                }
+
+                targetNode = _segmentTarget.Node;
+                segmentLengthMm = (int)Math.Round(_segmentLength);
+                progressMm = (int)Math.Round(_segmentProgress);
+                return true;
+            }
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimNodeMessage.cs

@@ -0,0 +1,121 @@
+namespace StandardScene.Fass2Simulator
+{
+    public sealed class Fass2SimNodeMessage
+    {
+        public ushort Node { get; set; }
+        public ushort Distance { get; set; }
+        public byte StartStop { get; set; }
+        public byte Direction { get; set; }
+        public byte Orientation { get; set; }
+        public byte Byroad { get; set; }
+        public ushort Speed { get; set; }
+        public byte Obstacle { get; set; }
+        public byte Audio { get; set; }
+        public byte Light { get; set; }
+        public byte Charge { get; set; }
+        public byte Rest { get; set; }
+        public byte Lift { get; set; }
+        public byte Clamp { get; set; }
+        public byte Tray { get; set; }
+        public byte Roll { get; set; }
+        public byte Shutdown { get; set; }
+
+        public static Fass2SimNodeMessage FromBytes(byte[] bytes, int offset)
+        {
+            return new Fass2SimNodeMessage
+            {
+                Node = ReadUInt16(bytes, offset),
+                Distance = ReadUInt16(bytes, offset + 2),
+                StartStop = bytes[offset + 4],
+                Direction = bytes[offset + 5],
+                Orientation = bytes[offset + 6],
+                Byroad = bytes[offset + 7],
+                Speed = ReadUInt16(bytes, offset + 8),
+                Obstacle = bytes[offset + 10],
+                Audio = bytes[offset + 11],
+                Light = bytes[offset + 12],
+                Charge = bytes[offset + 13],
+                Rest = bytes[offset + 14],
+                Lift = bytes[offset + 15],
+                Clamp = bytes[offset + 16],
+                Tray = bytes[offset + 17],
+                Roll = bytes[offset + 18],
+                Shutdown = bytes[offset + 19]
+            };
+        }
+
+        public void ApplyTo(Fass2SimVehicle vehicle)
+        {
+            if (vehicle.Node != Node)
+            {
+                return;
+            }
+
+            if (StartStop > 0)
+            {
+                vehicle.StartStop = StartStop;
+            }
+            if (Direction > 0)
+            {
+                vehicle.Direction = Direction;
+            }
+            if (Orientation > 0)
+            {
+                vehicle.Orientation = Orientation;
+            }
+            if (Byroad > 0)
+            {
+                vehicle.Byroad = Byroad;
+            }
+            if (Speed > 0)
+            {
+                vehicle.Speed = Speed;
+            }
+            if (Obstacle > 0)
+            {
+                vehicle.Obstacle = Obstacle;
+            }
+            if (Audio > 0)
+            {
+                vehicle.Audio = Audio;
+            }
+            if (Light > 0)
+            {
+                vehicle.Light = Light;
+            }
+            if (Charge > 0)
+            {
+                vehicle.Charge = Charge;
+            }
+            if (Rest > 0)
+            {
+                vehicle.Rest = Rest;
+            }
+            if (Lift > 0)
+            {
+                vehicle.Lift = Lift;
+            }
+            if (Clamp > 0)
+            {
+                vehicle.Clamp = Clamp;
+            }
+            if (Tray > 0)
+            {
+                vehicle.Tray = Tray;
+            }
+            if (Roll > 0)
+            {
+                vehicle.Roll = Roll;
+            }
+            if (Shutdown > 0)
+            {
+                vehicle.Shutdown = Shutdown;
+            }
+        }
+
+        private static ushort ReadUInt16(byte[] bytes, int offset)
+        {
+            return System.BitConverter.ToUInt16(bytes, offset);
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimNodeProfileStore.cs

@@ -0,0 +1,44 @@
+using System;
+using System.Collections.Generic;
+
+namespace StandardScene.Fass2Simulator
+{
+    public sealed class Fass2SimNodeProfile
+    {
+        public int ActionDelayMs { get; set; }
+    }
+
+    public sealed class Fass2SimNodeProfileStore
+    {
+        private readonly Dictionary<ushort, Fass2SimNodeProfile> _profiles = new Dictionary<ushort, Fass2SimNodeProfile>();
+
+        public void Load(IDictionary<string, Fass2SimNodeProfile> nodes)
+        {
+            _profiles.Clear();
+            if (nodes == null)
+            {
+                return;
+            }
+
+            foreach (var pair in nodes)
+            {
+                if (!ushort.TryParse(pair.Key, out var nodeId))
+                {
+                    continue;
+                }
+
+                _profiles[nodeId] = pair.Value ?? new Fass2SimNodeProfile();
+            }
+        }
+
+        public int ResolveActionDelayMs(ushort nodeId, int fallbackMs)
+        {
+            if (_profiles.TryGetValue(nodeId, out var profile) && profile.ActionDelayMs > 0)
+            {
+                return profile.ActionDelayMs;
+            }
+
+            return fallbackMs;
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimProtocol.cs

@@ -0,0 +1,228 @@
+using System;
+using System.Linq;
+using System.Text;
+
+namespace StandardScene.Fass2Simulator
+{
+    /// <summary>
+    /// FASS 2.0 PCB/UDP 报文编解码，字段布局对齐
+    /// <c>StandardScene.Magnetic.Protocol.Fass2Protocol.ParseState</c> 与 backend PCB 仿真器。
+    /// </summary>
+    public static class Fass2SimProtocol
+    {
+        public const byte Begin = 0xBB;
+        public const byte End = 0xEE;
+
+        public const byte CmdQuery = 0x00;
+        public const byte CmdStart = 0x01;
+        public const byte CmdStop = 0x02;
+        public const byte CmdEmergencyStop = 0x03;
+        public const byte CmdReset = 0x04;
+        public const byte CmdRest = 0x05;
+        public const byte CmdShutdown = 0x06;
+        public const byte CmdAction = 0xA1;
+        public const byte CmdNodes = 0xB1;
+        public const byte CmdStateResponse = 0x10;
+
+        public const int ControlFrameLength = 50;
+        public const int StateFrameLength = 100;
+        public const int ActionFrameLength = 100;
+        public const int NodesFrameLength = 300;
+
+        public static byte[] BuildState(Fass2SimVehicleSnapshot snapshot)
+        {
+            var frame = new byte[StateFrameLength];
+            frame[0] = Begin;
+            frame[1] = snapshot.LastCommand;
+            WriteUInt16(frame, 2, snapshot.Car);
+            WriteUInt16(frame, 4, snapshot.Length);
+            WriteUInt16(frame, 6, snapshot.Width);
+
+            var carType = Encoding.ASCII.GetBytes("Fass2Sim".PadRight(16, '\0'));
+            Buffer.BlockCopy(carType, 0, frame, 12, Math.Min(16, carType.Length));
+
+            frame[28] = snapshot.BatteryCharge;
+            frame[29] = snapshot.BatteryHealth;
+            WriteUInt16(frame, 30, snapshot.BatteryCurrent);
+            WriteUInt16(frame, 32, snapshot.BatteryVoltage);
+            WriteUInt16(frame, 34, snapshot.HeadingAngle);
+            frame[36] = snapshot.State;
+            WriteUInt64(frame, 37, snapshot.Alarm);
+            WriteUInt64(frame, 45, snapshot.Task);
+
+            var nodeBytes = BuildNodeBytes(snapshot);
+            Buffer.BlockCopy(nodeBytes, 0, frame, 53, 25);
+
+            frame[98] = Xor(frame, 1, 97);
+            frame[99] = End;
+            return frame;
+        }
+
+        public static byte[] BuildNodeBytes(Fass2SimVehicleSnapshot snapshot)
+        {
+            var bytes = new byte[25];
+            WriteUInt16(bytes, 0, snapshot.Node);
+            WriteUInt16(bytes, 2, snapshot.Distance);
+            bytes[4] = snapshot.StartStop;
+            bytes[5] = snapshot.Direction;
+            bytes[6] = snapshot.Orientation;
+            bytes[7] = snapshot.Byroad;
+            WriteUInt16(bytes, 8, snapshot.Speed);
+            bytes[10] = snapshot.Obstacle;
+            bytes[11] = snapshot.Audio;
+            bytes[12] = snapshot.Light;
+            bytes[13] = snapshot.Charge;
+            bytes[14] = snapshot.Rest;
+            bytes[15] = snapshot.Lift;
+            bytes[16] = snapshot.Clamp;
+            bytes[17] = snapshot.Tray;
+            bytes[18] = snapshot.Roll;
+            bytes[19] = snapshot.Shutdown;
+            return bytes;
+        }
+
+        public static bool TryGetCommand(byte[] packet, out byte command, out int expectedLength)
+        {
+            command = 0;
+            expectedLength = 0;
+            if (packet == null || packet.Length < 2 || packet[0] != Begin)
+            {
+                return false;
+            }
+
+            command = packet[1];
+            expectedLength = ResolvePacketLength(command);
+            return expectedLength > 0;
+        }
+
+        public static int ResolvePacketLength(byte command)
+        {
+            switch (command)
+            {
+                case CmdQuery:
+                case CmdStart:
+                case CmdStop:
+                case CmdEmergencyStop:
+                case CmdReset:
+                case CmdRest:
+                case CmdShutdown:
+                case CmdStateResponse:
+                    return ControlFrameLength;
+                case CmdAction:
+                    return ActionFrameLength;
+                case CmdNodes:
+                    return NodesFrameLength;
+                default:
+                    return 0;
+            }
+        }
+
+        public static string CommandName(byte command)
+        {
+            switch (command)
+            {
+                case CmdQuery: return "Query(0x00)";
+                case CmdStart: return "Start(0x01)";
+                case CmdStop: return "Stop(0x02)";
+                case CmdEmergencyStop: return "EmergencyStop(0x03)";
+                case CmdReset: return "Reset(0x04)";
+                case CmdRest: return "Rest(0x05)";
+                case CmdShutdown: return "Shutdown(0x06)";
+                case CmdAction: return "Action(0xA1)";
+                case CmdNodes: return "Nodes(0xB1)";
+                case CmdStateResponse: return "StateResponse(0x10)";
+                default: return $"Unknown(0x{command:X2})";
+            }
+        }
+
+        public static string StateText(byte state)
+        {
+            switch (state)
+            {
+                case 0: return "未准备";
+                case 1: return "运行中";
+                case 2: return "停止中";
+                case 3: return "急停中";
+                case 4: return "故障中";
+                case 5: return "任务中";
+                case 6: return "休眠中";
+                case 7: return "关机中";
+                case 8: return "充电中";
+                default: return $"未知({state})";
+            }
+        }
+
+        public static string ToHex(byte[] bytes)
+        {
+            return bytes == null ? string.Empty : string.Join(" ", bytes.Select(b => b.ToString("X2")));
+        }
+
+        public static byte Xor(byte[] data, int start, int length)
+        {
+            byte xor = 0;
+            for (var i = 0; i < length; i++)
+            {
+                xor ^= data[start + i];
+            }
+            return xor;
+        }
+
+        public static bool TryParseNodes(byte[] packet, out ulong taskId, out Fass2SimNodeMessage[] nodes)
+        {
+            taskId = 0;
+            nodes = Array.Empty<Fass2SimNodeMessage>();
+            if (packet == null || packet.Length < NodesFrameLength || packet[1] != CmdNodes)
+            {
+                return false;
+            }
+
+            taskId = BitConverter.ToUInt64(packet, 4);
+            var count = BitConverter.ToUInt16(packet, 12);
+            if (count == 0 || count > 10)
+            {
+                return false;
+            }
+
+            var requiredLength = 14 + count * 25 + 2;
+            if (packet.Length < requiredLength)
+            {
+                return false;
+            }
+
+            nodes = new Fass2SimNodeMessage[count];
+            for (var i = 0; i < count; i++)
+            {
+                nodes[i] = Fass2SimNodeMessage.FromBytes(packet, 14 + i * 25);
+            }
+
+            return true;
+        }
+
+        public static bool TryParseAction(byte[] packet, out ulong actionId, out Fass2SimNodeMessage node)
+        {
+            actionId = 0;
+            node = null;
+            if (packet == null || packet.Length < ActionFrameLength || packet[1] != CmdAction)
+            {
+                return false;
+            }
+
+            actionId = BitConverter.ToUInt64(packet, 4);
+            node = Fass2SimNodeMessage.FromBytes(packet, 14);
+            return true;
+        }
+
+        private static void WriteUInt16(byte[] buffer, int offset, ushort value)
+        {
+            var bytes = BitConverter.GetBytes(value);
+            buffer[offset] = bytes[0];
+            buffer[offset + 1] = bytes[1];
+        }
+
+        private static void WriteUInt64(byte[] buffer, int offset, ulong value)
+        {
+            var bytes = BitConverter.GetBytes(value);
+            Buffer.BlockCopy(bytes, 0, buffer, offset, 8);
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimRuntime.cs

@@ -0,0 +1,50 @@
+using System;
+
+namespace StandardScene.Fass2Simulator
+{
+    public sealed class Fass2SimRuntime : IDisposable
+    {
+        private readonly Fass2SimUdpHost _host;
+
+        public Fass2SimRuntime(Fass2SimConfig config, Fass2SimNodeProfileStore profiles)
+        {
+            Config = config;
+            Vehicle = new Fass2SimVehicle(config);
+            Actions = new Fass2SimActionEngine(Vehicle, config, profiles);
+            Motion = new Fass2SimMotionEngine(Vehicle, config, Actions);
+            Actions.StationActionsCompleted += Motion.OnStationActionsCompleted;
+            var commandHandler = new Fass2SimCommandHandler(Vehicle, Motion, Actions, config.LogRawFrames);
+            _host = new Fass2SimUdpHost(config, Vehicle, commandHandler, Motion, Actions);
+            _host.StatusReported += (_, __) => StatusChanged?.Invoke();
+        }
+
+        public Fass2SimConfig Config { get; }
+
+        public Fass2SimVehicle Vehicle { get; }
+
+        public Fass2SimMotionEngine Motion { get; }
+
+        public Fass2SimActionEngine Actions { get; }
+
+        public bool IsRunning => _host.IsRunning;
+
+        public event Action StatusChanged;
+
+        public void Start()
+        {
+            _host.Start();
+            StatusChanged?.Invoke();
+        }
+
+        public void Stop()
+        {
+            _host.Stop();
+            StatusChanged?.Invoke();
+        }
+
+        public void Dispose()
+        {
+            _host.Dispose();
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimSelfTests.cs

@@ -0,0 +1,123 @@
+using System;
+
+namespace StandardScene.Fass2Simulator
+{
+    public static class Fass2SimSelfTests
+    {
+        public static int Run(string[] args)
+        {
+            if (HasArg(args, "--motion-test"))
+            {
+                return RunMotionSelfTest();
+            }
+
+            if (HasArg(args, "--action-test"))
+            {
+                return RunActionSelfTest();
+            }
+
+            return 1;
+        }
+
+        private static int RunMotionSelfTest()
+        {
+            var config = new Fass2SimConfig
+            {
+                InitialNode = 1,
+                DefaultSegmentDistance = 500,
+                DefaultSpeed = 500,
+                AutoContinueOnPass = true
+            };
+            var (vehicle, motion, _) = Fass2SimBootstrap.CreateTestStack(config);
+            var nodes = new[]
+            {
+                new Fass2SimNodeMessage { Node = 1, StartStop = 1 },
+                new Fass2SimNodeMessage { Node = 2, StartStop = 1, Distance = 500 },
+                new Fass2SimNodeMessage { Node = 3, StartStop = 2, Distance = 500 }
+            };
+
+            vehicle.State = 1;
+            motion.OnNodesCommand(1001, nodes);
+
+            for (var i = 0; i < 30; i++)
+            {
+                motion.Tick(200);
+                var snap = vehicle.Snapshot();
+                if (snap.Node == 3 && snap.State == 2)
+                {
+                    Console.WriteLine($"motion self-test ok: node={snap.Node}, task={snap.Task}");
+                    return 0;
+                }
+            }
+
+            var last = vehicle.Snapshot();
+            Console.WriteLine($"motion self-test failed: node={last.Node}, state={last.State}, task={last.Task}");
+            return 1;
+        }
+
+        private static int RunActionSelfTest()
+        {
+            var config = new Fass2SimConfig
+            {
+                InitialNode = 3,
+                ActionDelayMs = 500,
+                AutoCompleteStationActions = false
+            };
+            var (vehicle, _, actions) = Fass2SimBootstrap.CreateTestStack(config);
+            vehicle.State = 2;
+            vehicle.Node = 3;
+            vehicle.Lift = 0;
+
+            var station = new Fass2SimNodeMessage
+            {
+                Node = 3,
+                StartStop = Fass2SimActionResolver.StartStopStop,
+                Lift = 1
+            };
+            actions.OnStationArrival(station);
+
+            var pendingBefore = Fass2SimActionResolver.DescribePending(station, vehicle.Snapshot());
+            if (string.IsNullOrEmpty(pendingBefore) || vehicle.Lift != 0)
+            {
+                Console.WriteLine($"action self-test failed at setup: pending={pendingBefore}, lift={vehicle.Lift}");
+                return 1;
+            }
+
+            actions.OnActionCommand(2001, new Fass2SimNodeMessage { Node = 3, Lift = 1 });
+
+            for (var i = 0; i < 10; i++)
+            {
+                actions.Tick(100);
+            }
+
+            var snap = vehicle.Snapshot();
+            if (snap.Lift == 1 && actions.IsStationComplete())
+            {
+                Console.WriteLine($"action self-test ok: node={snap.Node}, lift={snap.Lift}");
+                return 0;
+            }
+
+            Console.WriteLine(
+                $"action self-test failed: lift={snap.Lift}, complete={actions.IsStationComplete()}, pending={Fass2SimActionResolver.DescribePending(station, snap)}");
+            return 1;
+        }
+
+        private static bool HasArg(string[] args, string name)
+        {
+            if (args == null)
+            {
+                return false;
+            }
+
+            foreach (var arg in args)
+            {
+                if (string.Equals(arg, name, StringComparison.OrdinalIgnoreCase))
+                {
+                    return true;
+                }
+            }
+
+            return false;
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimUdpHost.cs

@@ -0,0 +1,186 @@
+using System;
+using System.Net;
+using System.Net.Sockets;
+using System.Threading;
+
+namespace StandardScene.Fass2Simulator
+{
+    public sealed class Fass2SimUdpHost : IDisposable
+    {
+        private readonly Fass2SimConfig _config;
+        private readonly Fass2SimVehicle _vehicle;
+        private readonly Fass2SimCommandHandler _commandHandler;
+        private readonly Fass2SimMotionEngine _motionEngine;
+        private readonly Fass2SimActionEngine _actionEngine;
+        private readonly IPEndPoint _schedulerEndpoint;
+
+        private UdpClient _listener;
+        private UdpClient _sender;
+        private Thread _receiveThread;
+        private Timer _reportTimer;
+        private volatile bool _running;
+
+        public Fass2SimUdpHost(
+            Fass2SimConfig config,
+            Fass2SimVehicle vehicle,
+            Fass2SimCommandHandler commandHandler,
+            Fass2SimMotionEngine motionEngine,
+            Fass2SimActionEngine actionEngine)
+        {
+            _config = config;
+            _vehicle = vehicle;
+            _commandHandler = commandHandler;
+            _motionEngine = motionEngine;
+            _actionEngine = actionEngine;
+            _schedulerEndpoint = new IPEndPoint(IPAddress.Parse(config.SchedulerHost), config.SchedulerListenPort);
+        }
+
+        public bool IsRunning => _running;
+
+        public event EventHandler StatusReported;
+
+        public void Start()
+        {
+            if (_running)
+            {
+                return;
+            }
+
+            var listenAddress = IPAddress.Parse(_config.VehicleListenAddress);
+            _listener = new UdpClient(new IPEndPoint(listenAddress, _config.VehicleListenPort));
+            _sender = new UdpClient();
+            _running = true;
+
+            _receiveThread = new Thread(ReceiveLoop)
+            {
+                IsBackground = true,
+                Name = $"Fass2SimRx:{_config.VehicleListenPort}"
+            };
+            _receiveThread.Start();
+
+            var interval = Math.Max(50, _config.ReportIntervalMs);
+            _reportTimer = new Timer(SendStateReport, null, 0, interval);
+
+            Fass2SimLog.WriteLine($"[{Now()}] 模拟车已启动");
+            Fass2SimLog.WriteLine($"  车体监听 : {_config.VehicleListenAddress}:{_config.VehicleListenPort}");
+            Fass2SimLog.WriteLine($"  上报目标 : {_config.SchedulerHost}:{_config.SchedulerListenPort}");
+            Fass2SimLog.WriteLine($"  车号     : {_config.VehicleCode}");
+            Fass2SimLog.WriteLine($"  上报周期 : {interval} ms");
+            Fass2SimLog.WriteLine($"  路段模拟 : dist={_config.DefaultSegmentDistance}mm 或 node.Distance, speed={_config.DefaultSpeed}mm/s");
+            Fass2SimLog.WriteLine($"  动作延时 : {_config.ActionDelayMs}ms（0xA1 到位），AutoComplete={_config.AutoCompleteStationActions}");
+            Fass2SimLog.WriteLine($"  初始节点 : {_config.InitialNode}, 状态={Fass2SimProtocol.StateText(_config.InitialState)}");
+            Fass2SimLog.WriteLine("等待 MagFass2Car 联调（address=127.0.0.1, Port=5000, ListenPort=20103, VehicleCode=1）");
+        }
+
+        public void Stop()
+        {
+            _running = false;
+            _reportTimer?.Dispose();
+            _reportTimer = null;
+
+            try
+            {
+                _listener?.Close();
+            }
+            catch
+            {
+            }
+
+            try
+            {
+                _receiveThread?.Join(1000);
+            }
+            catch
+            {
+            }
+
+            _receiveThread = null;
+            _listener = null;
+
+            try
+            {
+                _sender?.Close();
+            }
+            catch
+            {
+            }
+
+            _sender = null;
+            Fass2SimLog.WriteLine($"[{Now()}] 模拟车已停止");
+        }
+
+        public void Dispose()
+        {
+            Stop();
+        }
+
+        private void ReceiveLoop()
+        {
+            while (_running)
+            {
+                try
+                {
+                    var remote = new IPEndPoint(IPAddress.Any, 0);
+                    var packet = _listener.Receive(ref remote);
+                    _commandHandler.Handle(packet, remote.ToString());
+                }
+                catch (SocketException) when (!_running)
+                {
+                    break;
+                }
+                catch (ObjectDisposedException) when (!_running)
+                {
+                    break;
+                }
+                catch (Exception ex)
+                {
+                    Fass2SimLog.WriteLine($"[{Now()}] 接收异常: {ex.Message}");
+                }
+            }
+        }
+
+        private void SendStateReport(object _)
+        {
+            if (!_running)
+            {
+                return;
+            }
+
+            try
+            {
+                var interval = Math.Max(50, _config.ReportIntervalMs);
+                _actionEngine.Tick(interval);
+                _motionEngine.Tick(interval);
+
+                var snapshot = _vehicle.Snapshot();
+                var frame = Fass2SimProtocol.BuildState(snapshot);
+                _sender.Send(frame, frame.Length, _schedulerEndpoint);
+                _vehicle.RecordStateReportSent();
+                StatusReported?.Invoke(this, EventArgs.Empty);
+
+                if (snapshot.StateReportsSent == 0 || snapshot.StateReportsSent % 25 == 0)
+                {
+                    var pending = _actionEngine.ExpectedStation == null
+                        ? "-"
+                        : Fass2SimActionResolver.DescribePending(_actionEngine.ExpectedStation, snapshot);
+                    if (string.IsNullOrEmpty(pending))
+                    {
+                        pending = "-";
+                    }
+
+                    Fass2SimLog.WriteLine(
+                        $"[{Now()}] TX 状态 #{snapshot.StateReportsSent + 1}: node={snapshot.Node}, dist={snapshot.Distance}, state={Fass2SimProtocol.StateText(snapshot.State)}, lift={snapshot.Lift}, pending={pending}, task={snapshot.Task}");
+                }
+            }
+            catch (Exception ex)
+            {
+                Fass2SimLog.WriteLine($"[{Now()}] 上报异常: {ex.Message}");
+            }
+        }
+
+        private static string Now()
+        {
+            return DateTime.Now.ToString("HH:mm:ss.fff");
+        }
+    }
+}

