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zhaowei.huang
2026-06-14 11:19:15 +08:00
parent e79a3815a5
commit c8e540d272
174 changed files with 60830 additions and 39 deletions
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StandardScene.Core/Model/TaskModel.cs
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using SimpleLite.RCS;
using SimpleLite.RCS.CarTypes;
using System;
using System.Collections.Generic;
using System.Linq;
namespace StandardScene.Model
{
public class TaskRequest
{
public string CarCode { get; set; }
public string CarType { get; set; }
public string TaskCode { get; set; }
public string MissionType { get; set; }
public string TaskType { get; set; }
public string Material { get; set; }
public ContainerSize ContainerSize { get; set; }
public List<Node> Nodes { get; set; }
public int priority { get; set; }
}
public class ContainerSize
{
public double Length { get; set; }
public double Width { get; set; }
public double Height { get; set; }
}
public class Node
{
public int Code { get; set; }
//public List<Action> Actions { get; set; }
}
public class Action
{
public string Code { get; set; }
public string ActionType { get; set; }
public string BlockingType { get; set; }
public List<ActionParameter> Parameters { get; set; }
}
public class ActionParameter
{
public string Key { get; set; }
public string Value { get; set; }
}
public class BaseRespose<T>
{
public bool Success { get; set; }
public int Code { get; set; } = 200;
public string Message { get; set; }
public T Data { get; set; }
}
public class BaseRespose
{
public bool Success { get; set; } = true;
public int Code { get; set; } = 200;
public string Message { get; set; }
}
public class CarInfo
{
public string Code { get; set; }
public string Name { get; set; }
public double Voltage { get; set; }
public string Address { get; set; }
public string Speed { get; set; }
public int siteId { get; set; }
}
public class CarStateInfo
{
public string Code { get; set; }
public string Name { get; set; }
public string CurrState { get; set; }
public bool IsOnline { get; set; } = false;
public double Battery { get; set; }
public double ElectricCurrent { get; set; }
public double Voltage { get; set; }
public double X { get; set; }
public double Y { get; set; }
public double Theta { get; set; }
public double Speed { get; set; }
public int Load { get; set; }
public string CurrNodeCode { get; set; }
public string StartNodeCode { get; set; }
public string EndNodeCode { get; set; }
public string CurrEdgeCode { get; set; } = "";
public string StartEdgeCode { get; set; } = "";
public string EndEdgeCode { get