StandardScene.Fass2Simulator/Fass2SimVehicle.cs

@@ -0,0 +1,171 @@
+using System;
+
+namespace StandardScene.Fass2Simulator
+{
+    public sealed class Fass2SimVehicle
+    {
+        private readonly object _syncRoot = new object();
+
+        public Fass2SimVehicle(Fass2SimConfig config)
+        {
+            Car = config.VehicleCode;
+            Length = config.CarLength;
+            Width = config.CarWidth;
+            BatteryCharge = config.BatteryCharge;
+            BatteryHealth = 100;
+            BatteryVoltage = 480;
+            State = config.InitialState;
+            Node = config.InitialNode;
+            Speed = 500;
+        }
+
+        public ushort Car { get; }
+        public ushort Length { get; set; }
+        public ushort Width { get; set; }
+        public byte BatteryCharge { get; set; }
+        public byte BatteryHealth { get; set; }
+        public ushort BatteryCurrent { get; set; }
+        public ushort BatteryVoltage { get; set; }
+        public ushort HeadingAngle { get; set; }
+        public byte State { get; set; }
+        public ulong Alarm { get; set; }
+        public ulong Task { get; set; }
+        public byte LastCommand { get; set; }
+
+        public ushort Node { get; set; }
+        public ushort Distance { get; set; }
+        public byte StartStop { get; set; }
+        public byte Direction { get; set; }
+        public byte Orientation { get; set; }
+        public byte Byroad { get; set; }
+        public ushort Speed { get; set; }
+        public byte Obstacle { get; set; }
+        public byte Audio { get; set; }
+        public byte Light { get; set; }
+        public byte Charge { get; set; }
+        public byte Rest { get; set; }
+        public byte Lift { get; set; }
+        public byte Clamp { get; set; }
+        public byte Tray { get; set; }
+        public byte Roll { get; set; }
+        public byte Shutdown { get; set; }
+
+        public long StateReportsSent { get; private set; }
+        public long CommandsReceived { get; private set; }
+        public long AckReceived { get; private set; }
+        public DateTime LastAckUtc { get; private set; } = DateTime.MinValue;
+
+        public void RecordStateReportSent()
+        {
+            lock (_syncRoot)
+            {
+                StateReportsSent++;
+            }
+        }
+
+        public void RecordCommandReceived()
+        {
+            lock (_syncRoot)
+            {
+                CommandsReceived++;
+            }
+        }
+
+        public void RecordAckReceived()
+        {
+            lock (_syncRoot)
+            {
+                AckReceived++;
+                LastAckUtc = DateTime.UtcNow;
+            }
+        }
+
+        public Fass2SimVehicleSnapshot Snapshot()
+        {
+            lock (_syncRoot)
+            {
+                return CopySnapshotUnsafe();
+            }
+        }
+
+        /// <summary>
+        /// 供已持有其它引擎锁的代码路径读取快照，避免与 UI 线程 Snapshot() 争用 _syncRoot 导致死锁。
+        /// </summary>
+        internal Fass2SimVehicleSnapshot CopySnapshotUnsafe()
+        {
+            return new Fass2SimVehicleSnapshot
+            {
+                Car = Car,
+                Length = Length,
+                Width = Width,
+                BatteryCharge = BatteryCharge,
+                BatteryHealth = BatteryHealth,
+                BatteryCurrent = BatteryCurrent,
+                BatteryVoltage = BatteryVoltage,
+                HeadingAngle = HeadingAngle,
+                State = State,
+                Alarm = Alarm,
+                Task = Task,
+                LastCommand = LastCommand,
+                Node = Node,
+                Distance = Distance,
+                StartStop = StartStop,
+                Direction = Direction,
+                Orientation = Orientation,
+                Byroad = Byroad,
+                Speed = Speed,
+                Obstacle = Obstacle,
+                Audio = Audio,
+                Light = Light,
+                Charge = Charge,
+                Rest = Rest,
+                Lift = Lift,
+                Clamp = Clamp,
+                Tray = Tray,
+                Roll = Roll,
+                Shutdown = Shutdown,
+                StateReportsSent = StateReportsSent,
+                CommandsReceived = CommandsReceived,
+                AckReceived = AckReceived,
+                LastAckUtc = LastAckUtc
+            };
+        }
+    }
+
+    public sealed class Fass2SimVehicleSnapshot
+    {
+        public ushort Car { get; set; }
+        public ushort Length { get; set; }
+        public ushort Width { get; set; }
+        public byte BatteryCharge { get; set; }
+        public byte BatteryHealth { get; set; }
+        public ushort BatteryCurrent { get; set; }
+        public ushort BatteryVoltage { get; set; }
+        public ushort HeadingAngle { get; set; }
+        public byte State { get; set; }
+        public ulong Alarm { get; set; }
+        public ulong Task { get; set; }
+        public byte LastCommand { get; set; }
+        public ushort Node { get; set; }
+        public ushort Distance { get; set; }
+        public byte StartStop { get; set; }
+        public byte Direction { get; set; }
+        public byte Orientation { get; set; }
+        public byte Byroad { get; set; }
+        public ushort Speed { get; set; }
+        public byte Obstacle { get; set; }
+        public byte Audio { get; set; }
+        public byte Light { get; set; }
+        public byte Charge { get; set; }
+        public byte Rest { get; set; }
+        public byte Lift { get; set; }
+        public byte Clamp { get; set; }
+        public byte Tray { get; set; }
+        public byte Roll { get; set; }
+        public byte Shutdown { get; set; }
+        public long StateReportsSent { get; set; }
+        public long CommandsReceived { get; set; }
+        public long AckReceived { get; set; }
+        public DateTime LastAckUtc { get; set; }
+    }
+}

StandardScene.Fass2Simulator/MainWindow.xaml

@@ -0,0 +1,111 @@
+<Window x:Class="StandardScene.Fass2Simulator.MainWindow"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        Title="FASS2 车体模拟器"
+        Height="720"
+        Width="1080"
+        MinHeight="560"
+        MinWidth="900"
+        Background="White"
+        WindowStartupLocation="CenterScreen">
+    <Grid Margin="16">
+        <Grid.RowDefinitions>
+            <RowDefinition Height="Auto"/>
+            <RowDefinition Height="Auto"/>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+
+        <DockPanel Grid.Row="0" Margin="0,0,0,12">
+            <StackPanel DockPanel.Dock="Left" Orientation="Horizontal" VerticalAlignment="Center">
+                <TextBlock Text="FASS2 车体模拟器" FontSize="22" FontWeight="SemiBold" Foreground="#111827"/>
+                <Border Margin="16,0,0,0" Padding="10,4" CornerRadius="12" Background="#E5E7EB">
+                    <TextBlock x:Name="RunStateText" Text="已停止" FontWeight="SemiBold" Foreground="#6B7280"/>
+                </Border>
+            </StackPanel>
+            <StackPanel DockPanel.Dock="Right" Orientation="Horizontal" HorizontalAlignment="Right">
+                <Button x:Name="StartButton" Content="启动模拟" Width="110" Height="36" Margin="0,0,8,0"
+                        Background="#2563EB" Foreground="White" BorderThickness="0" FontWeight="SemiBold" Click="StartButton_Click"/>
+                <Button x:Name="StopButton" Content="停止" Width="90" Height="36" Margin="0,0,8,0"
+                        IsEnabled="False" Click="StopButton_Click"/>
+                <Button x:Name="ClearLogButton" Content="清空界面" Width="90" Height="36" Margin="0,0,8,0" Click="ClearLogButton_Click"/>
+                <Button x:Name="OpenLogFolderButton" Content="打开日志目录" Width="110" Height="36" Click="OpenLogFolderButton_Click"/>
+            </StackPanel>
+        </DockPanel>
+
+        <Grid Grid.Row="1" Margin="0,0,0,12">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="320"/>
+                <ColumnDefinition Width="16"/>
+                <ColumnDefinition Width="*"/>
+            </Grid.ColumnDefinitions>
+
+            <Border Grid.Column="0" Background="{StaticResource PanelBrush}" BorderBrush="{StaticResource BorderBrush}"
+                    BorderThickness="1" CornerRadius="8" Padding="14">
+                <StackPanel>
+                    <TextBlock Text="联调参数" FontSize="16" FontWeight="SemiBold" Margin="0,0,0,12"/>
+                    <TextBlock Text="车号" Margin="0,0,0,4"/>
+                    <TextBox x:Name="VehicleCodeBox" Height="28" Margin="0,0,0,10"/>
+                    <TextBlock Text="车体监听地址" Margin="0,0,0,4"/>
+                    <TextBox x:Name="ListenAddressBox" Height="28" Margin="0,0,0,10"/>
+                    <TextBlock Text="车体监听端口" Margin="0,0,0,4"/>
+                    <TextBox x:Name="ListenPortBox" Height="28" Margin="0,0,0,10"/>
+                    <TextBlock Text="调度地址" Margin="0,0,0,4"/>
+                    <TextBox x:Name="SchedulerHostBox" Height="28" Margin="0,0,0,10"/>
+                    <TextBlock Text="调度监听端口" Margin="0,0,0,4"/>
+                    <TextBox x:Name="SchedulerPortBox" Height="28" Margin="0,0,0,10"/>
+                    <TextBlock Text="上报周期 (ms)" Margin="0,0,0,4"/>
+                    <TextBox x:Name="ReportIntervalBox" Height="28" Margin="0,0,0,10"/>
+                    <TextBlock Text="初始节点" Margin="0,0,0,4"/>
+                    <TextBox x:Name="InitialNodeBox" Height="28" Margin="0,0,0,10"/>
+                    <CheckBox x:Name="AutoContinueBox" Content="途经站自动续跑" Margin="0,0,0,6"/>
+                    <CheckBox x:Name="AutoCompleteBox" Content="到站自动补全动作" Margin="0,0,0,6"/>
+                    <CheckBox x:Name="LogRawFramesBox" Content="记录原始报文"/>
+                </StackPanel>
+            </Border>
+
+            <Border Grid.Column="2" Background="{StaticResource PanelBrush}" BorderBrush="{StaticResource BorderBrush}"
+                    BorderThickness="1" CornerRadius="8" Padding="14">
+                <Grid>
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition Height="*"/>
+                    </Grid.RowDefinitions>
+                    <TextBlock Text="车体状态" FontSize="16" FontWeight="SemiBold" Margin="0,0,0,12"/>
+                    <UniformGrid Grid.Row="1" Columns="4" Rows="4">
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="上报节点" Foreground="#6B7280"/><TextBlock x:Name="NodeText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="目标节点" Foreground="#6B7280"/><TextBlock x:Name="TargetNodeText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="行驶距离 (mm)" Foreground="#6B7280"/><TextBlock x:Name="DistanceText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="车体状态" Foreground="#6B7280"/><TextBlock x:Name="StateText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="任务号" Foreground="#6B7280"/><TextBlock x:Name="TaskText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="StartStop" Foreground="#6B7280"/><TextBlock x:Name="StartStopText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="Lift" Foreground="#6B7280"/><TextBlock x:Name="LiftText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="电量" Foreground="#6B7280"/><TextBlock x:Name="BatteryText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="待动作" Foreground="#6B7280"/><TextBlock x:Name="PendingText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="状态上报" Foreground="#6B7280"/><TextBlock x:Name="ReportsText" Text="0" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="收令次数" Foreground="#6B7280"/><TextBlock x:Name="CommandsText" Text="0" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="0x10 应答" Foreground="#6B7280"/><TextBlock x:Name="AckText" Text="0" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                        <StackPanel Margin="0,0,12,10"><TextBlock Text="最近应答" Foreground="#6B7280"/><TextBlock x:Name="LastAckText" Text="-" FontSize="18" FontWeight="SemiBold"/></StackPanel>
+                    </UniformGrid>
+                </Grid>
+            </Border>
+        </Grid>
+
+        <Border Grid.Row="2" BorderBrush="{StaticResource BorderBrush}" BorderThickness="1" CornerRadius="8" Padding="10">
+            <DockPanel>
+                <StackPanel DockPanel.Dock="Top" Margin="0,0,0,8">
+                    <TextBlock Text="运行日志（界面仅保留最近 800 行，完整日志写入本地文件）" FontSize="16" FontWeight="SemiBold"/>
+                    <TextBlock x:Name="LogFilePathText" Text="日志文件: -" FontSize="12" Foreground="#6B7280" Margin="0,4,0,0" TextWrapping="Wrap"/>
+                </StackPanel>
+                <TextBox x:Name="LogTextBox"
+                         IsReadOnly="True"
+                         TextWrapping="NoWrap"
+                         VerticalScrollBarVisibility="Auto"
+                         HorizontalScrollBarVisibility="Auto"
+                         FontFamily="Consolas"
+                         FontSize="12"
+                         Background="#FAFAFA"
+                         BorderThickness="0"/>
+            </DockPanel>
+        </Border>
+    </Grid>
+</Window>

StandardScene.Fass2Simulator/MainWindow.xaml.cs

@@ -0,0 +1,365 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using System.Text;
+using System.Windows;
+using System.Windows.Media;
+using System.Windows.Threading;
+
+namespace StandardScene.Fass2Simulator
+{
+    public partial class MainWindow : Window
+    {
+        private const int MaxLogLines = 800;
+        private readonly StringBuilder _logBuffer = new StringBuilder();
+        private int _logLineCount;
+        private Fass2SimConfig _config;
+        private Fass2SimRuntime _runtime;
+        private readonly DispatcherTimer _uiTimer;
+        private readonly Queue<string> _pendingLogLines = new Queue<string>();
+        private readonly object _logQueueLock = new object();
+        private bool _logFlushScheduled;
+
+        public MainWindow()
+        {
+            InitializeComponent();
+            _config = Fass2SimBootstrap.LoadConfig();
+            Fass2SimFileLogger.Configure(_config);
+            LoadConfigToUi(_config);
+            SetRunningUi(false);
+            UpdateLogFilePathText();
+
+            Fass2SimLog.MessageWritten += OnLogMessage;
+            _uiTimer = new DispatcherTimer { Interval = TimeSpan.FromMilliseconds(250) };
+            _uiTimer.Tick += (_, __) => RefreshStatus();
+            _uiTimer.Start();
+            RefreshStatus();
+
+            Closed += (_, __) =>
+            {
+                Fass2SimLog.MessageWritten -= OnLogMessage;
+                _runtime?.Dispose();
+                Fass2SimFileLogger.Shutdown();
+            };
+
+            AppendLog("就绪。配置参数后点击「启动模拟」开始联调。完整日志将写入 logs 目录。");
+        }
+
+        private void StartButton_Click(object sender, RoutedEventArgs e)
+        {
+            if (_runtime != null && _runtime.IsRunning)
+            {
+                return;
+            }
+
+            try
+            {
+                _config = ReadConfigFromUi();
+                Fass2SimFileLogger.Configure(_config);
+                Fass2SimFileLogger.BeginSession(_config);
+                UpdateLogFilePathText();
+                _runtime?.Dispose();
+                _runtime = Fass2SimBootstrap.CreateRuntime(_config);
+                _runtime.Start();
+                SetRunningUi(true);
+                RefreshStatus();
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(this, ex.Message, "启动失败", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+        }
+
+        private void StopButton_Click(object sender, RoutedEventArgs e)
+        {
+            if (_runtime == null)
+            {
+                return;
+            }
+
+            _runtime.Stop();
+            SetRunningUi(false);
+            RefreshStatus();
+        }
+
+        private void ClearLogButton_Click(object sender, RoutedEventArgs e)
+        {
+            _logBuffer.Clear();
+            _logLineCount = 0;
+            LogTextBox.Clear();
+        }
+
+        private void OpenLogFolderButton_Click(object sender, RoutedEventArgs e)
+        {
+            var directory = Fass2SimFileLogger.GetLogDirectory();
+            Directory.CreateDirectory(directory);
+            Process.Start(new ProcessStartInfo
+            {
+                FileName = directory,
+                UseShellExecute = true
+            });
+        }
+
+        private void UpdateLogFilePathText()
+        {
+            if (!_config.EnableFileLog)
+            {
+                LogFilePathText.Text = "文件日志已关闭（appsettings.json: EnableFileLog=false）";
+                return;
+            }
+
+            var path = Fass2SimFileLogger.CurrentFilePath;
+            if (string.IsNullOrEmpty(path))
+            {
+                LogFilePathText.Text = $"日志目录: {Fass2SimFileLogger.GetLogDirectory()}（启动模拟后生成会话日志）";
+                return;
+            }
+
+            LogFilePathText.Text = $"日志文件: {path}";
+        }
+
+        private void OnLogMessage(string message)
+        {
+            lock (_logQueueLock)
+            {
+                _pendingLogLines.Enqueue(message);
+            }
+
+            if (_logFlushScheduled)
+            {
+                return;
+            }
+
+            _logFlushScheduled = true;
+            Dispatcher.BeginInvoke(new Action(FlushPendingLogs), DispatcherPriority.Background);
+        }
+
+        private void FlushPendingLogs()
+        {
+            _logFlushScheduled = false;
+            List<string> batch;
+            lock (_logQueueLock)
+            {
+                if (_pendingLogLines.Count == 0)
+                {
+                    return;
+                }
+
+                batch = new List<string>(_pendingLogLines.Count);
+                while (_pendingLogLines.Count > 0)
+                {
+                    batch.Add(_pendingLogLines.Dequeue());
+                }
+            }
+
+            foreach (var line in batch)
+            {
+                AppendLog(line);
+            }
+        }
+
+        private void AppendLog(string message)
+        {
+            if (string.IsNullOrEmpty(message))
+            {
+                return;
+            }
+
+            _logBuffer.AppendLine(message);
+            _logLineCount++;
+            while (_logLineCount > MaxLogLines)
+            {
+                var bufferText = _logBuffer.ToString();
+                var firstBreak = bufferText.IndexOf('\n');
+                if (firstBreak < 0)
+                {
+                    _logBuffer.Clear();
+                    _logLineCount = 0;
+                    break;
+                }
+
+                _logBuffer.Remove(0, firstBreak + 1);
+                _logLineCount--;
+            }
+
+            LogTextBox.Text = _logBuffer.ToString();
+            LogTextBox.CaretIndex = LogTextBox.Text.Length;
+            LogTextBox.ScrollToEnd();
+        }
+
+        private void RefreshStatus()
+        {
+            if (_runtime == null || !_runtime.IsRunning)
+            {
+                if (_runtime == null)
+                {
+                    ApplyIdleStatus(
+                        _config.InitialNode.ToString(),
+                        "-",
+                        "0",
+                        Fass2SimProtocol.StateText(_config.InitialState),
+                        "0",
+                        "-",
+                        "0",
+                        $"{_config.BatteryCharge}%",
+                        "-",
+                        "0",
+                        "0",
+                        "0",
+                        "无");
+                }
+
+                return;
+            }
+
+            var snap = _runtime.Vehicle.Snapshot();
+            var expected = _runtime.Actions.ExpectedStation;
+            var pending = expected == null
+                ? "-"
+                : Fass2SimActionResolver.DescribePending(expected, snap);
+            if (string.IsNullOrEmpty(pending))
+            {
+                pending = "-";
+            }
+
+            var distanceText = snap.Distance.ToString();
+            var targetNodeText = "-";
+            if (_runtime.Motion.TryGetSegmentStatus(out var targetNode, out var segmentLengthMm, out var progressMm))
+            {
+                targetNodeText = targetNode.ToString();
+                distanceText = $"{progressMm} / {segmentLengthMm}";
+            }
+
+            ApplyIdleStatus(
+                snap.Node.ToString(),
+                targetNodeText,
+                distanceText,
+                Fass2SimProtocol.StateText(snap.State),
+                snap.Task.ToString(),
+                snap.StartStop.ToString(),
+                snap.Lift.ToString(),
+                $"{snap.BatteryCharge}%",
+                pending,
+                snap.StateReportsSent.ToString(),
+                snap.CommandsReceived.ToString(),
+                snap.AckReceived.ToString(),
+                snap.LastAckUtc == DateTime.MinValue
+                    ? "无"
+                    : $"{(DateTime.UtcNow - snap.LastAckUtc).TotalSeconds:F1}s 前");
+        }
+
+        private void ApplyIdleStatus(
+            string node,
+            string targetNode,
+            string distance,
+            string state,
+            string task,
+            string startStop,
+            string lift,
+            string battery,
+            string pending,
+            string reports,
+            string commands,
+            string ack,
+            string lastAck)
+        {
+            NodeText.Text = node;
+            TargetNodeText.Text = targetNode;
+            DistanceText.Text = distance;
+            StateText.Text = state;
+            TaskText.Text = task;
+            StartStopText.Text = startStop;
+            LiftText.Text = lift;
+            BatteryText.Text = battery;
+            PendingText.Text = pending;
+            ReportsText.Text = reports;
+            CommandsText.Text = commands;
+            AckText.Text = ack;
+            LastAckText.Text = lastAck;
+        }
+
+        private void LoadConfigToUi(Fass2SimConfig config)
+        {
+            VehicleCodeBox.Text = config.VehicleCode.ToString();
+            ListenAddressBox.Text = config.VehicleListenAddress;
+            ListenPortBox.Text = config.VehicleListenPort.ToString();
+            SchedulerHostBox.Text = config.SchedulerHost;
+            SchedulerPortBox.Text = config.SchedulerListenPort.ToString();
+            ReportIntervalBox.Text = config.ReportIntervalMs.ToString();
+            InitialNodeBox.Text = config.InitialNode.ToString();
+            AutoContinueBox.IsChecked = config.AutoContinueOnPass;
+            AutoCompleteBox.IsChecked = config.AutoCompleteStationActions;
+            LogRawFramesBox.IsChecked = config.LogRawFrames;
+        }
+
+        private Fass2SimConfig ReadConfigFromUi()
+        {
+            return new Fass2SimConfig
+            {
+                VehicleCode = ParseUShort(VehicleCodeBox.Text, "车号"),
+                VehicleListenAddress = ListenAddressBox.Text?.Trim() ?? "0.0.0.0",
+                VehicleListenPort = ParseInt(ListenPortBox.Text, "车体监听端口"),
+                SchedulerHost = SchedulerHostBox.Text?.Trim() ?? "127.0.0.1",
+                SchedulerListenPort = ParseInt(SchedulerPortBox.Text, "调度监听端口"),
+                ReportIntervalMs = ParseInt(ReportIntervalBox.Text, "上报周期"),
+                InitialNode = ParseUShort(InitialNodeBox.Text, "初始节点"),
+                InitialState = _config?.InitialState ?? 0,
+                BatteryCharge = _config?.BatteryCharge ?? 100,
+                CarLength = _config?.CarLength ?? 1200,
+                CarWidth = _config?.CarWidth ?? 800,
+                DefaultSpeed = _config?.DefaultSpeed ?? 500,
+                DefaultSegmentDistance = _config?.DefaultSegmentDistance ?? 1000,
+                SecondsPerSegment = _config?.SecondsPerSegment ?? 2,
+                ActionDelayMs = _config?.ActionDelayMs ?? 1000,
+                NodeProfilesPath = _config?.NodeProfilesPath ?? "sim-nodes.json",
+                AutoContinueOnPass = AutoContinueBox.IsChecked == true,
+                AutoCompleteStationActions = AutoCompleteBox.IsChecked == true,
+                LogRawFrames = LogRawFramesBox.IsChecked == true,
+                EnableFileLog = _config?.EnableFileLog ?? true,
+                LogDirectory = _config?.LogDirectory ?? "logs"
+            };
+        }
+
+        private void SetRunningUi(bool running)
+        {
+            StartButton.IsEnabled = !running;
+            StopButton.IsEnabled = running;
+            VehicleCodeBox.IsEnabled = !running;
+            ListenAddressBox.IsEnabled = !running;
+            ListenPortBox.IsEnabled = !running;
+            SchedulerHostBox.IsEnabled = !running;
+            SchedulerPortBox.IsEnabled = !running;
+            ReportIntervalBox.IsEnabled = !running;
+            InitialNodeBox.IsEnabled = !running;
+            AutoContinueBox.IsEnabled = !running;
+            AutoCompleteBox.IsEnabled = !running;
+            LogRawFramesBox.IsEnabled = !running;
+
+            RunStateText.Text = running ? "运行中" : "已停止";
+            RunStateText.Foreground = running
+                ? new SolidColorBrush(Color.FromRgb(22, 163, 74))
+                : new SolidColorBrush(Color.FromRgb(107, 114, 128));
+        }
+
+        private static ushort ParseUShort(string text, string fieldName)
+        {
+            if (!ushort.TryParse(text?.Trim(), out var value))
+            {
+                throw new InvalidOperationException($"{fieldName} 无效：{text}");
+            }
+
+            return value;
+        }
+
+        private static int ParseInt(string text, string fieldName)
+        {
+            if (!int.TryParse(text?.Trim(), out var value))
+            {
+                throw new InvalidOperationException($"{fieldName} 无效：{text}");
+            }
+
+            return value;
+        }
+    }
+}

StandardScene.Fass2Simulator/StandardScene.Fass2Simulator.csproj

@@ -0,0 +1,27 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>WinExe</OutputType>
+    <TargetFramework>net8.0-windows</TargetFramework>
+    <RootNamespace>StandardScene.Fass2Simulator</RootNamespace>
+    <AssemblyName>StandardScene.Fass2Simulator</AssemblyName>
+    <LangVersion>latest</LangVersion>
+    <ImplicitUsings>disable</ImplicitUsings>
+    <Nullable>disable</Nullable>
+    <Deterministic>true</Deterministic>
+    <UseWPF>true</UseWPF>
+    <ApplicationIcon />
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Microsoft.Extensions.Configuration.Json" Version="8.0.0" />
+    <PackageReference Include="Microsoft.Extensions.Configuration.Binder" Version="8.0.0" />
+    <PackageReference Include="Newtonsoft.Json" Version="13.0.4" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <None Update="appsettings.json" CopyToOutputDirectory="PreserveNewest" />
+    <None Update="sim-nodes.json" CopyToOutputDirectory="PreserveNewest" />
+  </ItemGroup>
+
+</Project>

StandardScene.Fass2Simulator/appsettings.json

@@ -0,0 +1,25 @@
+{
+  "Fass2Simulator": {
+    "VehicleCode": 1,
+    "VehicleListenAddress": "0.0.0.0",
+    "VehicleListenPort": 5000,
+    "SchedulerHost": "127.0.0.1",
+    "SchedulerListenPort": 20103,
+    "ReportIntervalMs": 200,
+    "InitialNode": 1,
+    "InitialState": 0,
+    "BatteryCharge": 100,
+    "CarLength": 1200,
+    "CarWidth": 800,
+    "LogRawFrames": false,
+    "DefaultSpeed": 500,
+    "DefaultSegmentDistance": 1000,
+    "SecondsPerSegment": 2,
+    "AutoContinueOnPass": true,
+    "ActionDelayMs": 1000,
+    "AutoCompleteStationActions": false,
+    "NodeProfilesPath": "sim-nodes.json",
+    "EnableFileLog": true,
+    "LogDirectory": "logs"
+  }
+}

StandardScene.Fass2Simulator/sim-nodes.json

@@ -0,0 +1,4 @@
+{
+  "3": { "ActionDelayMs": 1200 },
+  "5": { "ActionDelayMs": 800 }
+}

StandardScene.Magnetic/Chained/MagFass2LoopMission.cs

@@ -0,0 +1,20 @@
+using Newtonsoft.Json;
+using SimpleLite.Props;
+using SimpleLite.RCS;
+using StandardScene.Chained;
+
+namespace StandardScene
+{
+    /// <summary>
+    /// 磁导航 FASS 2.0 环线任务进程。
+    /// <para>任务分配/触发/流量逻辑完全继承 Core <see cref="LoopMission"/>，不修改 Core。</para>
+    /// <para>导航执行由 <see cref="MagFass2Car"/> 拦截 Loop 编译脚本（含 <c>MagFass2Go</c> + <c>goalSite</c>），
+    /// 改为单次全程 <c>0xB1</c> 状态机任务。</para>
+    /// <para>场景内可继续使用原 <see cref="LoopMission"/>；本类型仅作磁导航 FASS2 场景标识。</para>
+    /// </summary>
+    [MissionType(Name = "磁导航FASS2环线", editor = typeof(MagFass2LoopMission))]
+    public class MagFass2LoopMission : LoopMission
+    {
+        [JsonIgnore] public override MissionStatus status { get; set; } = new LoopMissionStatus();
+    }
+}

StandardScene.Magnetic/Configs/EventCar/FG2512073.json

@@ -0,0 +1,351 @@
+[
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "3",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Stopping",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "3,53,21"
+			}
+
+		],
+		"TaskEnable": true,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "16",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "WaitPass",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "16,3"
+			}
+		],
+		"TaskEnable": true,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "21",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Stopping",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "21,1,4"
+			},
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "requestStaion",
+				"ConditionMethodArgs": "DB5524.0.0"
+			}
+		],
+		"TaskEnable": true,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "1",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Stopping",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "InplaceStaion",
+				"ConditionMethodArgs": "DB5524.2.0,DB5524.0.1"
+			}
+		],
+		"TaskEnable": true,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "2",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Stopping",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "clearStaion",
+				"ConditionMethodArgs": "DB5524.2.0"
+			}
+		],
+		"TaskEnable": true,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "53",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Running",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "EmegerStop",
+				"ConditionMethodArgs": "DB5524.0.2"
+			}
+		],
+		"TaskEnable": true,
+		"TaskType": "Stop"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "53",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Stopping",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "EmegerStart",
+				"ConditionMethodArgs": "DB5524.0.2"
+			}
+
+		],
+		"TaskEnable": true,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "5",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Stopping,Charging",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "5,54"
+			}
+
+		],
+		"TaskEnable": true,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "7",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Running",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "7,8"
+			}
+		],
+		"TaskEnable": false,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "9",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Running",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "9"
+			}
+		],
+		"TaskEnable": false,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "11",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Running",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "11"
+			}
+		],
+		"TaskEnable": false,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "14",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Running",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "14"
+			}
+		],
+		"TaskEnable": false,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "15",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Running",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "NodeAllUnlockedNotCar",
+				"ConditionMethodArgs": "15"
+			}
+		],
+		"TaskEnable": false,
+		"TaskType": "Start"
+	},
+	{
+		"TriggerEnable": true,
+		"TriggerSource": "Car",
+		"TriggerEvent": "TimerTick",
+		"TriggerCarCode": null,
+		"TriggerCarPrevNodeCode": null,
+		"TriggerCarCurrentNodeCode": "27",
+		"TriggerCarNextNodeCode": null,
+		"TriggerCarState": "Stopping,Charging",
+		"TriggerCarAngle": null,
+		"ConditionEvents": [
+			{
+				"ConditionEnable": true,
+				"ConditionType": "Method",
+				"ConditionAssemblyFile": null,
+				"ConditionTypeName": null,
+				"ConditionTypeArgs": null,
+				"ConditionMethodName": "ChargeStart",
+				"ConditionMethodArgs": "95"
+			}
+
+		],
+		"TaskEnable": true,
+		"TaskType": "Start"
+	}
+]

StandardScene.Magnetic/MagneticSceneProfile.cs

@@ -7,8 +7,9 @@ namespace StandardScene.Magnetic
 {
     /// <summary>
     /// 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
+    /// <para>车型：<see cref="MagCar"/>（FASS 1.0 TCP）、<see cref="MagFass2Car"/>（FASS 2.0 UDP/任务状态机）。
-    /// MagneticTrackCoder 生成 agv.MagGo / agv.NaiveMagGo 脚本（按 track.Magnet 触发）。</para>
+    /// Loop 导航：继续使用 Core <c>LoopMission</c> 或本插件 <c>MagFass2LoopMission</c> 分配 <c>goalSite</c>，
+    /// <see cref="MagFass2Car"/> 拦截编译脚本后一次下发全程 <c>0xB1</c>。</para>
     /// 宿主（SimpleLite）加载本 dll 后反射实例化并 OnActivate / 注册。
     /// </summary>
     public sealed class MagneticSceneProfile : NavigationProfileBase
@@ -22,11 +23,12 @@ namespace StandardScene.Magnetic
         public override IReadOnlyList<Type> CarTypes => new[]
         {
             typeof(MagCar),
+            typeof(MagFass2Car),
         };
 
         public override void OnActivate(ISceneContext context)
         {
-            context.Log($"{DisplayName} 已激活（车型：磁导航车 MagCar）");
+            context.Log($"{DisplayName} 已激活（车型：MagCar / MagFass2Car）");
         }
     }
 }

StandardScene.Magnetic/Protocol/Fass2CommMode.cs

@@ -0,0 +1,14 @@
+namespace StandardScene.Magnetic.Protocol
+{
+    /// <summary>
+    /// FASS 2.0 通讯模式：PLC/TCP 主动查询，或 PCB/UDP 被动接收状态上报。
+    /// </summary>
+    public enum Fass2CommMode
+    {
+        /// <summary>PLC：TCP 同步收发，调度主动发 0x00 查询。</summary>
+        Tcp = 0,
+
+        /// <summary>PCB：UDP 监听 AGV 上报，回 0x10，命令单向下发。</summary>
+        Udp = 1
+    }
+}

StandardScene.Magnetic/Protocol/Fass2Protocol.cs

@@ -0,0 +1,336 @@
+using System;
+using System.Linq;
+
+namespace StandardScene.Magnetic.Protocol
+{
+    /// <summary>
+    /// FASS 2.0 通用控制接口（PLC）报文编解码，对齐
+    /// <c>FASS.Extend.Car.Fairyland.Plc</c> 与调度器 <c>CarRequestService</c> 逻辑。
+    /// </summary>
+    internal static class Fass2Protocol
+    {
+        public const byte Begin = 0xBB;
+        public const byte End = 0xEE;
+
+        public const byte CmdQuery = 0x00;
+        public const byte CmdStart = 0x01;
+        public const byte CmdStop = 0x02;
+        public const byte CmdEmergencyStop = 0x03;
+        public const byte CmdReset = 0x04;
+        public const byte CmdRest = 0x05;
+        public const byte CmdShutdown = 0x06;
+        public const byte CmdAction = 0xA1;
+        public const byte CmdNodes = 0xB1;
+        public const byte CmdStateResponse = 0x10;
+
+        public const int ControlFrameLength = 50;
+        public const int StateFrameLength = 100;
+        public const int ActionFrameLength = 100;
+        public const int NodesFrameLength = 300;
+
+        public static byte Xor(byte[] data, int start, int length)
+        {
+            byte xor = 0;
+            for (var i = 0; i < length; i++)
+            {
+                xor ^= data[start + i];
+            }
+            return xor;
+        }
+
+        public static byte[] BuildControl(byte command, ushort car, ushort param)
+        {
+            var frame = new byte[ControlFrameLength];
+            frame[0] = Begin;
+            frame[1] = command;
+            WriteUInt16(frame, 2, car);
+            WriteUInt16(frame, 4, param);
+            frame[48] = Xor(frame, 1, 47);
+            frame[49] = End;
+            return frame;
+        }
+
+        public static byte[] BuildNodes(ushort car, ulong taskId, Fass2NodeMessage[] nodes)
+        {
+            if (nodes == null || nodes.Length == 0)
+            {
+                throw new ArgumentException("nodes required");
+            }
+            if (nodes.Length > 10)
+            {
+                throw new ArgumentException("FASS2 nodes count must be <= 10");
+            }
+
+            var frame = new byte[NodesFrameLength];
+            frame[0] = Begin;
+            frame[1] = CmdNodes;
+            WriteUInt16(frame, 2, car);
+            WriteUInt64(frame, 4, taskId);
+            WriteUInt16(frame, 12, (ushort)nodes.Length);
+            for (var i = 0; i < nodes.Length; i++)
+            {
+                Buffer.BlockCopy(nodes[i].ToBytes(), 0, frame, 14 + i * 25, 25);
+            }
+            frame[298] = Xor(frame, 1, 297);
+            frame[299] = End;
+            return frame;
+        }
+
+        public static byte[] BuildAction(ushort car, ulong actionId, Fass2NodeMessage node)
+        {
+            if (node == null)
+            {
+                throw new ArgumentException("node required");
+            }
+
+            var frame = new byte[ActionFrameLength];
+            frame[0] = Begin;
+            frame[1] = CmdAction;
+            WriteUInt16(frame, 2, car);
+            WriteUInt64(frame, 4, actionId);
+            Buffer.BlockCopy(node.ToBytes(), 0, frame, 14, 25);
+            frame[98] = Xor(frame, 1, 97);
+            frame[99] = End;
+            return frame;
+        }
+
+        /// <summary>
+        /// PCB/UDP 模式：收到 AGV 主动上报的 100B 状态后，回 0x10（50B）时间戳应答。
+        /// </summary>
+        public static byte[] BuildStateResponse(ushort car, ulong timestampMs)
+        {
+            var frame = new byte[ControlFrameLength];
+            frame[0] = Begin;
+            frame[1] = CmdStateResponse;
+            WriteUInt16(frame, 2, car);
+            WriteUInt64(frame, 4, timestampMs);
+
+            var epoch = new DateTime(1970, 1, 1, 8, 0, 0, DateTimeKind.Unspecified);
+            var date = epoch.AddMilliseconds(timestampMs > long.MaxValue ? long.MaxValue : (long)timestampMs);
+            frame[12] = (byte)(date.Year - 1970);
+            frame[13] = (byte)date.Month;
+            frame[14] = (byte)date.Day;
+            frame[15] = (byte)date.Hour;
+            frame[16] = (byte)date.Minute;
+            frame[17] = (byte)date.Second;
+            WriteUInt16(frame, 18, (ushort)date.Millisecond);
+
+            frame[48] = Xor(frame, 1, 47);
+            frame[49] = End;
+            return frame;
+        }
+
+        public static ulong BeijingUnixTimeMs()
+        {
+            var epoch = new DateTime(1970, 1, 1, 8, 0, 0, DateTimeKind.Unspecified);
+            return (ulong)(DateTime.Now - epoch).TotalMilliseconds;
+        }
+
+        public static bool TryExtractStateFrame(byte[] buffer, int length, out byte[] frame)
+        {
+            frame = null;
+            if (buffer == null || length < StateFrameLength)
+            {
+                return false;
+            }
+
+            for (var i = 0; i <= length - StateFrameLength; i++)
+            {
+                if (buffer[i] != Begin || buffer[i + StateFrameLength - 1] != End)
+                {
+                    continue;
+                }
+
+                frame = new byte[StateFrameLength];
+                Buffer.BlockCopy(buffer, i, frame, 0, StateFrameLength);
+                return true;
+            }
+
+            if (length == StateFrameLength && buffer[0] == Begin && buffer[StateFrameLength - 1] == End)
+            {
+                frame = new byte[StateFrameLength];
+                Buffer.BlockCopy(buffer, 0, frame, 0, StateFrameLength);
+                return true;
+            }
+
+            return false;
+        }
+
+        public static Fass2StateReport ParseState(byte[] bytes)
+        {
+            if (bytes == null || bytes.Length < StateFrameLength)
+            {
+                throw new ArgumentException("FASS2 state frame must be 100 bytes");
+            }
+            if (bytes[0] != Begin || bytes[99] != End)
+            {
+                throw new ArgumentException($"invalid FASS2 state frame: begin=0x{bytes[0]:X2}, end=0x{bytes[99]:X2}");
+            }
+
+            var nodeBytes = new byte[25];
+            Buffer.BlockCopy(bytes, 53, nodeBytes, 0, 25);
+            return new Fass2StateReport
+            {
+                Command = bytes[1],
+                Car = ReadUInt16(bytes, 2),
+                Length = ReadUInt16(bytes, 4),
+                Width = ReadUInt16(bytes, 6),
+                BatteryCharge = bytes[28],
+                BatteryHealth = bytes[29],
+                BatteryCurrent = ReadUInt16(bytes, 30),
+                BatteryVoltage = ReadUInt16(bytes, 32),
+                HeadingAngle = ReadUInt16(bytes, 34),
+                State = bytes[36],
+                Alarm = ReadUInt64(bytes, 37),
+                Task = ReadUInt64(bytes, 45),
+                Node = Fass2NodeMessage.FromBytes(nodeBytes)
+            };
+        }
+
+        public static string ToHex(byte[] bytes)
+        {
+            return bytes == null ? string.Empty : string.Join(" ", bytes.Select(b => b.ToString("X2")));
+        }
+
+        public static string StateText(byte state)
+        {
+            switch (state)
+            {
+                case 0: return "未准备";
+                case 1: return "运行中";
+                case 2: return "停止中";
+                case 3: return "急停中";
+                case 4: return "故障中";
+                case 5: return "任务中";
+                case 6: return "休眠中";
+                case 7: return "关机中";
+                case 8: return "充电中";
+                default: return $"未知({state})";
+            }
+        }
+
+        private static void WriteUInt16(byte[] buffer, int offset, ushort value)
+        {
+            var bytes = BitConverter.GetBytes(value);
+            buffer[offset] = bytes[0];
+            buffer[offset + 1] = bytes[1];
+        }
+
+        private static void WriteUInt64(byte[] buffer, int offset, ulong value)
+        {
+            var bytes = BitConverter.GetBytes(value);
+            Buffer.BlockCopy(bytes, 0, buffer, offset, 8);
+        }
+
+        private static ushort ReadUInt16(byte[] bytes, int offset)
+        {
+            return BitConverter.ToUInt16(bytes, offset);
+        }
+
+        private static ulong ReadUInt64(byte[] bytes, int offset)
+        {
+            return BitConverter.ToUInt64(bytes, offset);
+        }
+    }
+
+    public sealed class Fass2NodeMessage
+    {
+        public ushort Node { get; set; }
+        public ushort Distance { get; set; }
+        public byte StartStop { get; set; }
+        public byte Direction { get; set; }
+        public byte Orientation { get; set; }
+        public byte Byroad { get; set; }
+        public ushort Speed { get; set; }
+        public byte Obstacle { get; set; }
+        public byte Audio { get; set; }
+        public byte Light { get; set; }
+        public byte Charge { get; set; }
+        public byte Rest { get; set; }
+        public byte Lift { get; set; }
+        public byte Clamp { get; set; }
+        public byte Tray { get; set; }
+        public byte Roll { get; set; }
+        public byte Shutdown { get; set; }
+
+        public byte[] ToBytes()
+        {
+            var bytes = new byte[25];
+            WriteUInt16(bytes, 0, Node);
+            WriteUInt16(bytes, 2, Distance);
+            bytes[4] = StartStop;
+            bytes[5] = Direction;
+            bytes[6] = Orientation;
+            bytes[7] = Byroad;
+            WriteUInt16(bytes, 8, Speed);
+            bytes[10] = Obstacle;
+            bytes[11] = Audio;
+            bytes[12] = Light;
+            bytes[13] = Charge;
+            bytes[14] = Rest;
+            bytes[15] = Lift;
+            bytes[16] = Clamp;
+            bytes[17] = Tray;
+            bytes[18] = Roll;
+            bytes[19] = Shutdown;
+            return bytes;
+        }
+
+        public static Fass2NodeMessage FromBytes(byte[] bytes)
+        {
+            if (bytes == null || bytes.Length < 25)
+            {
+                throw new ArgumentException("node frame must be 25 bytes");
+            }
+            return new Fass2NodeMessage
+            {
+                Node = ReadUInt16(bytes, 0),
+                Distance = ReadUInt16(bytes, 2),
+                StartStop = bytes[4],
+                Direction = bytes[5],
+                Orientation = bytes[6],
+                Byroad = bytes[7],
+                Speed = ReadUInt16(bytes, 8),
+                Obstacle = bytes[10],
+                Audio = bytes[11],
+                Light = bytes[12],
+                Charge = bytes[13],
+                Rest = bytes[14],
+                Lift = bytes[15],
+                Clamp = bytes[16],
+                Tray = bytes[17],
+                Roll = bytes[18],
+                Shutdown = bytes[19]
+            };
+        }
+
+        private static void WriteUInt16(byte[] buffer, int offset, ushort value)
+        {
+            var bytes = BitConverter.GetBytes(value);
+            buffer[offset] = bytes[0];
+            buffer[offset + 1] = bytes[1];
+        }
+
+        private static ushort ReadUInt16(byte[] bytes, int offset)
+        {
+            return BitConverter.ToUInt16(bytes, offset);
+        }
+    }
+
+    public sealed class Fass2StateReport
+    {
+        public byte Command { get; set; }
+        public ushort Car { get; set; }
+        public ushort Length { get; set; }
+        public ushort Width { get; set; }
+        public byte BatteryCharge { get; set; }
+        public byte BatteryHealth { get; set; }
+        public ushort BatteryCurrent { get; set; }
+        public ushort BatteryVoltage { get; set; }
+        public ushort HeadingAngle { get; set; }
+        public byte State { get; set; }
+        public ulong Alarm { get; set; }
+        public ulong Task { get; set; }
+        public Fass2NodeMessage Node { get; set; } = new Fass2NodeMessage();
+    }
+}

StandardScene.Magnetic/Protocol/Fass2StateCodec.cs

@@ -0,0 +1,59 @@
+using System;
+using System.Text;
+using StandardScene.Magnetic.Protocol;
+
+namespace StandardScene.Magnetic.Protocol
+{
+    /// <summary>
+    /// 100B 状态帧编码，供模拟器或测试工具复用，字段布局与 <see cref="Fass2Protocol.ParseState"/> 一致。
+    /// </summary>
+    public static class Fass2StateCodec
+    {
+        public static byte[] BuildState(Fass2StateReport report, string carType = "MagFass2")
+        {
+            if (report == null)
+            {
+                throw new ArgumentNullException(nameof(report));
+            }
+
+            var frame = new byte[Fass2Protocol.StateFrameLength];
+            frame[0] = Fass2Protocol.Begin;
+            frame[1] = report.Command;
+            WriteUInt16(frame, 2, report.Car);
+            WriteUInt16(frame, 4, report.Length);
+            WriteUInt16(frame, 6, report.Width);
+
+            var typeBytes = Encoding.ASCII.GetBytes((carType ?? string.Empty).PadRight(16, '\0'));
+            Buffer.BlockCopy(typeBytes, 0, frame, 12, Math.Min(16, typeBytes.Length));
+
+            frame[28] = report.BatteryCharge;
+            frame[29] = report.BatteryHealth;
+            WriteUInt16(frame, 30, report.BatteryCurrent);
+            WriteUInt16(frame, 32, report.BatteryVoltage);
+            WriteUInt16(frame, 34, report.HeadingAngle);
+            frame[36] = report.State;
+            WriteUInt64(frame, 37, report.Alarm);
+            WriteUInt64(frame, 45, report.Task);
+
+            var node = report.Node ?? new Fass2NodeMessage();
+            Buffer.BlockCopy(node.ToBytes(), 0, frame, 53, 25);
+
+            frame[98] = Fass2Protocol.Xor(frame, 1, 97);
+            frame[99] = Fass2Protocol.End;
+            return frame;
+        }
+
+        private static void WriteUInt16(byte[] buffer, int offset, ushort value)
+        {
+            var bytes = BitConverter.GetBytes(value);
+            buffer[offset] = bytes[0];
+            buffer[offset + 1] = bytes[1];
+        }
+
+        private static void WriteUInt64(byte[] buffer, int offset, ulong value)
+        {
+            var bytes = BitConverter.GetBytes(value);
+            Buffer.BlockCopy(bytes, 0, buffer, offset, 8);
+        }
+    }
+}

StandardScene.Magnetic/Protocol/Fass2UdpHub.cs

@@ -0,0 +1,235 @@
+using SimpleCore.Library;
+using System;
+using System.Collections.Generic;
+using System.Net;
+using System.Net.Sockets;
+using System.Threading;
+
+namespace StandardScene.Magnetic.Protocol
+{
+    /// <summary>
+    /// FASS 2.0 PCB/UDP 共享监听枢纽。
+    /// AGV 主动上报 100B 状态 → 解析并分发给对应车辆 → 回 0x10 时间戳应答到车辆 address:Port。
+    /// 下发 0xB1/0xA1/0x01 等命令亦通过本枢纽单播到车辆 address:Port。
+    /// </summary>
+    internal static class Fass2UdpHub
+    {
+        private static readonly object SyncRoot = new object();
+        private static readonly Dictionary<ushort, IFass2UdpCar> CarsByCode = new Dictionary<ushort, IFass2UdpCar>();
+
+        private static UdpClient _listener;
+        private static Thread _receiveThread;
+        private static volatile bool _running;
+        private static int _listenPort = 20103;
+        private static readonly Dictionary<ushort, long> _lastUnknownCarLogUtcTicks = new Dictionary<ushort, long>();
+
+        public static void Register(IFass2UdpCar car)
+        {
+            if (car == null)
+            {
+                return;
+            }
+
+            lock (SyncRoot)
+            {
+                CarsByCode[car.VehicleCode] = car;
+            }
+        }
+
+        public static void Unregister(IFass2UdpCar car)
+        {
+            if (car == null)
+            {
+                return;
+            }
+
+            Unregister(car.VehicleCode, car);
+        }
+
+        public static void Unregister(ushort vehicleCode, IFass2UdpCar car)
+        {
+            if (car == null)
+            {
+                return;
+            }
+
+            lock (SyncRoot)
+            {
+                if (CarsByCode.TryGetValue(vehicleCode, out var existing) && ReferenceEquals(existing, car))
+                {
+                    CarsByCode.Remove(vehicleCode);
+                }
+            }
+        }
+
+        public static void EnsureStarted(int listenPort)
+        {
+            if (listenPort > 0)
+            {
+                _listenPort = listenPort;
+            }
+
+            lock (SyncRoot)
+            {
+                if (_running)
+                {
+                    return;
+                }
+
+                _listener = new UdpClient(_listenPort);
+                _running = true;
+                _receiveThread = new Thread(ReceiveLoop)
+                {
+                    IsBackground = true,
+                    Name = $"Fass2UdpHub:{_listenPort}"
+                };
+                _receiveThread.Start();
+                Diagnosis.Post($"Fass2UdpHub 已启动，监听 UDP {_listenPort}", "Fass2UdpHub", true);
+            }
+        }
+
+        public static void Stop()
+        {
+            lock (SyncRoot)
+            {
+                _running = false;
+                try
+                {
+                    _listener?.Close();
+                }
+                catch
+                {
+                }
+
+                _listener = null;
+            }
+
+            try
+            {
+                _receiveThread?.Join(1000);
+            }
+            catch
+            {
+            }
+
+            _receiveThread = null;
+        }
+
+        public static void SendToCar(IFass2UdpCar car, byte[] payload)
+        {
+            if (car == null || payload == null || payload.Length == 0)
+            {
+                return;
+            }
+
+            if (string.IsNullOrWhiteSpace(car.RemoteAddress) || car.RemotePort <= 0)
+            {
+                throw new InvalidOperationException(
+                    $"Fass2UdpHub send failed: car VehicleCode={car.VehicleCode} remote endpoint not configured");
+            }
+
+            using var sender = new UdpClient();
+            var remote = new IPEndPoint(IPAddress.Parse(car.RemoteAddress), car.RemotePort);
+            sender.Send(payload, payload.Length, remote);
+        }
+
+        private static void ReceiveLoop()
+        {
+            while (_running)
+            {
+                try
+                {
+                    var remote = new IPEndPoint(IPAddress.Any, 0);
+                    var packet = _listener.Receive(ref remote);
+                    ProcessPacket(packet, remote);
+                }
+                catch (SocketException) when (!_running)
+                {
+                    break;
+                }
+                catch (ObjectDisposedException) when (!_running)
+                {
+                    break;
+                }
+                catch (Exception ex)
+                {
+                    Diagnosis.Post($"Fass2UdpHub receive error: {ex.Message}", "Fass2UdpHub", true);
+                }
+            }
+        }
+
+        private static void ProcessPacket(byte[] packet, IPEndPoint remote)
+        {
+            if (!Fass2Protocol.TryExtractStateFrame(packet, packet.Length, out var frame))
+            {
+                return;
+            }
+
+            Fass2StateReport report;
+            try
+            {
+                report = Fass2Protocol.ParseState(frame);
+            }
+            catch (Exception ex)
+            {
+                Diagnosis.Post($"Fass2UdpHub parse error from {remote}: {ex.Message}", "Fass2UdpHub", true);
+                return;
+            }
+
+            IFass2UdpCar car;
+            lock (SyncRoot)
+            {
+                if (!CarsByCode.TryGetValue(report.Car, out car))
+                {
+                    LogUnknownCar(report.Car);
+                    return;
+                }
+            }
+
+            try
+            {
+                car.OnUdpStateReceived(report);
+            }
+            catch (Exception ex)
+            {
+                Diagnosis.Post($"Fass2UdpHub dispatch error car={report.Car}: {ex.Message}", "Fass2UdpHub", true);
+            }
+
+            try
+            {
+                var ack = Fass2Protocol.BuildStateResponse(report.Car, Fass2Protocol.BeijingUnixTimeMs());
+                SendToCar(car, ack);
+            }
+            catch (Exception ex)
+            {
+                Diagnosis.Post($"Fass2UdpHub 0x10 reply failed car={report.Car}: {ex.Message}", "Fass2UdpHub", true);
+            }
+        }
+
+        private static void LogUnknownCar(ushort carCode)
+        {
+            var nowTicks = DateTime.UtcNow.Ticks;
+            lock (SyncRoot)
+            {
+                if (_lastUnknownCarLogUtcTicks.TryGetValue(carCode, out var lastTicks)
+                    && nowTicks - lastTicks < TimeSpan.FromSeconds(5).Ticks)
+                {
+                    return;
+                }
+
+                _lastUnknownCarLogUtcTicks[carCode] = nowTicks;
+            }
+
+            var registered = string.Join(",", CarsByCode.Keys);
+            if (string.IsNullOrEmpty(registered))
+            {
+                registered = "(无)";
+            }
+
+            Diagnosis.Post(
+                $"Fass2UdpHub 收到 Car={carCode} 的状态，但未注册该编号（已注册: {registered}）。请检查 MagFass2Car.VehicleCode 与模拟器车号是否一致，并重新启动场景。",
+                "Fass2UdpHub",
+                true);
+        }
+    }
+}

StandardScene.Magnetic/Protocol/IFass2UdpCar.cs

@@ -0,0 +1,16 @@
+namespace StandardScene.Magnetic.Protocol
+{
+    /// <summary>
+    /// 由 <see cref="Fass2UdpHub"/> 回调的 UDP/PCB 车型处理接口。
+    /// </summary>
+    internal interface IFass2UdpCar
+    {
+        ushort VehicleCode { get; }
+
+        string RemoteAddress { get; }
+
+        int RemotePort { get; }
+
+        void OnUdpStateReceived(Fass2StateReport report);
+    }
+}

StandardScene.Magnetic/Scheduler/EventCarMission.cs

@@ -0,0 +1,251 @@
+using LessokajiWeaverUtilities.Utilities;
+using Newtonsoft.Json;
+using SimpleLite.RCS;
+using SimpleLite.Props;
+using SimpleCore;
+using SimpleCore.Library;
+using SimpleCore.PropType;
+using StandardScene;
+using StandardScene.Scheduler.FassEvent;
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Threading;
+using System.Threading.Tasks;
+using SimpleLite.RCS.CarTypes;
+
+
+namespace StandardScene.Scheduler
+{
+    /// <summary>
+    /// FASS 车辆事件调度进程。
+    /// <para>
+    /// 移植自 <c>fass/FASS.Scheduler/Services/Events/EventCarService.cs</c>：
+    /// 按 JSON 配置定时轮询全场车辆，匹配触发条件后执行交管/PLC/电量等条件判断，
+    /// 最终对 MagCar 下发 Start（放行）或 Stop（停车）。
+    /// </para>
+    /// <para>
+    /// 使用方式：在场景中添加本 Mission →「启动进程」→ 默认加载 <c>Configs\EventCar\FG2512073.json</c>。
+    /// </para>
+    /// </summary>
+    [MissionType(Name = "FASS车辆事件进程", editor = typeof(EventCarMission))]
+    [I18N.DocumentTranslation(Name = "FASS Event Car Mission", locale = "en")]
+    public class EventCarMission : Mission
+    {
+        /// <summary>EventCar JSON 配置文件路径（相对程序目录或绝对路径）。</summary>
+        [FieldMember] public string EventConfigPath = "Config\\EventCar\\traffic.json";
+
+        /// <summary>主循环轮询间隔（毫秒），对应 FASS TimerTick 频率，默认 500ms。</summary>
+        [FieldMember] public int TickIntervalMs = 500;
+
+        /// <summary>与下料站/安全信号交互用的西门子 PLC IP。</summary>
+        [FieldMember] public string PlcIpAddress = "127.0.0.1";
+
+        /// <summary>PLC 端口，S7 默认 102。</summary>
+        [FieldMember] public int PlcPort = 102;
+
+        /// <summary>PLC 型号字符串，如 S7_1500、S7_300，传给 IoTClient SiemensClient。</summary>
+        [FieldMember] public string PlcVersion = "S7_1500";
+
+        /// <summary>是否启用 ME11 下料站 PLC 信号交互（false 时 requestStaion/InplaceStaion 等直接返回 true）。</summary>
+        [FieldMember] public bool IsEnableMEll = true;
+
+
+        /// <summary>充电完成放行默认电量阈值（%），可被事件内 ChargeStart 参数覆盖。</summary>
+        [FieldMember] public double ChargeStartThreshold = 93;
+
+
+        [JsonIgnore] private bool _started;
+
+        [JsonIgnore] private Thread _workerThread;
+
+        [JsonIgnore] private FassEventCarHandler _handler;
+
+        /// <summary>当前生效的车辆事件配置列表（TriggerSource=Car 且 TriggerEnable=true）。</summary>
+        [JsonIgnore] private List<FassEventCarConfig> _eventCars = new List<FassEventCarConfig>();
+
+        /// <summary>记录每辆车上一周期的 CurrentNode，用于 PrevNode 触发与地标变化时清除任务防重复标记。</summary>
+        [JsonIgnore] private readonly Dictionary<int, string> _prevNodeByCarId = new Dictionary<int, string>();
+
+        /// <summary>进程运行状态扩展字段。</summary>
+        public class EventCarMissionStatus : MissionStatus
+        {
+            /// <summary>主循环已执行次数。</summary>
+            public int TickCount { get; set; }
+
+            /// <summary>已加载的事件规则条数。</summary>
+            public int LoadedEventCount { get; set; }
+
+            /// <summary>实际加载的配置文件绝对/解析路径。</summary>
+            public string ConfigPath { get; set; }
+        }
+
+        public override MissionStatus status { get; set; } = new EventCarMissionStatus();
+
+        public static Mission Create()
+        {
+            return new EventCarMission();
+        }
+
+        /// <summary>
+        /// 启动后台轮询线程：加载配置 → 创建 Handler → 周期性 ProcessAllCars。
+        /// </summary>
+        [MethodMember(Name = "启动进程", Description = "加载 FASS EventCar 配置并开始轮询车辆事件")]
+        public override void Execute()
+        {
+            if (_started)
+            {
+                status.status = "已在运行";
+                return;
+            }
+
+            try
+            {
+                ReloadConfig();
+            }
+            catch (Exception ex)
+            {
+                status.status = "配置加载失败";
+                Diagnosis.Post($"FASS车辆事件进程配置加载失败：{ExceptionFormatter.FormatEx(ex)}", "FassEventCar", true);
+                throw;
+            }
+
+            _handler = new FassEventCarHandler(this);
+            _started = true;
+            status.status = "运行中";
+
+            _workerThread = new Thread(WorkerLoop)
+            {
+                IsBackground = true,
+                Name = "EventCarMission"
+            };
+            _workerThread.Start();
+            Diagnosis.Post($"FASS车辆事件进程已启动，配置数={_eventCars.Count}", "FassEventCar", true);
+        }
+
+        /// <summary>热加载 JSON 配置，运行中也可调用。</summary>
+        [MethodMember(Name = "重新加载配置", Description = "重新读取 EventCar JSON 配置")]
+        public void ReloadConfig()
+        {
+            var path = ResolveConfigPath();
+            _eventCars = FassEventConfigLoader.Load(path)
+                .Where(item => item.TriggerEnable && string.Equals(item.TriggerSource, "Car", StringComparison.OrdinalIgnoreCase))
+                .ToList();
+
+            var missionStatus = (EventCarMissionStatus)status;
+            missionStatus.LoadedEventCount = _eventCars.Count;
+            missionStatus.ConfigPath = path;
+            status.status = _started ? "运行中" : "配置已加载";
+            Diagnosis.Post($"FASS EventCar 配置已加载：{path}，事件数={_eventCars.Count}", "FassEventCar", true);
+        }
+
+        /// <summary>停止轮询并等待工作线程结束（最多 2 秒）。</summary>
+        [MethodMember(Name = "停止进程", Description = "停止 FASS 车辆事件轮询")]
+        public void Stop()
+        {
+            _started = false;
+            try
+            {
+                _workerThread?.Join(2000);
+            }
+            catch
+            {
+            }
+
+            status.status = "已停止";
+            Diagnosis.Post("FASS车辆事件进程已停止", "FassEventCar", true);
+        }
+
+        /// <summary>
+        /// 后台主循环：每 TickIntervalMs 扫描一次全场车辆。
+        /// 单轮异常不会终止进程，仅写诊断日志。
+        /// </summary>
+        private void WorkerLoop()
+        {
+            while (_started)
+            {
+                try
+                {
+                    ProcessAllCars();
+                    var missionStatus = (EventCarMissionStatus)status;
+                    missionStatus.TickCount++;
+                    status.status = $"运行中:{missionStatus.TickCount}";
+                }
+                catch (Exception ex)
+                {
+                    Diagnosis.Post($"FASS车辆事件进程循环异常：{ExceptionFormatter.FormatEx(ex)}", "FassEventCar", true);
+                }
+
+                Thread.Sleep(Math.Max(100, TickIntervalMs));
+            }
+        }
+
+        /// <summary>
+        /// 遍历所有 Car，构建快照并异步调用 Handler（与 FASS Task.Run 行为一致）。
+        /// <para>
+        /// 跳过 status 为空或 usage.refreshing=false 的车辆（未参与调度刷新的车不处理）。
+        /// 当地标变化时清除 <see cref="FassEventCarHandler.ActiveTaskTag"/>，允许在新地标重新触发事件。
+        /// </para>
+        /// </summary>
+        private void ProcessAllCars()
+        {
+            foreach (var car in SimpleLib.GetAllCars().OfType<Car>())
+            {
+                if (car.status == null)
+                {
+                    continue;
+                }
+
+                var usage = car.status.usage?.Get();
+                if (usage != null && usage.refreshing == false)
+                {
+                    continue;
+                }
+
+                var currentNode = FassEventCarSnapshotFactory.GetCurrentNodeCode(car);
+                _prevNodeByCarId.TryGetValue(car.id, out var prevNode);
+                var snapshot = FassEventCarSnapshotFactory.Create(car, prevNode, FassEventCarSnapshotFactory.GetNextNodeCode(car));
+
+                Task.Run(() => _handler.HandleCarTimerTick(car, snapshot, _eventCars));
+
+                if (!string.Equals(prevNode, currentNode, StringComparison.OrdinalIgnoreCase))
+                {
+                    _prevNodeByCarId[car.id] = currentNode;
+                    ClearTaskTags(car);
+                }
+            }
+        }
+
+        /// <summary>车辆换地标后删除防重复执行标签，使同一规则可在新站点再次触发。</summary>
+        private static void ClearTaskTags(Car car)
+        {
+            if (car.tags == null)
+            {
+                return;
+            }
+
+            Commons.DeleteTag(car.tags, FassEventCarHandler.ActiveTaskTag);
+        }
+
+        /// <summary>
+        /// 解析配置文件路径：绝对路径直接用；相对路径依次尝试 BaseDirectory、CurrentDirectory、上级目录。
+        /// </summary>
+        private string ResolveConfigPath()
+        {
+            if (Path.IsPathRooted(EventConfigPath))
+            {
+                return EventConfigPath;
+            }
+
+            var candidates = new[]
+            {
+                Path.Combine(AppDomain.CurrentDomain.BaseDirectory, EventConfigPath),
+                Path.Combine(Directory.GetCurrentDirectory(), EventConfigPath),
+                Path.GetFullPath(Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "..", EventConfigPath))
+            };
+
+            return candidates.FirstOrDefault(File.Exists) ?? candidates[0];
+        }
+    }
+}

StandardScene.Magnetic/Scheduler/FassEvent/FassEventCarHandler.cs

@@ -0,0 +1,577 @@
+using IoTClient.Clients.PLC;
+using IoTClient.Common.Enums;
+using LessokajiWeaverUtilities.Utilities;
+using SimpleLite.RCS;
+using SimpleCore.Library;
+using SimpleCore.PropType;
+using StandardScene;
+using StandardScene.CarTypes;
+using StandardScene.Scheduler;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.IO;
+using System.Linq;
+using SimpleLite.RCS.CarTypes;
+
+namespace StandardScene.Scheduler.FassEvent
+{
+    /// <summary>
+    /// FASS 车辆事件核心处理器，逻辑对齐 <c>EventCarService</c>。
+    /// <para>处理流程：TriggerHandler（触发匹配）→ ConditionHandler（条件 AND）→ ExecuteTask（Start/Stop）。</para>
+    /// </summary>
+    internal sealed class FassEventCarHandler
+    {
+        /// <summary>
+        /// 防重复执行任务的车辆标签名。同一地标周期内只执行一次，换地标后由 EventCarMission 清除。
+        /// 标签值为 <see cref="BuildTaskKey"/> 生成的任务指纹。
+        /// </summary>
+        internal const string ActiveTaskTag = "FassEvent:Active";
+
+        private readonly EventCarMission _mission;
+
+        /// <summary>PLC 读写串行锁，避免多车并发条件中同时 Open/Close 同一连接。</summary>
+        private readonly object _plcLock = new object();
+
+        /// <summary>JSON ConditionMethodName → 内置条件方法 映射表。</summary>
+        private readonly Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>> _eventMethods;
+
+        public FassEventCarHandler(EventCarMission mission)
+        {
+            _mission = mission;
+            _eventMethods = BuildEventMethods();
+        }
+
+        /// <summary>
+        /// 单次 TimerTick 对一辆车的处理入口（通常在 Task.Run 中调用）。
+        /// 仅处理 TriggerEvent=TimerTick 的配置项。
+        /// </summary>
+        public void HandleCarTimerTick(Car car, FassEventCarSnapshot snapshot, IReadOnlyList<FassEventCarConfig> eventCars)
+        {
+            foreach (var eventConfig in eventCars.Where(item => string.Equals(item.TriggerEvent, "TimerTick", StringComparison.OrdinalIgnoreCase)))
+            {
+                if (!TriggerHandler(snapshot, eventConfig))
+                {
+                    continue;
+                }
+
+                if (!ConditionHandler(car, snapshot, eventConfig))
+                {
+                    continue;
+                }
+
+                if (!eventConfig.TaskEnable)
+                {
+                    continue;
+                }
+
+                ExecuteTask(car, snapshot, eventConfig);
+            }
+        }
+
+        /// <summary>注册与 FASS EventCarService.InitEventMethod 一致的条件方法名（保留历史拼写）。</summary>
+        private Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>> BuildEventMethods()
+        {
+            return new Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>>(StringComparer.OrdinalIgnoreCase)
+            {
+                ["NodeAllUnlockedNotCar"] = NodeAllUnlockedNotCar,
+                ["NodeAllUnlocked"] = NodeAllUnlocked,
+                ["NodeAnyLockedNotCar"] = NodeAnyLockedNotCar,
+                ["NodeAnyLocked"] = NodeAnyLocked,
+                ["NodeAllUnlockedNotCarNotEndCarState"] = NodeAllUnlockedNotCarNotEndCarState,
+                ["requestStaion"] = RequestStation,
+                ["clearStaion"] = ClearStation,
+                ["EmegerStop"] = EmergencyStop,
+                ["EmegerStart"] = EmergencyStart,
+                ["IsExistRunningStateCar"] = IsExistRunningStateCar,
+                ["ChargeStart"] = ChargeStart
+            };
+        }
+
+        /// <summary>
+        /// 触发器匹配：车辆编号、前后地标、状态、角度等 CSV 过滤。
+        /// 配置项为空表示“不限制”；车辆对应字段为空则无法匹配非空配置。
+        /// </summary>
+        private bool TriggerHandler(FassEventCarSnapshot snapshot, FassEventCarConfig config)
+        {
+            if (!MatchesCsvFilter(config.TriggerCarCode, snapshot.Code))
+            {
+                return false;
+            }
+
+            if (!MatchesCsvFilter(config.TriggerCarPrevNodeCode, snapshot.PrevNodeCode))
+            {
+                return false;
+            }
+
+            if (!MatchesCsvFilter(config.TriggerCarCurrentNodeCode, snapshot.CurrentNodeCode))
+            {
+                return false;
+            }
+
+            if (!MatchesCsvFilter(config.TriggerCarNextNodeCode, snapshot.NextNodeCode))
+            {
+                return false;
+            }
+
+            if (!MatchesCsvFilter(config.TriggerCarState, snapshot.State))
+            {
+                return false;
+            }
+
+            if (!MatchesCsvFilter(config.TriggerCarAngle, snapshot.Angle.ToString(CultureInfo.InvariantCulture)))
+            {
+                return false;
+            }
+
+            return true;
+        }
+
+        /// <summary>所有 ConditionEvents 必须全部通过（逻辑与）。</summary>
+        private bool ConditionHandler(Car car, FassEventCarSnapshot snapshot, FassEventCarConfig config)
+        {
+            if (config.ConditionEvents == null || config.ConditionEvents.Count == 0)
+            {
+                return true;
+            }
+
+            foreach (var condition in config.ConditionEvents)
+            {
+                if (!SingleConditionHandler(car, snapshot, condition))
+                {
+                    return false;
+                }
+            }
+
+            return true;
+        }
+
+        /// <summary>单条条件分发：Method / Assembly / Plugin。</summary>
+        private bool SingleConditionHandler(Car car, FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            if (!condition.ConditionEnable)
+            {
+                return true;
+            }
+
+            var conditionType = condition.ConditionType ?? "Method";
+            if (string.Equals(conditionType, "Method", StringComparison.OrdinalIgnoreCase))
+            {
+                return MethodInvoke(snapshot, condition);
+            }
+
+            if (string.Equals(conditionType, "Assembly", StringComparison.OrdinalIgnoreCase) ||
+                string.Equals(conditionType, "Plugin", StringComparison.OrdinalIgnoreCase))
+            {
+                LogSignal($"暂不支持的 ConditionType={conditionType}, Method={condition.ConditionMethodName}");
+                return false;
+            }
+
+            return false;
+        }
+
+        /// <summary>按方法名调用内置条件实现。</summary>
+        private bool MethodInvoke(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            if (string.IsNullOrWhiteSpace(condition.ConditionMethodName))
+            {
+                return false;
+            }
+
+            if (_eventMethods.TryGetValue(condition.ConditionMethodName, out var handler))
+            {
+                return handler(snapshot, condition);
+            }
+
+            LogSignal($"未注册的条件方法：{condition.ConditionMethodName}");
+            return false;
+        }
+
+        /// <summary>
+        /// 执行任务：MagCar 调用 SendStart/SendStop；其他车型仅打日志。
+        /// 通过 ActiveTaskTag 防止同一地标周期内重复下发。
+        /// </summary>
+        private void ExecuteTask(Car car, FassEventCarSnapshot snapshot, FassEventCarConfig config)
+        {
+            if (car.tags != null && car.tags.Contains(ActiveTaskTag))
+            {
+                return;
+            }
+
+            var taskType = config.TaskType ?? "Start";
+            if (car is MagCar magCar)
+            {
+                switch (taskType)
+                {
+                    case "Start":
+                        magCar.SendStart((ushort)Math.Round(magCar.th));
+                        break;
+                    case "Stop":
+                        magCar.SendStop(0);
+                        break;
+                    default:
+                        LogTraffic($"车辆[{snapshot.Code}] 收到任务类型[{taskType}]，当前仅显式处理 Start/Stop");
+                        break;
+                }
+            }
+            else
+            {
+                LogTraffic($"车辆[{snapshot.Code}] 非 MagCar，任务类型[{taskType}] 仅记录标签");
+            }
+
+            var taskKey = BuildTaskKey(snapshot, config);
+            Commons.AddOrUpdateTag(car.tags, ActiveTaskTag, taskKey);
+            LogTraffic($"车辆[{snapshot.Code}] 触发事件任务：{taskType} @ node={snapshot.CurrentNodeCode}, state={snapshot.State}");
+        }
+
+        /// <summary>生成任务指纹，写入 ActiveTaskTag 的值，便于日志追溯。</summary>
+        private static string BuildTaskKey(FassEventCarSnapshot snapshot, FassEventCarConfig config)
+        {
+            return $"FassEvent:{snapshot.CurrentNodeCode}:{config.TriggerCarState}:{config.TaskType}:{string.Join("|", config.ConditionEvents?.Select(item => item.ConditionMethodName) ?? Array.Empty<string>())}";
+        }
+
+        #region 交管条件（节点锁）
+
+        /// <summary>指定节点全部未被其他车辆占用（排除自身）。参数：逗号分隔节点号。</summary>
+        private bool NodeAllUnlockedNotCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            return FassEventNodeHelper.NodeAllUnlockedNotCar(snapshot.Code, SplitArgs(condition.ConditionMethodArgs));
+        }
+
+        /// <summary>指定节点全部空闲（含自身锁也计入）。</summary>
+        private bool NodeAllUnlocked(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            return FassEventNodeHelper.NodeAllUnlocked(SplitArgs(condition.ConditionMethodArgs));
+        }
+
+        /// <summary>指定节点中存在被其他车占用的点。</summary>
+        private bool NodeAnyLockedNotCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            return FassEventNodeHelper.NodeAnyLockedNotCar(snapshot.Code, SplitArgs(condition.ConditionMethodArgs));
+        }
+
+        /// <summary>
+        /// 指定节点存在占用时先 SendStart 再判断（与 FASS NodeAnyLocked 行为一致）。
+        /// </summary>
+        private bool NodeAnyLocked(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            var car = SimpleCore.SimpleLib.GetCar(snapshot.CarId) as MagCar;
+            car?.SendStart((ushort)Math.Round(car.th));
+            return FassEventNodeHelper.NodeAnyLocked(SplitArgs(condition.ConditionMethodArgs));
+        }
+
+        /// <summary>节点全解锁且路径上无其他运行中车辆。</summary>
+        private bool NodeAllUnlockedNotCarNotEndCarState(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            return FassEventNodeHelper.NodeAllUnlockedNotCarNotEndCarState(snapshot.Code, "Runing", SplitArgs(condition.ConditionMethodArgs));
+        }
+
+        /// <summary>判断指定节点范围是否不存在其他“运行中”车辆（返回 true 表示可以放行）。</summary>
+        private bool IsExistRunningStateCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            var param = SplitArgs(condition.ConditionMethodArgs);
+            LogTraffic($"IsExistRunningStateCar 参数：{condition.ConditionMethodArgs}");
+            return !FassEventNodeHelper.ExistsRunningCarOnNodes(snapshot.Code, "Runing", param);
+        }
+
+        #endregion
+
+        #region 电量与安全
+
+        /// <summary>
+        /// 电量达到阈值方可放行。阈值优先取 ConditionMethodArgs 首参，否则用 Mission.ChargeStartThreshold。
+        /// </summary>
+        private bool ChargeStart(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            var threshold = _mission.ChargeStartThreshold;
+            var configured = SplitArgs(condition.ConditionMethodArgs).FirstOrDefault();
+            if (!string.IsNullOrWhiteSpace(configured) &&
+                double.TryParse(configured, NumberStyles.Float, CultureInfo.InvariantCulture, out var eventThreshold))
+            {
+                threshold = eventThreshold;
+            }
+
+            var result = snapshot.Charge >= threshold;
+            if (result)
+            {
+                LogSignal($"ChargeStart 车辆[{snapshot.Code}] 电量[{snapshot.Charge}] >= 阈值[{threshold}]");
+            }
+
+            return result;
+        }
+
+        /// <summary>
+        /// 设备安全急停：读 PLC 布尔位，false 表示故障需停车（条件返回 true 以触发 Stop 任务）。
+        /// 参数 param[0]：PLC 地址。
+        /// </summary>
+        private bool EmergencyStop(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            return ExecutePlcCondition(snapshot, condition, 1, (client, param) =>
+            {
+                var allowIn = client.ReadBoolean(param[0]).Value;
+                if (!allowIn)
+                {
+                    LogSignal($"设备安全故障急停：{allowIn}");
+                    return true;
+                }
+
+                return false;
+            });
+        }
+
+        /// <summary>
+        /// 设备安全恢复：PLC 布尔位为 true 时允许 Start。
+        /// </summary>
+        private bool EmergencyStart(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            return ExecutePlcCondition(snapshot, condition, 1, (client, param) =>
+            {
+                var allowIn = client.ReadBoolean(param[0]).Value;
+                if (allowIn)
+                {
+                    LogSignal($"设备安全恢复放行：{allowIn}");
+                    return true;
+                }
+
+                return false;
+            });
+        }
+
+        #endregion
+
+        #region ME11 下料站 PLC 交互
+
+        /// <summary>
+        /// 清除站点到位与离开中信号。
+        /// 参数：param[0] 到位信号地址，param[1] 离开中信号地址。
+        /// </summary>
+        private bool ClearStation(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            var context = BuildStationLogContext(nameof(ClearStation), snapshot, condition);
+            LogSignal($"{context} 开始清除站点到位/离开中信号");
+            if (!_mission.IsEnableMEll)
+            {
+                LogSignal($"车辆[{snapshot.Code}] ME11 未启用，直接返回 true");
+                return true;
+            }
+
+            return ExecutePlcCondition(snapshot, condition, 2, (client, param) =>
+            {
+                var afterClear = WriteAndRead(client, param[0], false, "清除到位信号", context);
+                WriteStationSignal(client, param[1], false, "清除离开中信号", context);
+                var leavingClear = client.ReadBoolean(param[1]).Value;
+                var result = !afterClear && !leavingClear;
+                LogSignal($"{context} 清除站点信号结束，返回[{result}]");
+                return result;
+            });
+        }
+
+        /// <summary>
+        /// 请求进入工位：读“请求进入”，为 true 时写“正在进入中”，并以进入中信号作为放行条件结果。
+        /// 参数：param[0] 请求进入，param[1] 正在进入中。
+        /// </summary>
+        private bool RequestStation(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            var context = BuildStationLogContext(nameof(RequestStation), snapshot, condition);
+            LogSignal($"{context} 开始请求进入信号判断");
+            if (!_mission.IsEnableMEll)
+            {
+                LogSignal($"车辆[{snapshot.Code}] ME11 未启用，直接返回 true");
+                return true;
+            }
+
+            return ExecutePlcCondition(snapshot, condition, 2, (client, param) =>
+            {
+                var requestIn = ReadStationSignal(client, param[0], "请求进入", context);
+                if (requestIn)
+                {
+                    WriteStationSignal(client, param[1], true, "正在进入中", context);
+                }
+
+                var result = ReadStationSignal(client, param[1], "正在进入中", context);
+                LogSignal($"{context} 请求进入判断结束，返回[{result}]");
+                return result;
+            });
+        }
+
+        /// <summary>
+        /// 到位与允许离开交互（ME11 下料核心逻辑）。
+        /// <para>
+        /// 参数：param[0] 到位，param[1] 允许离开，param[2] 正在进入中，param[3] 正在离开中。
+        /// ME11 车型：气缸伸出(Read3&amp;Read5)后写到位；读到允许离开后切换为放行车型。
+        /// 放行车型：气缸收回(Read4&amp;Read6)后写离开中、清除到位。
+        /// </para>
+        /// </summary>
+    
+
+        /// <summary>将车辆 fields["CarModel"] 切换为放行车型，供后续触发器匹配。</summary>
+        private void SaveCarModel(int carId, string carModel, string reason)
+        {
+            var car = SimpleCore.SimpleLib.GetCar(carId) as Car;
+            if (car == null)
+            {
+                return;
+            }
+
+            car.fields ??= new Dictionary<string, string>();
+            if (string.Equals(FassEventCarSnapshotFactory.GetCarModel(car), carModel, StringComparison.OrdinalIgnoreCase))
+            {
+                return;
+            }
+
+            car.fields["CarModel"] = carModel;
+            LogSignal($"{reason}：车辆[{FassEventCarSnapshotFactory.GetCarCode(car)}] 车型切换为 [{carModel}]");
+        }
+
+        #endregion
+
+        #region PLC 与工具方法
+
+        /// <summary>在 PLC 锁内打开连接、执行读写、关闭连接。</summary>
+        private bool ExecutePlcCondition(
+            FassEventCarSnapshot snapshot,
+            FassConditionEventConfig condition,
+            int minArgs,
+            Func<SiemensClient, string[], bool> action)
+        {
+            if (!TryGetConditionArgs(condition, minArgs, out var param))
+            {
+                return false;
+            }
+
+            lock (_plcLock)
+            {
+                SiemensClient client = null;
+                try
+                {
+                    client = CreatePlcClient();
+                    client.Open();
+                    return action(client, param);
+                }
+                catch (Exception ex)
+                {
+                    LogSignalError(ex, "交互站点报错");
+                    return false;
+                }
+                finally
+                {
+                    client?.Close();
+                }
+            }
+        }
+
+        /// <summary>根据 Mission 配置创建西门子 PLC 客户端。</summary>
+        private SiemensClient CreatePlcClient()
+        {
+            var version = ParsePlcVersion(_mission.PlcVersion);
+            return new SiemensClient(version, _mission.PlcIpAddress, _mission.PlcPort, 0);
+        }
+
+        private static SiemensVersion ParsePlcVersion(string version)
+        {
+            if (string.IsNullOrWhiteSpace(version))
+            {
+                return SiemensVersion.S7_1500;
+            }
+
+            return Enum.TryParse(version, true, out SiemensVersion parsed) ? parsed : SiemensVersion.S7_1500;
+        }
+
+        /// <summary>拼接站点交互日志上下文，便于现场对照 PLC 地址排查。</summary>
+        private string BuildStationLogContext(string methodName, FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
+        {
+            return $"{methodName} 车辆[{snapshot.Code}] 状态[{snapshot.State}] 当前地标[{snapshot.CurrentNodeCode}] 下一地标[{snapshot.NextNodeCode}] 车型[{snapshot.CarModel}] 参数[{condition.ConditionMethodArgs}]";
+        }
+
+        private bool ReadStationSignal(SiemensClient client, string address, string signalName, string context)
+        {
+            var value = client.ReadBoolean(address).Value;
+            LogSignal($"{context} 读取信号[{signalName}] 地址[{address}] 值[{value}]");
+            return value;
+        }
+
+        private void WriteStationSignal(SiemensClient client, string address, bool value, string signalName, string context)
+        {
+            LogSignal($"{context} 写入信号[{signalName}] 地址[{address}] 值[{value}]");
+            client.Write(address, value);
+            var readBackValue = client.ReadBoolean(address).Value;
+            LogSignal($"{context} 回读信号[{signalName}] 地址[{address}] 值[{readBackValue}]");
+        }
+
+        private bool WriteAndRead(SiemensClient client, string address, bool value, string signalName, string context)
+        {
+            WriteStationSignal(client, address, value, signalName, context);
+            return client.ReadBoolean(address).Value;
+        }
+
+        /// <summary>校验条件参数个数是否满足 PLC 方法要求。</summary>
+        private static bool TryGetConditionArgs(FassConditionEventConfig condition, int minLength, out string[] args)
+        {
+            args = SplitArgs(condition.ConditionMethodArgs);
+            return args.Length >= minLength;
+        }
+
+        /// <summary>将逗号分隔的配置参数字符串拆分为数组。</summary>
+        private static string[] SplitArgs(string args)
+        {
+            if (string.IsNullOrWhiteSpace(args))
+            {
+                return Array.Empty<string>();
+            }
+
+            return args.Split(new[] { ',' }, StringSplitOptions.RemoveEmptyEntries)
+                .Select(item => item.Trim())
+                .ToArray();
+        }
+
+        /// <summary>
+        /// CSV 过滤器：filter 为空则通过；否则 value 必须等于 filter 中某项（忽略大小写）。
+        /// 用于 TriggerCarState 等多值匹配，如 "Stopping,Charging"。
+        /// </summary>
+        private static bool MatchesCsvFilter(string filter, string value)
+        {
+            if (string.IsNullOrWhiteSpace(filter))
+            {
+                return true;
+            }
+
+            if (string.IsNullOrWhiteSpace(value))
+            {
+                return false;
+            }
+
+            return filter.Split(',').Select(item => item.Trim()).Any(item => string.Equals(item, value, StringComparison.OrdinalIgnoreCase));
+        }
+
+        private void LogTraffic(string message) => Diagnosis.Post(message, "Fass交管", true);
+
+        private void LogSignal(string message) => Diagnosis.Post(message, "Fass信号交互", true);
+
+        private void LogSignalError(Exception ex, string message) =>
+            Diagnosis.Post($"{message}: {ExceptionFormatter.FormatEx(ex)}", "Fass信号交互", true);
+
+        #endregion
+    }
+
+    /// <summary>从磁盘加载 EventCar JSON 配置数组。</summary>
+    internal static class FassEventConfigLoader
+    {
+        /// <summary>
+        /// 读取并反序列化配置文件。
+        /// </summary>
+        /// <param name="configPath">JSON 文件路径。</param>
+        /// <returns>事件配置列表；文件内容为空数组时返回空列表。</returns>
+        /// <exception cref="FileNotFoundException">文件不存在时抛出。</exception>
+        public static List<FassEventCarConfig> Load(string configPath)
+        {
+            if (string.IsNullOrWhiteSpace(configPath) || !File.Exists(configPath))
+            {
+                throw new FileNotFoundException($"未找到 FASS 车辆事件配置文件：{configPath}");
+            }
+
+            var json = File.ReadAllText(configPath);
+            return Newtonsoft.Json.JsonConvert.DeserializeObject<List<FassEventCarConfig>>(json)
+                ?? new List<FassEventCarConfig>();
+        }
+    }
+}

StandardScene.Magnetic/Scheduler/FassEvent/FassEventCarSnapshotFactory.cs

@@ -0,0 +1,165 @@
+using SimpleLite.RCS;
+using SimpleCore.PropType;
+using StandardScene.CarTypes;
+using System;
+using System.Globalization;
+using SimpleLite.RCS.CarTypes;
+
+namespace StandardScene.Scheduler.FassEvent
+{
+    /// <summary>
+    /// 将 StandardScene 车辆对象转换为 FASS 事件系统可识别的快照字段。
+    /// 负责编号、地标、状态、电量等与 <c>EventCarService.TriggerHandler</c> 对齐的映射。
+    /// </summary>
+    internal static class FassEventCarSnapshotFactory
+    {
+        /// <summary>
+        /// 获取车辆“下一地标”编码。
+        /// 优先级：status.enums["NextNode"] → tags["NextNode"] → pendingLocks 首站（TagValue 或站点 ID）。
+        /// </summary>
+        public static string GetNextNodeCode(Car car)
+        {
+            if (car.status?.enums != null && car.status.enums.TryGetValue("NextNode", out var node) && !string.IsNullOrWhiteSpace(node))
+            {
+                return node;
+            }
+
+            if (car.tags != null && car.tags.TryGetValue("NextNode", out var tagNode) && !string.IsNullOrWhiteSpace(tagNode))
+            {
+                return tagNode;
+            }
+
+            // 调度 pendingLocks 通常表示车辆即将前往的站点，可近似为 FASS NextNodeCode。
+            if (car.status?.pendingLocks != null && car.status.pendingLocks.Length > 0)
+            {
+                var pendingSiteId = car.status.pendingLocks[0];
+                var site = SimpleCore.SimpleLib.GetSite(pendingSiteId);
+                if (site?.fields != null && site.fields.TryGetValue("TagValue", out var tagValue) && !string.IsNullOrWhiteSpace(tagValue))
+                {
+                    return tagValue;
+                }
+
+                return pendingSiteId.ToString(CultureInfo.InvariantCulture);
+            }
+
+            return string.Empty;
+        }
+
+        /// <summary>
+        /// 根据车辆与上一周期地标构建完整快照。
+        /// </summary>
+        /// <param name="car">场景车辆。</param>
+        /// <param name="prevNodeCode">上一周期 CurrentNode，由 EventCarMission 维护。</param>
+        /// <param name="nextNodeCode">下一地标；为空时自动调用 <see cref="GetNextNodeCode"/>。</param>
+        public static FassEventCarSnapshot Create(Car car, string prevNodeCode, string nextNodeCode)
+        {
+            return new FassEventCarSnapshot
+            {
+                CarId = car.id,
+                Code = GetCarCode(car),
+                CarModel = GetCarModel(car),
+                PrevNodeCode = prevNodeCode,
+                CurrentNodeCode = GetCurrentNodeCode(car),
+                NextNodeCode = string.IsNullOrWhiteSpace(nextNodeCode) ? GetNextNodeCode(car) : nextNodeCode,
+                State = GetFassState(car),
+                Angle = (int)Math.Round(car.th),
+                Charge = GetCharge(car)
+            };
+        }
+
+        /// <summary>
+        /// 获取 FASS 车辆编号。MagCar 优先使用 VehicleCode，否则 fields["Code"]，最后回退 name。
+        /// </summary>
+        public static string GetCarCode(Car car)
+        {
+            if (car is MagCar magCar && magCar.VehicleCode > 0)
+            {
+                return magCar.VehicleCode.ToString(CultureInfo.InvariantCulture);
+            }
+
+            if (car.fields != null && car.fields.TryGetValue("Code", out var code) && !string.IsNullOrWhiteSpace(code))
+            {
+                return code;
+            }
+
+            return car.name;
+        }
+
+        /// <summary>获取车型。下料站 InplaceStaion 根据 CarModel 在 ME11 / 放行车型间切换。</summary>
+        public static string GetCarModel(Car car)
+        {
+            if (car.fields != null && car.fields.TryGetValue("CarModel", out var model) && !string.IsNullOrWhiteSpace(model))
+            {
+                return model;
+            }
+
+            return car.GetType().Name;
+        }
+
+        /// <summary>
+        /// 获取当前地标号。MagCar 上报后写入 status.enums["CurrentNode"]；
+        /// 其他车型可回退到 siteID。
+        /// </summary>
+        public static string GetCurrentNodeCode(Car car)
+        {
+            if (car.status?.enums != null && car.status.enums.TryGetValue("CurrentNode", out var node) && !string.IsNullOrWhiteSpace(node))
+            {
+                return node;
+            }
+
+            return car.siteID > 0 ? car.siteID.ToString(CultureInfo.InvariantCulture) : string.Empty;
+        }
+
+        /// <summary>
+        /// 将 StandardScene 车辆状态映射为 FASS 英文字符串。
+        /// <para>
+        /// 可手动覆盖：tags["FassState"] 或 enums["FassState"]。
+        /// WaitPass 需在停止中且 tags 含 WaitPass（FASS 中“等待放行”态）。
+        /// </para>
+        /// </summary>
+        public static string GetFassState(Car car)
+        {
+            if (car.tags != null && car.tags.TryGetValue("FassState", out var tagState) && !string.IsNullOrWhiteSpace(tagState))
+            {
+                return tagState;
+            }
+
+            if (car.status?.enums != null && car.status.enums.TryGetValue("FassState", out var enumState) && !string.IsNullOrWhiteSpace(enumState))
+            {
+                return enumState;
+            }
+
+            if (car.status?.enums != null && car.status.enums.TryGetValue("State", out var state))
+            {
+                switch (state)
+                {
+                    case "运行中":
+                        return "Running";
+                    case "停止中":
+                        return car.tags != null && car.tags.ContainsKey("WaitPass") ? "WaitPass" : "Stopping";
+                    case "未准备":
+                        return "NotReady";
+                    case "充电中":
+                        return "Charging";
+                    default:
+                        return state;
+                }
+            }
+
+            return string.Empty;
+        }
+
+        /// <summary>从 status.enums["Soc"] 解析电量百分比。</summary>
+        private static double GetCharge(Car car)
+        {
+            if (car.status?.enums != null &&
+                car.status.enums.TryGetValue("Soc", out var soc) &&
+                double.TryParse(soc, NumberStyles.Float, CultureInfo.InvariantCulture, out var value))
+            {
+                return value;
+            }
+
+            return 0;
+        }
+    }
+}

StandardScene.Magnetic/Scheduler/FassEvent/FassEventModels.cs

@@ -0,0 +1,132 @@
+using System.Collections.Generic;
+
+namespace StandardScene.Scheduler.FassEvent
+{
+    /// <summary>
+    /// FASS 车辆事件配置项，对应 <c>Configs/EventCar/*.json</c> 数组中的单个元素。
+    /// 配置格式与 FASS.Scheduler 的 EventCar 模型保持一致，便于直接复用现场 JSON。
+    /// </summary>
+    public class FassEventCarConfig
+    {
+        /// <summary>是否启用本条事件规则。</summary>
+        public bool TriggerEnable { get; set; } = true;
+
+        /// <summary>
+        /// 事件来源。StandardScene 进程仅处理值为 <c>Car</c> 的项（车辆定时轮询触发）。
+        /// </summary>
+        public string TriggerSource { get; set; } = "Car";
+
+        /// <summary>
+        /// 触发时机。当前实现仅支持 <c>TimerTick</c>（与 FASS <c>EventCarService.CarTimerTick</c> 等价）。
+        /// </summary>
+        public string TriggerEvent { get; set; } = "TimerTick";
+
+        /// <summary>触发条件：车辆编号（逗号分隔，空表示不限制）。</summary>
+        public string TriggerCarCode { get; set; }
+
+        /// <summary>触发条件：上一地标号（逗号分隔）。</summary>
+        public string TriggerCarPrevNodeCode { get; set; }
+
+        /// <summary>触发条件：当前地标号（逗号分隔）。</summary>
+        public string TriggerCarCurrentNodeCode { get; set; }
+
+        /// <summary>触发条件：下一地标号（逗号分隔）。</summary>
+        public string TriggerCarNextNodeCode { get; set; }
+
+        /// <summary>
+        /// 触发条件：车辆 FASS 状态（逗号分隔）。
+        /// 常见值：Running、Stopping、WaitPass、Charging、Stopping,Charging 等。
+        /// </summary>
+        public string TriggerCarState { get; set; }
+
+        /// <summary>触发条件：车头角度（逗号分隔的整数字符串）。</summary>
+        public string TriggerCarAngle { get; set; }
+
+        /// <summary>
+        /// 条件事件列表。全部满足后才执行任务；
+        /// 对应 FASS 中 <c>ConditionHandler</c> 的逐项 AND 逻辑。
+        /// </summary>
+        public List<FassConditionEventConfig> ConditionEvents { get; set; } = new List<FassConditionEventConfig>();
+
+        /// <summary>条件满足后是否执行任务（false 时仅做条件判断，不下发 Start/Stop）。</summary>
+        public bool TaskEnable { get; set; } = true;
+
+        /// <summary>
+        /// 任务类型。MagCar 当前支持 <c>Start</c>（放行）与 <c>Stop</c>（急停）。
+        /// </summary>
+        public string TaskType { get; set; }
+    }
+
+    /// <summary>
+    /// 单条条件事件配置，描述一个条件判断（交管、PLC 信号、电量等）。
+    /// </summary>
+    public class FassConditionEventConfig
+    {
+        /// <summary>是否启用本条件；false 时跳过（视为通过）。</summary>
+        public bool ConditionEnable { get; set; } = true;
+
+        /// <summary>
+        /// 条件类型：<c>Method</c>（内置方法）、<c>Assembly</c>、<c>Plugin</c>。
+        /// StandardScene 当前仅实现 Method；后两者会记录日志并返回 false。
+        /// </summary>
+        public string ConditionType { get; set; } = "Method";
+
+        /// <summary>Assembly 条件：程序集文件路径（未实现）。</summary>
+        public string ConditionAssemblyFile { get; set; }
+
+        /// <summary>Assembly/Plugin 条件：类型名（未实现）。</summary>
+        public string ConditionTypeName { get; set; }
+
+        /// <summary>Assembly/Plugin 条件：构造参数（未实现）。</summary>
+        public string ConditionTypeArgs { get; set; }
+
+        /// <summary>
+        /// Method 条件：方法名，如 NodeAllUnlockedNotCar、requestStaion、EmegerStop 等。
+        /// 名称与 FASS <c>EventCarService.InitEventMethod</c> 注册表一致（含历史拼写）。
+        /// </summary>
+        public string ConditionMethodName { get; set; }
+
+        /// <summary>
+        /// Method 条件：方法参数，一般为逗号分隔的节点号或 PLC 地址。
+        /// 例如交管：<c>3,53,21</c>；PLC：<c>DB5524.0.0,DB5524.0.1</c>。
+        /// </summary>
+        public string ConditionMethodArgs { get; set; }
+    }
+
+    /// <summary>
+    /// 车辆事件处理用的只读快照，从 StandardScene <see cref="SimpleLite.RCS.Car"/> 提取 FASS 语义字段。
+    /// 每次 TimerTick 为每辆车构建一份，供触发器与条件方法使用。
+    /// </summary>
+    public class FassEventCarSnapshot
+    {
+        /// <summary>场景内车辆 ID（SimpleLib）。</summary>
+        public int CarId { get; set; }
+
+        /// <summary>FASS 车辆编号（MagCar.VehicleCode 或 fields["Code"]）。</summary>
+        public string Code { get; set; }
+
+        /// <summary>车型标识，用于 ME11 下料站逻辑（fields["CarModel"]）。</summary>
+        public string CarModel { get; set; }
+
+        /// <summary>上一周期记录的地标号，用于 TriggerCarPrevNodeCode 匹配。</summary>
+        public string PrevNodeCode { get; set; }
+
+        /// <summary>当前地标号（status.enums["CurrentNode"] 或 siteID）。</summary>
+        public string CurrentNodeCode { get; set; }
+
+        /// <summary>下一地标号（pendingLocks / tags / enums 推断）。</summary>
+        public string NextNodeCode { get; set; }
+
+        /// <summary>
+        /// FASS 状态字符串：Running、Stopping、WaitPass、Charging 等。
+        /// 由 <see cref="FassEventCarSnapshotFactory.GetFassState"/> 从中文状态映射。
+        /// </summary>
+        public string State { get; set; }
+
+        /// <summary>车头角度（度），对应 FASS Car.Angle。</summary>
+        public int Angle { get; set; }
+
+        /// <summary>电量百分比（Soc）。</summary>
+        public double Charge { get; set; }
+    }
+}

StandardScene.Magnetic/Scheduler/FassEvent/FassEventNodeHelper.cs

@@ -0,0 +1,196 @@
+using SimpleLite.RCS;
+using SimpleCore;
+using SimpleCore.PropType;
+using System;
+using System.Linq;
+using SimpleLite.RCS.CarTypes;
+
+namespace StandardScene.Scheduler.FassEvent
+{
+    /// <summary>
+    /// 节点（地标）交管判断辅助类，替代 FASS <c>AlgorithmService</c> 中与 EventCar 相关的方法。
+    /// <para>
+    /// “锁定”判定依据 StandardScene 交通锁：holdingLocks、pendingLocks、aquiringLock，
+    /// 以及站点 tags 中的 unavailable。
+    /// </para>
+    /// </summary>
+    internal static class FassEventNodeHelper
+    {
+        /// <summary>指定节点列表是否全部未被任何车辆占用。</summary>
+        public static bool NodeAllUnlocked(string[] nodeCodes)
+        {
+            return nodeCodes == null || nodeCodes.All(node => !IsNodeLocked(node, -1));
+        }
+
+        /// <summary>指定节点列表是否全部未被占用（排除当前车辆自身锁）。</summary>
+        public static bool NodeAllUnlockedNotCar(string carCode, string[] nodeCodes)
+        {
+            var excludeCarId = ResolveCarId(carCode);
+            return nodeCodes == null || nodeCodes.All(node => !IsNodeLocked(node, excludeCarId));
+        }
+
+        /// <summary>指定节点列表中是否存在任意一个被占用的节点。</summary>
+        public static bool NodeAnyLocked(string[] nodeCodes)
+        {
+            return nodeCodes != null && nodeCodes.Any(node => IsNodeLocked(node, -1));
+        }
+
+        /// <summary>指定节点列表中是否存在被其他车辆占用的节点（排除自身）。</summary>
+        public static bool NodeAnyLockedNotCar(string carCode, string[] nodeCodes)
+        {
+            var excludeCarId = ResolveCarId(carCode);
+            return nodeCodes != null && nodeCodes.Any(node => IsNodeLocked(node, excludeCarId));
+        }
+
+        /// <summary>
+        /// 节点全部解锁（排除自身）且指定节点范围内不存在处于运行态的其他车辆。
+        /// 对应 FASS <c>NodeAllUnlockedNotCarNotEndCarState</c>。
+        /// </summary>
+        public static bool NodeAllUnlockedNotCarNotEndCarState(string carCode, string runningState, string[] nodeCodes)
+        {
+            if (!NodeAllUnlockedNotCar(carCode, nodeCodes))
+            {
+                return false;
+            }
+
+            return !ExistsRunningCarOnNodes(carCode, runningState, nodeCodes);
+        }
+
+        /// <summary>
+        /// 判断除指定车辆外，是否有车辆在给定节点列表上处于“运行中”状态。
+        /// 逻辑对齐 FASS <c>IsExistRunningStateCar</c>：支持首参 Contains 匹配及 Skip(1) 尾节点匹配。
+        /// </summary>
+        public static bool ExistsRunningCarOnNodes(string excludeCarCode, string runningState, string[] nodeCodes)
+        {
+            if (nodeCodes == null || nodeCodes.Length == 0)
+            {
+                return false;
+            }
+
+            var excludeCarId = ResolveCarId(excludeCarCode);
+            foreach (var car in SimpleLib.GetAllCars().OfType<Car>())
+            {
+                if (car.id == excludeCarId)
+                {
+                    continue;
+                }
+
+                var currentNode = FassEventCarSnapshotFactory.GetCurrentNodeCode(car);
+                if (string.IsNullOrWhiteSpace(currentNode))
+                {
+                    continue;
+                }
+
+                var state = FassEventCarSnapshotFactory.GetFassState(car);
+                if (!IsRunningState(state, runningState))
+                {
+                    continue;
+                }
+
+                // 与 FASS 一致：当前地标包含参数首项，或等于后续任一项。
+                if (nodeCodes.Any(node => string.Equals(node, currentNode, StringComparison.OrdinalIgnoreCase)
+                    || currentNode.Contains(node)))
+                {
+                    return true;
+                }
+
+                if (nodeCodes.Length > 1)
+                {
+                    var tailNodes = nodeCodes.Skip(1).ToArray();
+                    if (tailNodes.Any(node => string.Equals(node, currentNode, StringComparison.OrdinalIgnoreCase)))
+                    {
+                        return true;
+                    }
+                }
+            }
+
+            return false;
+        }
+
+        /// <summary>
+        /// 判断单个地标是否被锁定。
+        /// 节点号可解析为站点 ID，或通过 fields["TagValue"] 匹配地标标签。
+        /// </summary>
+        private static bool IsNodeLocked(string nodeCode, int excludeCarId)
+        {
+            if (!TryResolveSiteId(nodeCode, out var siteId))
+            {
+                return false;
+            }
+
+            var site = SimpleLib.GetSite(siteId);
+            if (site?.tags?.Contains("unavailable") == true)
+            {
+                return true;
+            }
+
+            return SimpleLib.GetAllCars().Any(car =>
+                car.id != excludeCarId &&
+                (car.status.holdingLocks?.Contains(siteId) == true ||
+                 car.status.pendingLocks?.Contains(siteId) == true ||
+                 car.status.aquiringLock == siteId));
+        }
+
+        /// <summary>根据 FASS 车辆编号解析场景内 car.id。</summary>
+        private static int ResolveCarId(string carCode)
+        {
+            if (string.IsNullOrWhiteSpace(carCode))
+            {
+                return -1;
+            }
+
+            var car = SimpleLib.GetAllCars()
+                .OfType<Car>()
+                .FirstOrDefault(item => string.Equals(FassEventCarSnapshotFactory.GetCarCode(item), carCode, StringComparison.OrdinalIgnoreCase));
+            return car?.id ?? -1;
+        }
+
+        /// <summary>
+        /// 将地标编码解析为站点 ID：纯数字直接查站；否则按 TagValue 字段匹配。
+        /// </summary>
+        private static bool TryResolveSiteId(string nodeCode, out int siteId)
+        {
+            siteId = 0;
+            if (string.IsNullOrWhiteSpace(nodeCode))
+            {
+                return false;
+            }
+
+            if (int.TryParse(nodeCode, out siteId))
+            {
+                return SimpleLib.GetSite(siteId) != null;
+            }
+
+            var site = SimpleLib.GetAllSites().FirstOrDefault(item =>
+                item.fields.TryGetValue("TagValue", out var tag) &&
+                string.Equals(tag, nodeCode, StringComparison.OrdinalIgnoreCase));
+            if (site == null)
+            {
+                return false;
+            }
+
+            siteId = site.id;
+            return true;
+        }
+
+        /// <summary>
+        /// 判断状态是否视为“运行中”。兼容 FASS 历史拼写 Runing 与 Running。
+        /// </summary>
+        private static bool IsRunningState(string state, string runningState)
+        {
+            if (string.IsNullOrWhiteSpace(state))
+            {
+                return false;
+            }
+
+            if (string.Equals(state, runningState, StringComparison.OrdinalIgnoreCase))
+            {
+                return true;
+            }
+
+            return string.Equals(state, "Running", StringComparison.OrdinalIgnoreCase) &&
+                (string.Equals(runningState, "Runing", StringComparison.OrdinalIgnoreCase) ||
+                 string.Equals(runningState, "Running", StringComparison.OrdinalIgnoreCase));
+        }
+    }
+}

StandardScene.Magnetic/StandardScene.Magnetic.csproj

@@ -21,6 +21,7 @@
   <!-- 插件清单：随 dll 输出，供 SimpleLite plugins 选择性加载（约定 <dll>.scene.json） -->
   <ItemGroup>
     <None Update="StandardScene.Magnetic.scene.json" CopyToOutputDirectory="PreserveNewest" />
+    <None Update="Configs\EventCar\FG2512073.json" CopyToOutputDirectory="PreserveNewest" />
   </ItemGroup>
 
   <!-- 基座：车型基类字段袋 / 通用 coder / 任务调度等留 Core；本 dll 为 scene.mag 平台（磁导航车型 + 磁循迹 coder） -->
@@ -29,24 +30,25 @@
   </ItemGroup>
 
   <ItemGroup>
-    <Reference Include="SimpleLite">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\SimpleLite.dll</HintPath>
-    </Reference>
-    <Reference Include="SimpleCore">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleCore\bin\Debug\netstandard2.0\SimpleCore.dll</HintPath>
-    </Reference>
     <Reference Include="CommonUsage">
-      <HintPath>D:\MDCS\Dependencies\Commons\CommonUsage.dll</HintPath>
+      <HintPath>$(StandRefDir)CommonUsage.dll</HintPath>
-    </Reference>
-    <Reference Include="Topaz">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\tools\Topaz.dll</HintPath>
     </Reference>
     <Reference Include="LessokajiWeaverUtilities">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\LessokajiWeaverUtilities.dll</HintPath>
+      <HintPath>$(StandRefDir)LessokajiWeaverUtilities.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleCore">
+      <HintPath>$(StandRefDir)SimpleCore.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleLite">
+      <HintPath>$(StandSimpleLiteDir)SimpleLite.dll</HintPath>
+    </Reference>
+    <Reference Include="Topaz">
+      <HintPath>$(StandRefDir)Topaz.dll</HintPath>
     </Reference>
   </ItemGroup>
 
   <ItemGroup>
+    <PackageReference Include="IoTClient" Version="1.0.40" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.4" />
   </ItemGroup>
 

StandardScene.Magnetic/StandardScene.Magnetic.scene.json

@@ -6,7 +6,7 @@
   "coreVersion": ">=1.0.0",
   "requiresCore": "StandardScene.dll",
   "provides": {
-    "carTypes": [ "MagCar" ],
+    "carTypes": [ "MagCar", "MagFass2Car" ],
-    "missionTypes": []
+    "missionTypes": [ "EventCarMission", "MagFass2LoopMission" ]
   }
 }

StandardScene.Magnetic/Tasking/Fass2ActionResolver.cs

@@ -0,0 +1,192 @@
+using StandardScene.Magnetic.Protocol;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+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>）。
+    /// </summary>
+    public static class Fass2ActionResolver
+    {
+        private static readonly (string Name, Func<Fass2NodeMessage, byte> Get, Action<Fass2NodeMessage, byte> Set)[] ActionFields =
+        {
+            ("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),
+            ("Charge", n => n.Charge, (n, v) => n.Charge = v),
+            ("Rest", n => n.Rest, (n, v) => n.Rest = v),
+            ("Lift", n => n.Lift, (n, v) => n.Lift = v),
+            ("Clamp", n => n.Clamp, (n, v) => n.Clamp = v),
+            ("Tray", n => n.Tray, (n, v) => n.Tray = v),
+            ("Roll", n => n.Roll, (n, v) => n.Roll = v),
+            ("Shutdown", n => n.Shutdown, (n, v) => n.Shutdown = v)
+        };
+
+        public static bool IsAtNode(Fass2StateReport report, ushort targetNode)
+        {
+            return report?.Node != null && report.Node.Node == targetNode;
+        }
+
+        public static bool IsVehicleMoving(byte vehicleState)
+        {
+            return vehicleState == 1;
+        }
+
+        public static bool RequiresActionWait(Fass2NodeMessage expected)
+        {
+            if (expected == null)
+            {
+                return false;
+            }
+
+            if (expected.StartStop is Fass2TaskBuilder.StartStopStop or Fass2TaskBuilder.StartStopPrecision)
+            {
+                return true;
+            }
+
+            foreach (var field in ActionFields)
+            {
+                if (field.Get(expected) != 0)
+                {
+                    return true;
+                }
+            }
+
+            return expected.Speed != 0;
+        }
+
+        public static bool IsStationActionComplete(Fass2NodeMessage expected, Fass2NodeMessage actual, byte vehicleState)
+        {
+            if (expected == null || actual == null)
+            {
+                return false;
+            }
+
+            if (actual.Node != expected.Node)
+            {
+                return false;
+            }
+
+            if (IsVehicleMoving(vehicleState))
+            {
+                return false;
+            }
+
+            if (!RequiresActionWait(expected))
+            {
+                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;
+            }
+
+            return ListPendingFields(expected, actual).Count == 0;
+        }
+
+        public static IReadOnlyList<string> ListPendingFields(Fass2NodeMessage expected, Fass2NodeMessage actual)
+        {
+            var pending = new List<string>();
+            if (expected == null || actual == null)
+            {
+                return pending;
+            }
+
+            if (expected.StartStop != 0 && actual.StartStop != expected.StartStop)
+            {
+                pending.Add("StartStop");
+            }
+
+            if (expected.Speed != 0 && actual.Speed != expected.Speed)
+            {
+                pending.Add("Speed");
+            }
+
+            foreach (var field in ActionFields)
+            {
+                if (field.Name == "StartStop")
+                {
+                    continue;
+                }
+
+                var expectedValue = field.Get(expected);
+                if (expectedValue != 0 && field.Get(actual) != expectedValue)
+                {
+                    pending.Add(field.Name);
+                }
+            }
+
+            return pending;
+        }
+
+        public static Fass2NodeMessage BuildActionPatch(Fass2NodeMessage expected, Fass2NodeMessage actual)
+        {
+            if (expected == null)
+            {
+                return null;
+            }
+
+            var patch = new Fass2NodeMessage { Node = expected.Node };
+            var hasPatch = false;
+
+            if (expected.StartStop != 0 && (actual == null || actual.StartStop != expected.StartStop))
+            {
+                patch.StartStop = expected.StartStop;
+                hasPatch = true;
+            }
+
+            if (expected.Speed != 0 && (actual == null || actual.Speed != expected.Speed))
+            {
+                patch.Speed = expected.Speed;
+                hasPatch = true;
+            }
+
+            foreach (var field in ActionFields)
+            {
+                if (field.Name == "StartStop")
+                {
+                    continue;
+                }
+
+                var expectedValue = field.Get(expected);
+                if (expectedValue != 0 && (actual == null || field.Get(actual) != expectedValue))
+                {
+                    field.Set(patch, expectedValue);
+                    hasPatch = true;
+                }
+            }
+
+            return hasPatch ? patch : null;
+        }
+
+        public static string DescribePending(Fass2NodeMessage expected, Fass2NodeMessage actual)
+        {
+            var pending = ListPendingFields(expected, actual);
+            if (pending.Count == 0)
+            {
+                return string.Empty;
+            }
+
+            var builder = new StringBuilder();
+            for (var i = 0; i < pending.Count; i++)
+            {
+                if (i > 0)
+                {
+                    builder.Append(',');
+                }
+
+                builder.Append(pending[i]);
+            }
+
+            return builder.ToString();
+        }
+    }
+}

StandardScene.Magnetic/Tasking/Fass2PathFinder.cs

@@ -0,0 +1,90 @@
+using SimpleCore;
+using System.Collections.Generic;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    internal static class Fass2PathFinder
+    {
+        public static List<int> GetSitesBetween(int startSiteId, int endSiteId)
+        {
+            if (startSiteId == endSiteId)
+            {
+                return new List<int> { startSiteId };
+            }
+
+            var adjacency = BuildSiteAdjacency();
+            var visited = new HashSet<int> { startSiteId };
+            var queue = new Queue<List<int>>();
+            queue.Enqueue(new List<int> { startSiteId });
+
+            while (queue.Count > 0)
+            {
+                var path = queue.Dequeue();
+                var current = path[path.Count - 1];
+                if (current == endSiteId)
+                {
+                    return path;
+                }
+
+                if (!adjacency.TryGetValue(current, out var neighbors))
+                {
+                    continue;
+                }
+
+                foreach (var neighbor in neighbors)
+                {
+                    if (visited.Contains(neighbor))
+                    {
+                        continue;
+                    }
+
+                    visited.Add(neighbor);
+                    var nextPath = new List<int>(path) { neighbor };
+                    queue.Enqueue(nextPath);
+                }
+            }
+
+            return new List<int>();
+        }
+
+        private static Dictionary<int, HashSet<int>> BuildSiteAdjacency()
+        {
+            var adjacency = new Dictionary<int, HashSet<int>>();
+            foreach (var track in SimpleLib.GetAllTracks())
+            {
+                var siteA = track.siteA;
+                var siteB = track.siteB;
+                switch (track.direction)
+                {
+                    case 0:
+                        AddAdjacency(adjacency, siteA, siteB);
+                        AddAdjacency(adjacency, siteB, siteA);
+                        break;
+                    case 1:
+                        AddAdjacency(adjacency, siteA, siteB);
+                        break;
+                    case 2:
+                        AddAdjacency(adjacency, siteB, siteA);
+                        break;
+                    default:
+                        AddAdjacency(adjacency, siteA, siteB);
+                        AddAdjacency(adjacency, siteB, siteA);
+                        break;
+                }
+            }
+
+            return adjacency;
+        }
+
+        private static void AddAdjacency(Dictionary<int, HashSet<int>> adjacency, int from, int to)
+        {
+            if (!adjacency.TryGetValue(from, out var set))
+            {
+                set = new HashSet<int>();
+                adjacency[from] = set;
+            }
+
+            set.Add(to);
+        }
+    }
+}

StandardScene.Magnetic/Tasking/Fass2SiteFieldReader.cs

@@ -0,0 +1,103 @@
+using SimpleCore.PropType;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    internal static class Fass2SiteFieldReader
+    {
+        public static Fass2SiteActionData Read(Site site)
+        {
+            var data = new Fass2SiteActionData();
+            if (site?.fields == null)
+            {
+                return data;
+            }
+
+            data.StartStop = TryReadByte(site.fields, Fass2SiteFields.StartStop);
+            data.Byroad = TryReadByte(site.fields, Fass2SiteFields.Byroad);
+            data.Direction = TryReadByte(site.fields, Fass2SiteFields.Direction);
+            data.Orientation = TryReadByte(site.fields, Fass2SiteFields.Orientation);
+            data.Lift = TryReadByte(site.fields, Fass2SiteFields.Lift);
+            data.Roll = TryReadByte(site.fields, Fass2SiteFields.Roll);
+            data.Charge = TryReadByte(site.fields, Fass2SiteFields.Charge);
+            data.Obstacle = TryReadByte(site.fields, Fass2SiteFields.Obstacle);
+            data.Audio = TryReadByte(site.fields, Fass2SiteFields.Audio);
+            data.Light = TryReadByte(site.fields, Fass2SiteFields.Light);
+            data.Rest = TryReadByte(site.fields, Fass2SiteFields.Rest);
+            data.Clamp = TryReadByte(site.fields, Fass2SiteFields.Clamp);
+            data.Tray = TryReadByte(site.fields, Fass2SiteFields.Tray);
+            data.Shutdown = TryReadByte(site.fields, Fass2SiteFields.Shutdown);
+            data.PrecisionStop = TryReadBool(site.fields, Fass2SiteFields.PrecisionStop);
+            data.WaitMode = TryReadString(site.fields, Fass2SiteFields.WaitMode);
+            return data;
+        }
+
+        public static string BuildFieldsSignature(IReadOnlyList<int> siteIds, int fromIndex, Func<int, Site> getSite)
+        {
+            if (siteIds == null || siteIds.Count == 0)
+            {
+                return string.Empty;
+            }
+
+            var parts = new List<string>(siteIds.Count - fromIndex);
+            for (var i = Math.Max(0, fromIndex); i < siteIds.Count; i++)
+            {
+                var site = getSite(siteIds[i]);
+                if (site?.fields == null)
+                {
+                    parts.Add($"{siteIds[i]}:");
+                    continue;
+                }
+
+                var keys = new List<string>();
+                foreach (var pair in site.fields)
+                {
+                    if (pair.Key.StartsWith("Fass2_", StringComparison.OrdinalIgnoreCase) ||
+                        pair.Key.Equals(Fass2SiteFields.TagValue, StringComparison.OrdinalIgnoreCase))
+                    {
+                        keys.Add($"{pair.Key}={pair.Value}");
+                    }
+                }
+
+                keys.Sort(StringComparer.OrdinalIgnoreCase);
+                parts.Add($"{siteIds[i]}:{string.Join("|", keys)}");
+            }
+
+            return string.Join(";", parts);
+        }
+
+        private static byte? TryReadByte(Dictionary<string, string> fields, string key)
+        {
+            if (!fields.TryGetValue(key, out var text) || string.IsNullOrWhiteSpace(text))
+            {
+                return null;
+            }
+
+            if (byte.TryParse(text, NumberStyles.Integer, CultureInfo.InvariantCulture, out var value))
+            {
+                return value;
+            }
+
+            return null;
+        }
+
+        private static bool TryReadBool(Dictionary<string, string> fields, string key)
+        {
+            if (!fields.TryGetValue(key, out var text) || string.IsNullOrWhiteSpace(text))
+            {
+                return false;
+            }
+
+            return bool.TryParse(text, out var value) && value
+                   || text == "1"
+                   || string.Equals(text, "true", StringComparison.OrdinalIgnoreCase);
+        }
+
+        private static string TryReadString(Dictionary<string, string> fields, string key)
+        {
+            return fields.TryGetValue(key, out var text) ? text : null;
+        }
+    }
+}

StandardScene.Magnetic/Tasking/Fass2SiteFields.cs

@@ -0,0 +1,50 @@
+namespace StandardScene.Magnetic.Tasking
+{
+    /// <summary>
+    /// FASS 2.0 站点 <c>fields</c> 键名常量，用于地图编辑器配置站点动作。
+    /// </summary>
+    public static class Fass2SiteFields
+    {
+        public const string TagValue = "TagValue";
+
+        public const string StartStop = "Fass2_StartStop";
+        public const string Byroad = "Fass2_Byroad";
+        public const string Direction = "Fass2_Direction";
+        public const string Orientation = "Fass2_Orientation";
+        public const string Lift = "Fass2_Lift";
+        public const string Roll = "Fass2_Roll";
+        public const string Charge = "Fass2_Charge";
+        public const string Obstacle = "Fass2_Obstacle";
+        public const string Audio = "Fass2_Audio";
+        public const string Light = "Fass2_Light";
+        public const string Rest = "Fass2_Rest";
+        public const string Clamp = "Fass2_Clamp";
+        public const string Tray = "Fass2_Tray";
+        public const string Shutdown = "Fass2_Shutdown";
+        public const string PrecisionStop = "Fass2_PrecisionStop";
+        public const string WaitMode = "Fass2_WaitMode";
+    }
+
+    /// <summary>
+    /// 从站点 fields 解析出的动作参数（映射到 25B 节点块）。
+    /// </summary>
+    public sealed class Fass2SiteActionData
+    {
+        public byte? StartStop { get; set; }
+        public byte? Byroad { get; set; }
+        public byte? Direction { get; set; }
+        public byte? Orientation { get; set; }
+        public byte? Lift { get; set; }
+        public byte? Roll { get; set; }
+        public byte? Charge { get; set; }
+        public byte? Obstacle { get; set; }
+        public byte? Audio { get; set; }
+        public byte? Light { get; set; }
+        public byte? Rest { get; set; }
+        public byte? Clamp { get; set; }
+        public byte? Tray { get; set; }
+        public byte? Shutdown { get; set; }
+        public bool PrecisionStop { get; set; }
+        public string WaitMode { get; set; }
+    }
+}

StandardScene.Magnetic/Tasking/Fass2TaskBuilder.cs

@@ -0,0 +1,226 @@
+using SimpleCore;
+using SimpleCore.PropType;
+using StandardScene.Magnetic.Protocol;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    /// <summary>
+    /// 将站点路径与站点/边 fields 合并为 FASS 2.0 <c>0xB1</c> 节点序列。
+    /// 对齐 backend <c>CarRequestService.GetSendNodes</c> 的组包规则。
+    /// </summary>
+    public static class Fass2TaskBuilder
+    {
+        public const byte StartStopPass = 1;
+        public const byte StartStopStop = 2;
+        public const byte StartStopPrecision = 22;
+
+        public static Fass2TaskPlan BuildPath(int startSiteId, int goalSiteId, Fass2TaskBuildOptions options,
+            Func<int, ushort> resolveNodeId)
+        {
+            if (resolveNodeId == null)
+            {
+                throw new ArgumentNullException(nameof(resolveNodeId));
+            }
+
+            options ??= new Fass2TaskBuildOptions();
+            var siteIds = Fass2PathFinder.GetSitesBetween(startSiteId, goalSiteId);
+            if (siteIds.Count == 0)
+            {
+                throw new InvalidOperationException($"no path from site {startSiteId} to {goalSiteId}");
+            }
+
+            var nodes = BuildNodesForSites(siteIds, options, resolveNodeId);
+            return new Fass2TaskPlan
+            {
+                StartSiteId = startSiteId,
+                GoalSiteId = goalSiteId,
+                SiteIds = siteIds,
+                Nodes = nodes,
+                Batches = SplitBatches(nodes, options.MaxNodesPerFrame),
+                FieldsSignature = Fass2SiteFieldReader.BuildFieldsSignature(siteIds, 0, SimpleLib.GetSite)
+            };
+        }
+
+        public static Fass2NodeMessage[] BuildSegment(int srcSiteId, int dstSiteId, Fass2TaskBuildOptions options,
+            Func<int, ushort> resolveNodeId)
+        {
+            return BuildPath(srcSiteId, dstSiteId, options, resolveNodeId).Nodes.ToArray();
+        }
+
+        public static IReadOnlyList<Fass2NodeMessage[]> SplitBatches(IReadOnlyList<Fass2NodeMessage> nodes, int maxPerFrame = 10)
+        {
+            if (nodes == null || nodes.Count == 0)
+            {
+                return Array.Empty<Fass2NodeMessage[]>();
+            }
+
+            if (maxPerFrame <= 0 || maxPerFrame > 10)
+            {
+                maxPerFrame = 10;
+            }
+
+            var batches = new List<Fass2NodeMessage[]>();
+            for (var offset = 0; offset < nodes.Count; offset += maxPerFrame)
+            {
+                var count = Math.Min(maxPerFrame, nodes.Count - offset);
+                var batch = new Fass2NodeMessage[count];
+                for (var i = 0; i < count; i++)
+                {
+                    batch[i] = nodes[offset + i];
+                }
+
+                batches.Add(batch);
+            }
+
+            return batches;
+        }
+
+        private static List<Fass2NodeMessage> BuildNodesForSites(IReadOnlyList<int> siteIds, Fass2TaskBuildOptions options,
+            Func<int, ushort> resolveNodeId)
+        {
+            var nodes = new List<Fass2NodeMessage>(siteIds.Count);
+            for (var i = 0; i < siteIds.Count; i++)
+            {
+                var siteId = siteIds[i];
+                var site = SimpleLib.GetSite(siteId);
+                var siteAction = Fass2SiteFieldReader.Read(site);
+                var isLast = i == siteIds.Count - 1;
+                var prevSiteId = i > 0 ? siteIds[i - 1] : siteId;
+
+                Fass2TrackMotionData trackMotion = null;
+                Site prevSite = null;
+                if (i > 0)
+                {
+                    prevSite = SimpleLib.GetSite(prevSiteId);
+                    var track = FindTrack(prevSiteId, siteId);
+                    trackMotion = Fass2TrackFieldReader.Read(track);
+                }
+
+                var node = new Fass2NodeMessage
+                {
+                    Node = resolveNodeId(siteId),
+                    StartStop = ResolveStartStop(siteAction, isLast),
+                    Distance = i > 0 ? ComputeEdgeDistance(prevSite, site) : (ushort)0,
+                    Speed = SpeedToProtocol(trackMotion?.Speed ?? options.DefaultSpeed, options.CarSpeed),
+                    Orientation = ResolveOrientation(prevSite, site, trackMotion),
+                    Byroad = siteAction.Byroad ?? trackMotion?.Byroad ?? 0,
+                    Direction = siteAction.Direction ?? trackMotion?.Direction ?? 0,
+                    Lift = siteAction.Lift ?? 0,
+                    Roll = siteAction.Roll ?? 0,
+                    Charge = siteAction.Charge ?? 0,
+                    Obstacle = siteAction.Obstacle ?? 0,
+                    Audio = siteAction.Audio ?? 0,
+                    Light = siteAction.Light ?? 0,
+                    Rest = siteAction.Rest ?? 0,
+                    Clamp = siteAction.Clamp ?? 0,
+                    Tray = siteAction.Tray ?? 0,
+                    Shutdown = siteAction.Shutdown ?? 0
+                };
+
+                if (siteAction.Orientation.HasValue)
+                {
+                    node.Orientation = siteAction.Orientation.Value;
+                }
+
+                nodes.Add(node);
+            }
+
+            return nodes;
+        }
+
+        private static byte ResolveStartStop(Fass2SiteActionData siteAction, bool isLast)
+        {
+            if (siteAction.StartStop.HasValue)
+            {
+                return siteAction.StartStop.Value;
+            }
+
+            if (isLast)
+            {
+                return siteAction.PrecisionStop ? StartStopPrecision : StartStopStop;
+            }
+
+            return StartStopPass;
+        }
+
+        private static byte ResolveOrientation(Site src, Site dst, Fass2TrackMotionData trackMotion)
+        {
+            if (trackMotion?.Orientation != null)
+            {
+                return trackMotion.Orientation.Value;
+            }
+
+            if (src == null || dst == null)
+            {
+                return 0;
+            }
+
+            var angle = trackMotion != null && trackMotion.EnableCarAbsoluteDirection
+                ? trackMotion.CarAbsoluteDirection
+                : Math.Atan2(dst.y - src.y, dst.x - src.x) / Math.PI * 180.0;
+
+            if (trackMotion?.Reverse == true)
+            {
+                angle += 180;
+            }
+
+            angle += trackMotion?.CarDirectionBias ?? 0;
+            angle %= 360;
+            if (angle < 0)
+            {
+                angle += 360;
+            }
+
+            return (byte)((int)Math.Round(angle / 360.0 * 256) % 256);
+        }
+
+        private static ushort ComputeEdgeDistance(Site src, Site dst)
+        {
+            var dx = dst.x - src.x;
+            var dy = dst.y - src.y;
+            var length = Math.Sqrt(dx * dx + dy * dy);
+            return (ushort)Math.Min(ushort.MaxValue, Math.Max(1, Math.Round(length)));
+        }
+
+        private static ushort SpeedToProtocol(double trackSpeed, double carSpeed)
+        {
+            var value = trackSpeed <= 0 ? carSpeed : trackSpeed;
+            var protocolSpeed = value <= 1
+                ? (int)Math.Round(value * 600)
+                : (int)Math.Round(value * 10);
+            return (ushort)Math.Max(1, Math.Min(10000, protocolSpeed));
+        }
+
+        private static Track FindTrack(int fromSiteId, int toSiteId)
+        {
+            foreach (var track in SimpleLib.GetAllTracks())
+            {
+                if (track.direction == 0)
+                {
+                    if ((track.siteA == fromSiteId && track.siteB == toSiteId) ||
+                        (track.siteB == fromSiteId && track.siteA == toSiteId))
+                    {
+                        return track;
+                    }
+
+                    continue;
+                }
+
+                if (track.direction == 1 && track.siteA == fromSiteId && track.siteB == toSiteId)
+                {
+                    return track;
+                }
+
+                if (track.direction == 2 && track.siteB == fromSiteId && track.siteA == toSiteId)
+                {
+                    return track;
+                }
+            }
+
+            return null;
+        }
+    }
+}

StandardScene.Magnetic/Tasking/Fass2TaskContext.cs

@@ -0,0 +1,149 @@
+using SimpleCore.PropType;
+using StandardScene.Magnetic.Protocol;
+using System;
+using System.Collections.Generic;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    public enum Fass2TaskPhase
+    {
+        Idle,
+        Planning,
+        Dispatching,
+        Moving,
+        AtStation,
+        SegmentDone,
+        Complete,
+        Fault,
+        Cancelled
+    }
+
+    /// <summary>
+    /// 一次 FASS 2.0 任务执行上下文，供状态机推进与重启恢复使用。
+    /// </summary>
+    public sealed class Fass2TaskContext
+    {
+        public Fass2TaskPhase Phase { get; set; } = Fass2TaskPhase.Idle;
+        public int StartSiteId { get; set; }
+        public int GoalSiteId { get; set; }
+        public int CurrentIndex { get; set; }
+        public ulong TaskId { get; set; }
+        public Fass2TaskPlan Plan { get; set; }
+        public string FieldsSignature { get; set; } = string.Empty;
+        public double DefaultSpeed { get; set; } = -1;
+        public string FaultReason { get; set; }
+        public DateTime StartedAt { get; set; }
+        public DateTime LastDispatchAt { get; set; } = DateTime.MinValue;
+        public ulong LastActionId { get; set; }
+        public DateTime LastActionSentAt { get; set; } = DateTime.MinValue;
+    }
+
+    public static class Fass2TaskPersistence
+    {
+        public const string TagPhase = "Fass2Task_Phase";
+        public const string TagStartSite = "Fass2Task_StartSite";
+        public const string TagGoalSite = "Fass2Task_GoalSite";
+        public const string TagCurrentIndex = "Fass2Task_CurrentIndex";
+        public const string TagTaskId = "Fass2Task_TaskId";
+        public const string TagFieldsSignature = "Fass2Task_FieldsSig";
+        public const string TagDefaultSpeed = "Fass2Task_DefaultSpeed";
+
+        public static void Save(TagSet tags, Fass2TaskContext context)
+        {
+            if (tags == null || context == null)
+            {
+                return;
+            }
+
+            SetTag(tags, TagPhase, context.Phase.ToString());
+            SetTag(tags, TagStartSite, context.StartSiteId.ToString());
+            SetTag(tags, TagGoalSite, context.GoalSiteId.ToString());
+            SetTag(tags, TagCurrentIndex, context.CurrentIndex.ToString());
+            SetTag(tags, TagTaskId, context.TaskId.ToString());
+            SetTag(tags, TagFieldsSignature, context.FieldsSignature ?? string.Empty);
+            SetTag(tags, TagDefaultSpeed, context.DefaultSpeed.ToString(System.Globalization.CultureInfo.InvariantCulture));
+        }
+
+        public static bool TryLoad(TagSet tags, out Fass2TaskContext context)
+        {
+            context = null;
+            if (tags == null || !tags.TryGetValue(TagPhase, out var phaseText) ||
+                !Enum.TryParse(phaseText, out Fass2TaskPhase phase))
+            {
+                return false;
+            }
+
+            if (phase is Fass2TaskPhase.Idle or Fass2TaskPhase.Complete or Fass2TaskPhase.Cancelled)
+            {
+                return false;
+            }
+
+            if (!TryReadInt(tags, TagStartSite, out var startSite) ||
+                !TryReadInt(tags, TagGoalSite, out var goalSite) ||
+                !TryReadInt(tags, TagCurrentIndex, out var currentIndex))
+            {
+                return false;
+            }
+
+            tags.TryGetValue(TagFieldsSignature, out var fieldsSignature);
+            ulong.TryParse(tags.TryGetValue(TagTaskId, out var taskIdText) ? taskIdText : "0", out var taskId);
+            double.TryParse(
+                tags.TryGetValue(TagDefaultSpeed, out var speedText) ? speedText : "-1",
+                System.Globalization.NumberStyles.Float,
+                System.Globalization.CultureInfo.InvariantCulture,
+                out var defaultSpeed);
+
+            context = new Fass2TaskContext
+            {
+                Phase = phase,
+                StartSiteId = startSite,
+                GoalSiteId = goalSite,
+                CurrentIndex = currentIndex,
+                TaskId = taskId,
+                FieldsSignature = fieldsSignature ?? string.Empty,
+                DefaultSpeed = defaultSpeed
+            };
+            return true;
+        }
+
+        public static void Clear(TagSet tags)
+        {
+            if (tags == null)
+            {
+                return;
+            }
+
+            RemoveTag(tags, TagPhase);
+            RemoveTag(tags, TagStartSite);
+            RemoveTag(tags, TagGoalSite);
+            RemoveTag(tags, TagCurrentIndex);
+            RemoveTag(tags, TagTaskId);
+            RemoveTag(tags, TagFieldsSignature);
+            RemoveTag(tags, TagDefaultSpeed);
+        }
+
+        private static void SetTag(TagSet tags, string key, string value)
+        {
+            if (tags.Contains(key))
+            {
+                tags.Remove(key);
+            }
+
+            tags.Add(key, value);
+        }
+
+        private static void RemoveTag(TagSet tags, string key)
+        {
+            if (tags.Contains(key))
+            {
+                tags.Remove(key);
+            }
+        }
+
+        private static bool TryReadInt(TagSet tags, string key, out int value)
+        {
+            value = 0;
+            return tags.TryGetValue(key, out var text) && int.TryParse(text, out value);
+        }
+    }
+}

StandardScene.Magnetic/Tasking/Fass2TaskPlan.cs

@@ -0,0 +1,26 @@
+using StandardScene.Magnetic.Protocol;
+using System.Collections.Generic;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    public sealed class Fass2TaskBuildOptions
+    {
+        public bool UseTagValueAsNode { get; set; }
+        public double DefaultSpeed { get; set; } = 0.2;
+        public double CarSpeed { get; set; } = 1;
+        public int MaxNodesPerFrame { get; set; } = 10;
+    }
+
+    /// <summary>
+    /// 一次 FASS 2.0 路径任务计划：站点序列、节点报文、分批结果。
+    /// </summary>
+    public sealed class Fass2TaskPlan
+    {
+        public int StartSiteId { get; set; }
+        public int GoalSiteId { get; set; }
+        public IReadOnlyList<int> SiteIds { get; set; } = new List<int>();
+        public IReadOnlyList<Fass2NodeMessage> Nodes { get; set; } = new List<Fass2NodeMessage>();
+        public IReadOnlyList<Fass2NodeMessage[]> Batches { get; set; } = new List<Fass2NodeMessage[]>();
+        public string FieldsSignature { get; set; } = string.Empty;
+    }
+}

StandardScene.Magnetic/Tasking/Fass2TaskStateMachine.cs

@@ -0,0 +1,588 @@
+using SimpleCore;
+using SimpleCore.PropType;
+using StandardScene.Magnetic.Protocol;
+using System;
+using System.Collections.Generic;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    public sealed class Fass2TaskCallbacks
+    {
+        public Func<int, int, double, Fass2TaskPlan> BuildPlan { get; set; }
+        public Action<Fass2NodeMessage[], ulong> SendNodes { get; set; }
+        public Action<Fass2NodeMessage, ulong> SendAction { get; set; }
+        public Action<byte, ushort> SendControl { get; set; }
+        public Func<int, ushort> ResolveNodeId { get; set; }
+        public Func<ushort, Site> ResolveSite { get; set; }
+        public Action<string> Log { get; set; }
+        public Action<Fass2TaskContext> Persist { get; set; }
+        public Action ClearPersisted { get; set; }
+        public Func<ulong> AllocateTaskId { get; set; }
+        public Func<ulong> AllocateActionId { get; set; }
+    }
+
+    public sealed class Fass2TaskTickResult
+    {
+        public Fass2TaskPhase Phase { get; set; }
+        public bool Dispatched { get; set; }
+        public bool Rebuilt { get; set; }
+        public bool ActionSent { get; set; }
+        public bool Advanced { get; set; }
+        public bool Completed { get; set; }
+        public bool Faulted { get; set; }
+        public string Message { get; set; }
+    }
+
+    /// <summary>
+    /// FASS 2.0 任务状态机：规划 → 滑动窗口下发 → UDP/TCP 状态驱动推进 → 动作闭环。
+    /// </summary>
+    public sealed class Fass2TaskStateMachine
+    {
+        private readonly Fass2TaskCallbacks _callbacks;
+        private readonly object _syncRoot = new object();
+        private TaskCompletionSource<int> _completionSource;
+
+        public Fass2TaskStateMachine(Fass2TaskCallbacks callbacks)
+        {
+            _callbacks = callbacks ?? throw new ArgumentNullException(nameof(callbacks));
+            Context = new Fass2TaskContext();
+        }
+
+        public Fass2TaskContext Context { get; }
+
+        public int LockCount { get; set; } = 4;
+
+        public int ResendIntervalMs { get; set; } = 500;
+
+        public int ActionRetryIntervalMs { get; set; } = 1000;
+
+        public bool StartBeforeMove { get; set; } = true;
+
+        public ushort HeadingAngle { get; set; }
+
+        public bool IsIdle
+        {
+            get
+            {
+                lock (_syncRoot)
+                {
+                    return Context.Phase is Fass2TaskPhase.Idle or Fass2TaskPhase.Complete or Fass2TaskPhase.Cancelled;
+                }
+            }
+        }
+
+        public bool IsRunning
+        {
+            get
+            {
+                lock (_syncRoot)
+                {
+                    return Context.Phase is Fass2TaskPhase.Planning or Fass2TaskPhase.Dispatching
+                        or Fass2TaskPhase.Moving or Fass2TaskPhase.AtStation or Fass2TaskPhase.SegmentDone;
+                }
+            }
+        }
+
+        public event Action<Fass2TaskContext> Completed;
+        public event Action<Fass2TaskContext, string> Faulted;
+
+        public void Begin(int startSiteId, int goalSiteId, double defaultSpeed = -1)
+        {
+            lock (_syncRoot)
+            {
+                if (!IsIdle)
+                {
+                    throw new InvalidOperationException($"task state machine busy, phase={Context.Phase}");
+                }
+
+                ResetCompletionSource();
+                Context.Phase = Fass2TaskPhase.Planning;
+                Context.StartSiteId = startSiteId;
+                Context.GoalSiteId = goalSiteId;
+                Context.CurrentIndex = 0;
+                Context.DefaultSpeed = defaultSpeed;
+                Context.StartedAt = DateTime.Now;
+                Context.FaultReason = null;
+                Context.Plan = null;
+                Context.FieldsSignature = string.Empty;
+                Context.LastDispatchAt = DateTime.MinValue;
+                Context.LastActionSentAt = DateTime.MinValue;
+                Context.LastActionId = 0;
+                Log($"task begin start={startSiteId}, goal={goalSiteId}, speed={defaultSpeed}");
+                Persist();
+            }
+        }
+
+        public bool TryRestore(Fass2TaskContext saved)
+        {
+            if (saved == null)
+            {
+                return false;
+            }
+
+            lock (_syncRoot)
+            {
+                if (IsRunning)
+                {
+                    return false;
+                }
+
+                ResetCompletionSource();
+                Context.Phase = saved.Phase;
+                Context.StartSiteId = saved.StartSiteId;
+                Context.GoalSiteId = saved.GoalSiteId;
+                Context.CurrentIndex = saved.CurrentIndex;
+                Context.TaskId = saved.TaskId;
+                Context.DefaultSpeed = saved.DefaultSpeed;
+                Context.FieldsSignature = saved.FieldsSignature ?? string.Empty;
+                Context.StartedAt = DateTime.Now;
+                Context.LastDispatchAt = DateTime.MinValue;
+                Context.LastActionSentAt = DateTime.MinValue;
+                Context.Plan = null;
+                Context.FaultReason = null;
+
+                if (Context.Phase == Fass2TaskPhase.Planning)
+                {
+                    Log($"task restored phase={Context.Phase}, goal={Context.GoalSiteId}, index={Context.CurrentIndex}");
+                    Persist();
+                    return true;
+                }
+
+                Context.Phase = Fass2TaskPhase.Planning;
+                Log($"task restored and normalized to Planning, goal={Context.GoalSiteId}, index={Context.CurrentIndex}");
+                Persist();
+                return true;
+            }
+        }
+
+        public Fass2TaskTickResult Tick(Fass2StateReport report)
+        {
+            lock (_syncRoot)
+            {
+                if (Context.Phase is Fass2TaskPhase.Idle or Fass2TaskPhase.Complete
+                    or Fass2TaskPhase.Cancelled or Fass2TaskPhase.Fault)
+                {
+                    return new Fass2TaskTickResult { Phase = Context.Phase };
+                }
+
+                var result = new Fass2TaskTickResult { Phase = Context.Phase };
+
+                if (report?.Alarm != 0)
+                {
+                    return Fault($"alarm=0x{report.Alarm:X}", result);
+                }
+
+                if (report?.State == 3)
+                {
+                    return Fault("vehicle emergency stop", result);
+                }
+
+                if (report?.State == 4)
+                {
+                    return Fault("vehicle fault", result);
+                }
+
+                switch (Context.Phase)
+                {
+                    case Fass2TaskPhase.Planning:
+                        return PlanAndDispatch(report, result);
+                    case Fass2TaskPhase.Dispatching:
+                        Context.Phase = Fass2TaskPhase.Moving;
+                        result.Phase = Context.Phase;
+                        return result;
+                    case Fass2TaskPhase.Moving:
+                        return HandleMoving(report, result);
+                    case Fass2TaskPhase.AtStation:
+                        return HandleAtStation(report, result);
+                    case Fass2TaskPhase.SegmentDone:
+                        return HandleSegmentDone(report, result);
+                    default:
+                        return result;
+                }
+            }
+        }
+
+        public void Cancel(string reason)
+        {
+            lock (_syncRoot)
+            {
+                if (IsIdle)
+                {
+                    return;
+                }
+
+                Context.Phase = Fass2TaskPhase.Cancelled;
+                Context.FaultReason = reason;
+                Log($"task cancelled: {reason}");
+                ClearPersisted();
+                _completionSource?.TrySetException(new OperationCanceledException(reason));
+            }
+        }
+
+        public async Task WaitAsync(int timeoutMs, Func<Fass2StateReport> poll, int pollIntervalMs,
+            CancellationToken cancellationToken = default)
+        {
+            if (poll == null)
+            {
+                throw new ArgumentNullException(nameof(poll));
+            }
+
+            TaskCompletionSource<int> waiter;
+            lock (_syncRoot)
+            {
+                waiter = _completionSource ?? ResetCompletionSource();
+            }
+
+            var timeoutTask = Task.Delay(timeoutMs, cancellationToken);
+            var pollTask = Task.Run(async () =>
+            {
+                while (!cancellationToken.IsCancellationRequested)
+                {
+                    Fass2StateReport report;
+                    lock (_syncRoot)
+                    {
+                        if (!IsRunning)
+                        {
+                            return;
+                        }
+                    }
+
+                    report = poll();
+                    Tick(report);
+
+                    lock (_syncRoot)
+                    {
+                        if (!IsRunning)
+                        {
+                            return;
+                        }
+                    }
+
+                    await Task.Delay(Math.Max(20, pollIntervalMs), cancellationToken);
+                }
+            }, cancellationToken);
+
+            var finished = await Task.WhenAny(waiter.Task, timeoutTask);
+            if (finished == timeoutTask)
+            {
+                Cancel("wait timeout");
+                throw new TimeoutException(
+                    $"FASS2 task timeout after {timeoutMs}ms, phase={Context.Phase}, index={Context.CurrentIndex}, goal={Context.GoalSiteId}");
+            }
+
+            await waiter.Task;
+        }
+
+        /// <summary>
+        /// UDP 模式由 Hub 回调驱动 Tick，此处只等待完成信号，避免与 OnUdpStateReceived 争用锁导致死锁。
+        /// </summary>
+        public async Task WaitForCompletionAsync(int timeoutMs, CancellationToken cancellationToken = default)
+        {
+            TaskCompletionSource<int> waiter;
+            lock (_syncRoot)
+            {
+                if (Context.Phase is Fass2TaskPhase.Complete or Fass2TaskPhase.Cancelled or Fass2TaskPhase.Fault)
+                {
+                    return;
+                }
+
+                waiter = _completionSource ?? ResetCompletionSource();
+            }
+
+            var timeoutTask = Task.Delay(timeoutMs, cancellationToken);
+            var finished = await Task.WhenAny(waiter.Task, timeoutTask);
+            if (finished == timeoutTask)
+            {
+                Cancel("wait timeout");
+                throw new TimeoutException(
+                    $"FASS2 task timeout after {timeoutMs}ms, phase={Context.Phase}, index={Context.CurrentIndex}, goal={Context.GoalSiteId}");
+            }
+
+            await waiter.Task;
+        }
+
+        private Fass2TaskTickResult PlanAndDispatch(Fass2StateReport report, Fass2TaskTickResult result)
+        {
+            var startSiteId = ResolveCurrentSiteId(report);
+            Context.Plan = _callbacks.BuildPlan(startSiteId, Context.GoalSiteId, Context.DefaultSpeed);
+            if (Context.Plan == null || Context.Plan.Nodes.Count == 0)
+            {
+                return Fault($"empty task plan from {startSiteId} to {Context.GoalSiteId}", result);
+            }
+
+            if (Context.CurrentIndex >= Context.Plan.Nodes.Count)
+            {
+                Context.CurrentIndex = Math.Max(0, Context.Plan.Nodes.Count - 1);
+            }
+
+            Context.FieldsSignature = Context.Plan.FieldsSignature;
+            Context.TaskId = _callbacks.AllocateTaskId();
+
+            if (StartBeforeMove && Context.CurrentIndex == 0)
+            {
+                _callbacks.SendControl(Fass2Protocol.CmdStart, HeadingAngle);
+            }
+
+            DispatchCurrentWindow();
+            Context.Phase = Fass2TaskPhase.Moving;
+            result.Phase = Context.Phase;
+            result.Dispatched = true;
+            result.Message = $"planned nodes={Context.Plan.Nodes.Count}, task={Context.TaskId}";
+            Log(result.Message);
+            Persist();
+            return result;
+        }
+
+        private Fass2TaskTickResult HandleMoving(Fass2StateReport report, Fass2TaskTickResult result)
+        {
+            if (TryRebuildForFieldsChange(result))
+            {
+                return result;
+            }
+
+            if (ShouldResend())
+            {
+                DispatchCurrentWindow();
+                result.Dispatched = true;
+            }
+
+            var expected = GetExpectedNode();
+            if (!Fass2ActionResolver.IsAtNode(report, expected.Node))
+            {
+                result.Message = $"moving node={report.Node.Node}, expect={expected.Node}";
+                return result;
+            }
+
+            if (Fass2ActionResolver.IsVehicleMoving(report.State))
+            {
+                result.Message = $"at node={expected.Node}, still running";
+                return result;
+            }
+
+            Context.Phase = Fass2TaskPhase.AtStation;
+            result.Phase = Context.Phase;
+            result.Message = $"arrived site index={Context.CurrentIndex}, node={expected.Node}";
+            Log(result.Message);
+            Persist();
+            return result;
+        }
+
+        private Fass2TaskTickResult HandleAtStation(Fass2StateReport report, Fass2TaskTickResult result)
+        {
+            if (TryRebuildForFieldsChange(result))
+            {
+                return result;
+            }
+
+            if (ShouldResend())
+            {
+                DispatchCurrentWindow();
+                result.Dispatched = true;
+            }
+
+            var expected = GetExpectedNode();
+            if (!Fass2ActionResolver.IsAtNode(report, expected.Node))
+            {
+                Context.Phase = Fass2TaskPhase.Moving;
+                result.Phase = Context.Phase;
+                result.Message = $"left station node={report.Node.Node}, expect={expected.Node}";
+                return result;
+            }
+
+            if (!Fass2ActionResolver.IsStationActionComplete(expected, report.Node, report.State))
+            {
+                if (ShouldSendActionPatch())
+                {
+                    var patch = Fass2ActionResolver.BuildActionPatch(expected, report.Node);
+                    if (patch != null)
+                    {
+                        Context.LastActionId = _callbacks.AllocateActionId();
+                        Context.LastActionSentAt = DateTime.Now;
+                        _callbacks.SendAction(patch, Context.LastActionId);
+                        result.ActionSent = true;
+                        result.Message =
+                            $"action pending [{Fass2ActionResolver.DescribePending(expected, report.Node)}], sent 0xA1={Context.LastActionId}";
+                        Log(result.Message);
+                    }
+                }
+
+                return result;
+            }
+
+            Context.Phase = Fass2TaskPhase.SegmentDone;
+            result.Phase = Context.Phase;
+            result.Message = $"station done index={Context.CurrentIndex}, node={expected.Node}";
+            Log(result.Message);
+            Persist();
+            return result;
+        }
+
+        private Fass2TaskTickResult HandleSegmentDone(Fass2StateReport report, Fass2TaskTickResult result)
+        {
+            Context.CurrentIndex++;
+            result.Advanced = true;
+
+            if (Context.Plan == null || Context.CurrentIndex >= Context.Plan.Nodes.Count)
+            {
+                Context.Phase = Fass2TaskPhase.Complete;
+                result.Phase = Context.Phase;
+                result.Completed = true;
+                result.Message = $"task complete goal={Context.GoalSiteId}";
+                Log(result.Message);
+                ClearPersisted();
+                Completed?.Invoke(Context);
+                _completionSource?.TrySetResult(1);
+                return result;
+            }
+
+            Context.Phase = Fass2TaskPhase.Dispatching;
+            DispatchCurrentWindow();
+            Context.Phase = Fass2TaskPhase.Moving;
+            result.Phase = Context.Phase;
+            result.Dispatched = true;
+            result.Message = $"segment advanced index={Context.CurrentIndex}";
+            Log(result.Message);
+            Persist();
+            return result;
+        }
+
+        private bool TryRebuildForFieldsChange(Fass2TaskTickResult result)
+        {
+            if (Context.Plan?.SiteIds == null || Context.Plan.SiteIds.Count == 0)
+            {
+                return false;
+            }
+
+            var newSignature = Fass2SiteFieldReader.BuildFieldsSignature(
+                Context.Plan.SiteIds, Context.CurrentIndex, SimpleLib.GetSite);
+            if (string.Equals(newSignature, Context.FieldsSignature, StringComparison.Ordinal))
+            {
+                return false;
+            }
+
+            var currentSiteId = Context.Plan.SiteIds[Context.CurrentIndex];
+            Log($"fields changed at index={Context.CurrentIndex}, rebuild from site={currentSiteId}");
+            Context.Plan = _callbacks.BuildPlan(currentSiteId, Context.GoalSiteId, Context.DefaultSpeed);
+            if (Context.Plan == null || Context.Plan.Nodes.Count == 0)
+            {
+                Fault($"rebuild failed from {currentSiteId} to {Context.GoalSiteId}", result);
+                return true;
+            }
+
+            Context.CurrentIndex = 0;
+            Context.FieldsSignature = Context.Plan.FieldsSignature;
+            Context.TaskId = _callbacks.AllocateTaskId();
+            DispatchCurrentWindow();
+            Context.Phase = Fass2TaskPhase.Moving;
+            result.Phase = Context.Phase;
+            result.Rebuilt = true;
+            result.Dispatched = true;
+            result.Message = $"rebuilt nodes={Context.Plan.Nodes.Count}, task={Context.TaskId}";
+            Persist();
+            return true;
+        }
+
+        private void DispatchCurrentWindow()
+        {
+            var window = BuildDispatchWindow();
+            if (window.Length == 0)
+            {
+                throw new InvalidOperationException("dispatch window is empty");
+            }
+
+            _callbacks.SendNodes(window, Context.TaskId);
+            Context.LastDispatchAt = DateTime.Now;
+            Log($"dispatch window count={window.Length}, fromIndex={Context.CurrentIndex}, task={Context.TaskId}");
+        }
+
+        private Fass2NodeMessage[] BuildDispatchWindow()
+        {
+            var nodes = Context.Plan.Nodes;
+            var start = Context.CurrentIndex;
+            var remaining = nodes.Count - start;
+            var windowSize = Math.Max(1, Math.Min(LockCount, remaining));
+            windowSize = Math.Min(windowSize, 10);
+            var window = new Fass2NodeMessage[windowSize];
+            for (var i = 0; i < windowSize; i++)
+            {
+                window[i] = nodes[start + i];
+            }
+
+            return window;
+        }
+
+        private Fass2NodeMessage GetExpectedNode()
+        {
+            return Context.Plan.Nodes[Context.CurrentIndex];
+        }
+
+        private int ResolveCurrentSiteId(Fass2StateReport report)
+        {
+            if (Context.CurrentIndex > 0 && Context.Plan?.SiteIds != null &&
+                Context.CurrentIndex < Context.Plan.SiteIds.Count)
+            {
+                return Context.Plan.SiteIds[Context.CurrentIndex];
+            }
+
+            if (report?.Node != null && report.Node.Node != 0)
+            {
+                var site = _callbacks.ResolveSite(report.Node.Node);
+                if (site != null)
+                {
+                    return site.id;
+                }
+            }
+
+            return Context.StartSiteId;
+        }
+
+        private bool ShouldResend()
+        {
+            return Context.LastDispatchAt == DateTime.MinValue ||
+                   (DateTime.Now - Context.LastDispatchAt).TotalMilliseconds >= ResendIntervalMs;
+        }
+
+        private bool ShouldSendActionPatch()
+        {
+            return Context.LastActionSentAt == DateTime.MinValue ||
+                   (DateTime.Now - Context.LastActionSentAt).TotalMilliseconds >= ActionRetryIntervalMs;
+        }
+
+        private Fass2TaskTickResult Fault(string reason, Fass2TaskTickResult result)
+        {
+            Context.Phase = Fass2TaskPhase.Fault;
+            Context.FaultReason = reason;
+            result.Phase = Context.Phase;
+            result.Faulted = true;
+            result.Message = reason;
+            Log($"task fault: {reason}");
+            Persist();
+            Faulted?.Invoke(Context, reason);
+            _completionSource?.TrySetException(new InvalidOperationException(reason));
+            return result;
+        }
+
+        private void Persist()
+        {
+            _callbacks.Persist?.Invoke(Context);
+        }
+
+        private void ClearPersisted()
+        {
+            _callbacks.ClearPersisted?.Invoke();
+        }
+
+        private void Log(string message)
+        {
+            _callbacks.Log?.Invoke(message);
+        }
+
+        private TaskCompletionSource<int> ResetCompletionSource()
+        {
+            _completionSource = new TaskCompletionSource<int>(TaskCreationOptions.RunContinuationsAsynchronously);
+            return _completionSource;
+        }
+    }
+}

StandardScene.Magnetic/Tasking/Fass2TrackFieldReader.cs

@@ -0,0 +1,84 @@
+using SimpleCore.PropType;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    internal sealed class Fass2TrackMotionData
+    {
+        public float Speed { get; set; } = 0.2f;
+        public bool Reverse { get; set; }
+        public float CarDirectionBias { get; set; }
+        public bool EnableCarAbsoluteDirection { get; set; }
+        public float CarAbsoluteDirection { get; set; }
+        public byte? Byroad { get; set; }
+        public byte? Direction { get; set; }
+        public byte? Orientation { get; set; }
+    }
+
+    internal static class Fass2TrackFieldReader
+    {
+        public static Fass2TrackMotionData Read(Track track)
+        {
+            var data = new Fass2TrackMotionData();
+            if (track?.fields == null)
+            {
+                return data;
+            }
+
+            if (track.fields.TryGetValue("Speed", out var speedText) &&
+                float.TryParse(speedText, NumberStyles.Float, CultureInfo.InvariantCulture, out var speed))
+            {
+                data.Speed = speed;
+            }
+
+            if (track.fields.TryGetValue("Reverse", out var reverseText) &&
+                bool.TryParse(reverseText, out var reverse))
+            {
+                data.Reverse = reverse;
+            }
+
+            if (track.fields.TryGetValue("CarDirectionBias", out var biasText) &&
+                float.TryParse(biasText, NumberStyles.Float, CultureInfo.InvariantCulture, out var bias))
+            {
+                data.CarDirectionBias = bias;
+            }
+
+            if (track.fields.TryGetValue("EnableCarAbsoluteDirection", out var enableAbsText) &&
+                bool.TryParse(enableAbsText, out var enableAbs))
+            {
+                data.EnableCarAbsoluteDirection = enableAbs;
+            }
+
+            if (track.fields.TryGetValue("CarAbsoluteDirection", out var absText) &&
+                float.TryParse(absText, NumberStyles.Float, CultureInfo.InvariantCulture, out var absDir))
+            {
+                data.CarAbsoluteDirection = absDir;
+            }
+
+            data.Byroad = TryReadByte(track.fields, "Fass2_Byroad");
+            if (data.Byroad == null && track.fields.TryGetValue("magSelect", out var magSelect) &&
+                byte.TryParse(magSelect, NumberStyles.Integer, CultureInfo.InvariantCulture, out var magValue))
+            {
+                data.Byroad = magValue;
+            }
+
+            data.Direction = TryReadByte(track.fields, "Fass2_Direction");
+            data.Orientation = TryReadByte(track.fields, "Fass2_Orientation");
+            return data;
+        }
+
+        private static byte? TryReadByte(Dictionary<string, string> fields, string key)
+        {
+            if (!fields.TryGetValue(key, out var text) || string.IsNullOrWhiteSpace(text))
+            {
+                return null;
+            }
+
+            return byte.TryParse(text, NumberStyles.Integer, CultureInfo.InvariantCulture, out var value)
+                ? value
+                : (byte?)null;
+        }
+    }
+}

StandardScene.Magnetic/Tasking/IFass2LoopCar.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    /// <summary>
+    /// FASS 2.0 车型与 LoopMission 衔接接口。
+    /// LoopMission 仍通过 <c>goalSite</c> 标签分配目标；车型侧负责一次全程任务执行。
+    /// </summary>
+    public interface IFass2LoopCar
+    {
+        bool IsTaskIdle { get; }
+
+        bool HasGoalSite { get; }
+
+        int? GoalSiteId { get; }
+
+        /// <summary>执行 <c>goalSite</c>（或指定目标）对应的全程 FASS 2.0 任务。</summary>
+        Task ExecuteGoalTaskAsync(int? goalSiteId = null, double defaultSpeed = -1,
+            CancellationToken cancellationToken = default);
+
+        /// <summary>任务到达终点后触发，参数为到达站 ID。</summary>
+        event Action<int> TaskCompleted;
+    }
+}

StandardScene.Magnetic/Tasking/MagFass2CarFileLogger.cs

@@ -0,0 +1,61 @@
+using System;
+using System.Collections.Concurrent;
+using System.IO;
+using System.Text;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    /// <summary>
+    /// MagFass2Car 本地文件日志，按协议车号分目录：logs/car{VehicleCode}/magfass2_yyyyMMdd.log
+    /// </summary>
+    public static class MagFass2CarFileLogger
+    {
+        private static readonly ConcurrentDictionary<ushort, object> CarLocks = new ConcurrentDictionary<ushort, object>();
+        private static string _baseDirectory = "logs";
+        private static bool _enabled = true;
+
+        public static void Configure(string baseDirectory, bool enabled)
+        {
+            _baseDirectory = string.IsNullOrWhiteSpace(baseDirectory) ? "logs" : baseDirectory.Trim();
+            _enabled = enabled;
+        }
+
+        public static string GetCarLogDirectory(ushort vehicleCode)
+        {
+            return Path.Combine(ResolveBaseDirectory(), $"car{vehicleCode}");
+        }
+
+        public static string GetCurrentLogFilePath(ushort vehicleCode)
+        {
+            var fileName = $"magfass2_{DateTime.Now:yyyyMMdd}.log";
+            return Path.Combine(GetCarLogDirectory(vehicleCode), fileName);
+        }
+
+        public static void Write(ushort vehicleCode, string message)
+        {
+            if (!_enabled || vehicleCode == 0 || string.IsNullOrWhiteSpace(message))
+            {
+                return;
+            }
+
+            var carLock = CarLocks.GetOrAdd(vehicleCode, _ => new object());
+            lock (carLock)
+            {
+                var directory = GetCarLogDirectory(vehicleCode);
+                Directory.CreateDirectory(directory);
+                var path = GetCurrentLogFilePath(vehicleCode);
+                File.AppendAllText(
+                    path,
+                    $"[{DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}] {message}{Environment.NewLine}",
+                    new UTF8Encoding(encoderShouldEmitUTF8Identifier: false));
+            }
+        }
+
+        private static string ResolveBaseDirectory()
+        {
+            return Path.IsPathRooted(_baseDirectory)
+                ? _baseDirectory
+                : Path.Combine(AppContext.BaseDirectory, _baseDirectory);
+        }
+    }
+}

StandardScene.Magnetic/docs/export-pdf.ps1

@@ -0,0 +1,209 @@
+# Export MagFass2Car guide Markdown to PDF (requires Chrome or Edge)
+param(
+    [string]$InputMd = "$PSScriptRoot\MagFass2Car使用指南.md",
+    [string]$OutputPdf = "$PSScriptRoot\MagFass2Car使用指南.pdf"
+)
+
+$ErrorActionPreference = 'Stop'
+[Console]::OutputEncoding = [System.Text.Encoding]::UTF8
+
+function Escape-Html([string]$text) {
+    return [System.Net.WebUtility]::HtmlEncode($text)
+}
+
+function Convert-MarkdownToHtml([string]$markdown) {
+    $lines = $markdown -split "`r?`n"
+    $sb = New-Object System.Text.StringBuilder
+    $inCode = $false
+    $inTable = $false
+    $tableRows = New-Object System.Collections.Generic.List[string[]]
+    $inList = $false
+    $listOrdered = $false
+
+    function Flush-Table {
+        param($builder, [ref]$inTableRef, $rows)
+        if (-not $inTableRef.Value) { return }
+        [void]$builder.AppendLine('<table>')
+        for ($i = 0; $i -lt $rows.Count; $i++) {
+            $cells = $rows[$i]
+            $tag = if ($i -eq 0) { 'th' } else { 'td' }
+            if ($i -eq 0) { [void]$builder.AppendLine('<thead><tr>') } elseif ($i -eq 1) { [void]$builder.AppendLine('<tbody><tr>') } else { [void]$builder.AppendLine('<tr>') }
+            foreach ($cell in $cells) {
+                $cellHtml = Escape-Html($cell.Trim())
+                $cellHtml = $cellHtml -replace '`([^`]+)`', '<code>$1</code>'
+                [void]$builder.AppendLine("<$tag>$cellHtml</$tag>")
+            }
+            [void]$builder.AppendLine('</tr>')
+            if ($i -eq 0) { [void]$builder.AppendLine('</thead>') }
+        }
+        if ($rows.Count -gt 1) { [void]$builder.AppendLine('</tbody>') }
+        [void]$builder.AppendLine('</table>')
+        $rows.Clear()
+        $inTableRef.Value = $false
+    }
+
+    function Close-List {
+        param($builder, [ref]$inListRef, [ref]$orderedRef)
+        if (-not $inListRef.Value) { return }
+        if ($orderedRef.Value) { [void]$builder.AppendLine('</ol>') } else { [void]$builder.AppendLine('</ul>') }
+        $inListRef.Value = $false
+        $orderedRef.Value = $false
+    }
+
+    foreach ($line in $lines) {
+        if ($line -match '^\s*```') {
+            if ($inCode) {
+                [void]$sb.AppendLine('</code></pre>')
+                $inCode = $false
+            } else {
+                Flush-Table $sb ([ref]$inTable) $tableRows
+                Close-List $sb ([ref]$inList) ([ref]$listOrdered)
+                [void]$sb.AppendLine('<pre><code>')
+                $inCode = $true
+            }
+            continue
+        }
+
+        if ($inCode) {
+            [void]$sb.AppendLine((Escape-Html $line))
+            continue
+        }
+
+        if ($line -match '^\s*\|(.+)\|\s*$') {
+            Close-List $sb ([ref]$inList) ([ref]$listOrdered)
+            if ($line -match '^\s*\|[-:\s|]+\|\s*$') { continue }
+            $cells = ($line.Trim('|') -split '\|') | ForEach-Object { $_.Trim() }
+            $tableRows.Add($cells)
+            $inTable = $true
+            continue
+        } else {
+            Flush-Table $sb ([ref]$inTable) $tableRows
+        }
+
+        if ($line -match '^(#{1,6})\s+(.+)$') {
+            Close-List $sb ([ref]$inList) ([ref]$listOrdered)
+            $level = $Matches[1].Length
+            $text = $Matches[2]
+            [void]$sb.AppendLine("<h$level>$(Escape-Html $text)</h$level>")
+            continue
+        }
+
+        if ($line -match '^>\s*(.+)$') {
+            Close-List $sb ([ref]$inList) ([ref]$listOrdered)
+            $text = $Matches[1]
+            [void]$sb.AppendLine("<blockquote><p>$(Escape-Html $text)</p></blockquote>")
+            continue
+        }
+
+        if ($line -match '^---\s*$') {
+            Close-List $sb ([ref]$inList) ([ref]$listOrdered)
+            [void]$sb.AppendLine('<hr/>')
+            continue
+        }
+
+        if ($line -match '^\d+\.\s+(.+)$') {
+            if (-not $inList) { [void]$sb.AppendLine('<ol>'); $inList = $true; $listOrdered = $true }
+            $text = Escape-Html $Matches[1]
+            $text = $text -replace '`([^`]+)`', '<code>$1</code>'
+            [void]$sb.AppendLine("<li>$text</li>")
+            continue
+        }
+
+        if ($line -match '^-\s+(.+)$') {
+            if (-not $inList) { [void]$sb.AppendLine('<ul>'); $inList = $true; $listOrdered = $false }
+            $text = Escape-Html $Matches[1]
+            $text = $text -replace '`([^`]+)`', '<code>$1</code>'
+            [void]$sb.AppendLine("<li>$text</li>")
+            continue
+        }
+
+        if ([string]::IsNullOrWhiteSpace($line)) {
+            Close-List $sb ([ref]$inList) ([ref]$listOrdered)
+            continue
+        }
+
+        Close-List $sb ([ref]$inList) ([ref]$listOrdered)
+        $p = Escape-Html $line
+        $p = $p -replace '`([^`]+)`', '<code>$1</code>'
+        [void]$sb.AppendLine("<p>$p</p>")
+    }
+
+    Flush-Table $sb ([ref]$inTable) $tableRows
+    Close-List $sb ([ref]$inList) ([ref]$listOrdered)
+    if ($inCode) { [void]$sb.AppendLine('</code></pre>') }
+    return $sb.ToString()
+}
+
+if (-not (Test-Path $InputMd)) {
+    throw "Markdown file not found: $InputMd"
+}
+
+$md = Get-Content -Path $InputMd -Raw -Encoding UTF8
+$body = Convert-MarkdownToHtml $md
+$htmlPath = [System.IO.Path]::ChangeExtension($OutputPdf, '.html')
+
+$html = @"
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+<meta charset="utf-8" />
+<title>MagFass2Car Guide</title>
+<style>
+  @page { size: A4; margin: 18mm 16mm; }
+  body { font-family: "Microsoft YaHei", "Segoe UI", sans-serif; color: #222; line-height: 1.55; font-size: 11pt; }
+  h1 { font-size: 22pt; border-bottom: 2px solid #2563eb; padding-bottom: 8px; margin-top: 0; }
+  h2 { font-size: 16pt; color: #1e40af; margin-top: 22px; page-break-after: avoid; }
+  h3 { font-size: 13pt; color: #1d4ed8; margin-top: 16px; page-break-after: avoid; }
+  h4, h5 { font-size: 11.5pt; margin-top: 12px; page-break-after: avoid; }
+  p, li { orphans: 3; widows: 3; }
+  code, pre { font-family: Consolas, "Courier New", monospace; }
+  code { background: #f3f4f6; padding: 1px 4px; border-radius: 3px; font-size: 10pt; }
+  pre { background: #f8fafc; border: 1px solid #e5e7eb; padding: 10px; overflow-x: auto; font-size: 9.5pt; }
+  pre code { background: transparent; padding: 0; }
+  table { border-collapse: collapse; width: 100%; margin: 10px 0 14px; font-size: 10pt; page-break-inside: avoid; }
+  th, td { border: 1px solid #d1d5db; padding: 6px 8px; vertical-align: top; }
+  th { background: #eff6ff; text-align: left; }
+  tr:nth-child(even) td { background: #fafafa; }
+  blockquote { border-left: 4px solid #93c5fd; margin: 10px 0; padding: 6px 12px; color: #374151; background: #f8fafc; }
+  hr { border: none; border-top: 1px solid #e5e7eb; margin: 18px 0; }
+  ul, ol { margin: 6px 0 10px 20px; }
+</style>
+</head>
+<body>
+$body
+</body>
+</html>
+"@
+
+[System.IO.File]::WriteAllText($htmlPath, $html, [System.Text.UTF8Encoding]::new($false))
+
+$browserCandidates = @(
+    "$env:ProgramFiles\Google\Chrome\Application\chrome.exe",
+    "${env:ProgramFiles(x86)}\Google\Chrome\Application\chrome.exe",
+    "${env:ProgramFiles(x86)}\Microsoft\Edge\Application\msedge.exe",
+    "$env:ProgramFiles\Microsoft\Edge\Application\msedge.exe"
+)
+$browser = $browserCandidates | Where-Object { Test-Path $_ } | Select-Object -First 1
+if (-not $browser) {
+    throw "Chrome/Edge not found. HTML generated at: $htmlPath"
+}
+
+if (Test-Path $OutputPdf) { Remove-Item $OutputPdf -Force }
+
+$resolvedHtml = (Resolve-Path -LiteralPath $htmlPath).Path
+$fileUri = [System.Uri]::new($resolvedHtml).AbsoluteUri
+$args = @(
+    "--headless=new",
+    "--disable-gpu",
+    "--no-pdf-header-footer",
+    "--print-to-pdf=$OutputPdf",
+    $fileUri
+)
+$proc = Start-Process -FilePath $browser -ArgumentList $args -Wait -PassThru
+
+if ($proc.ExitCode -ne 0 -or -not (Test-Path $OutputPdf)) {
+    throw "PDF export failed with exit code $($proc.ExitCode). HTML: $htmlPath"
+}
+
+Write-Output "PDF: $OutputPdf"
+Write-Output "HTML: $htmlPath"

StandardScene.Protocol.VDA5050/StandardScene.Protocol.VDA5050.csproj

@@ -29,31 +29,8 @@
   </ItemGroup>
 
   <!-- CycleGUI：TextViewer 等 UI 已从 WinForms 迁移到 CycleGUI（与 Core 一致，Private=false 由宿主加载） -->
-  <ItemGroup>
-    <Reference Include="CycleGUI">
-      <HintPath>$(CGUILibDir)\CycleGUI.dll</HintPath>
-      <Private>false</Private>
-    </Reference>
-  </ItemGroup>
 
   <!-- 程序集引用：与 Core 保持一致的本地契约/工具 dll -->
-  <ItemGroup>
-    <Reference Include="SimpleLite">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\SimpleLite.dll</HintPath>
-    </Reference>
-    <Reference Include="SimpleCore">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleCore\bin\Debug\netstandard2.0\SimpleCore.dll</HintPath>
-    </Reference>
-    <Reference Include="CommonUsage">
-      <HintPath>D:\MDCS\Dependencies\Commons\CommonUsage.dll</HintPath>
-    </Reference>
-    <Reference Include="Topaz">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\tools\Topaz.dll</HintPath>
-    </Reference>
-    <Reference Include="LessokajiWeaverUtilities">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\LessokajiWeaverUtilities.dll</HintPath>
-    </Reference>
-  </ItemGroup>
 
   <!-- NuGet：VDA5050/MQTT 协议栈所需 -->
   <ItemGroup>
@@ -63,5 +40,28 @@
     <PackageReference Include="Newtonsoft.Json" Version="13.0.4" />
     <PackageReference Include="Jint" Version="4.6.3" />
   </ItemGroup>
+  <ItemGroup>
+    <Reference Include="CommonUsage">
+      <HintPath>$(StandRefDir)CommonUsage.dll</HintPath>
+    </Reference>
+    <Reference Include="CycleGUI">
+      <HintPath>$(StandRefDir)CycleGUI.dll</HintPath>
+    </Reference>
+    <Reference Include="LessokajiWeaverUtilities">
+      <HintPath>$(StandRefDir)LessokajiWeaverUtilities.dll</HintPath>
+    </Reference>
+    <Reference Include="MDCSToolBox">
+      <HintPath>$(StandRefDir)MDCSToolBox.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleCore">
+      <HintPath>$(StandRefDir)SimpleCore.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleLite">
+      <HintPath>$(StandSimpleLiteDir)SimpleLite.dll</HintPath>
+    </Reference>
+    <Reference Include="Topaz">
+      <HintPath>$(StandRefDir)Topaz.dll</HintPath>
+    </Reference>
+  </ItemGroup>
 
 </Project>

StandardScene.Protocol.VDA5050/VDACar/VDA5050Commons.cs

@@ -24,9 +24,9 @@ namespace StandardScene.CarTypes
                 version = _protocolVersion,
                 manufacturer = _manufacturer,
                 serialNumber = _serialNumber,
-                actions = new List<actionState>
+                actions = new List<action>
             {
-                new actionState
+                new action
                 {
                     actionId = actionId,
                     actionType = actionType,

StandardScene.QrLidar/StandardScene.QrLidar.csproj

@@ -30,23 +30,23 @@
   </ItemGroup>
 
   <ItemGroup>
-    <Reference Include="SimpleLite">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\SimpleLite.dll</HintPath>
-    </Reference>
-    <Reference Include="SimpleCore">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleCore\bin\Debug\netstandard2.0\SimpleCore.dll</HintPath>
-    </Reference>
     <Reference Include="CommonUsage">
-      <HintPath>D:\MDCS\Dependencies\Commons\CommonUsage.dll</HintPath>
+      <HintPath>$(StandRefDir)CommonUsage.dll</HintPath>
-    </Reference>
-    <Reference Include="MDCSToolBox">
-      <HintPath>D:\MDCS\Dependencies\Commons\MDCSToolBox.dll</HintPath>
-    </Reference>
-    <Reference Include="Topaz">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\tools\Topaz.dll</HintPath>
     </Reference>
     <Reference Include="LessokajiWeaverUtilities">
-      <HintPath>E:\Work\Core\Simple-FR\Simple\SimpleLite\bin\Debug\LessokajiWeaverUtilities.dll</HintPath>
+      <HintPath>$(StandRefDir)LessokajiWeaverUtilities.dll</HintPath>
+    </Reference>
+    <Reference Include="MDCSToolBox">
+      <HintPath>$(StandRefDir)MDCSToolBox.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleCore">
+      <HintPath>$(StandRefDir)SimpleCore.dll</HintPath>
+    </Reference>
+    <Reference Include="SimpleLite">
+      <HintPath>$(StandSimpleLiteDir)SimpleLite.dll</HintPath>
+    </Reference>
+    <Reference Include="Topaz">
+      <HintPath>$(StandRefDir)Topaz.dll</HintPath>
     </Reference>
   </ItemGroup>
 

StandardScene.sln

@@ -13,6 +13,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "StandardScene.Magnetic", "S
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "StandardScene.QrLidar", "StandardScene.QrLidar\StandardScene.QrLidar.csproj", "{7E5050AA-0007-4A11-9C22-0A0B0C0D0E07}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "StandardScene.Fass2Simulator", "StandardScene.Fass2Simulator\StandardScene.Fass2Simulator.csproj", "{7E5050AA-0008-4A11-9C22-0A0B0C0D0E08}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -39,6 +41,10 @@ Global
 		{7E5050AA-0007-4A11-9C22-0A0B0C0D0E07}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{7E5050AA-0007-4A11-9C22-0A0B0C0D0E07}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{7E5050AA-0007-4A11-9C22-0A0B0C0D0E07}.Release|Any CPU.Build.0 = Release|Any CPU
+		{7E5050AA-0008-4A11-9C22-0A0B0C0D0E08}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{7E5050AA-0008-4A11-9C22-0A0B0C0D0E08}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{7E5050AA-0008-4A11-9C22-0A0B0C0D0E08}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{7E5050AA-0008-4A11-9C22-0A0B0C0D0E08}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE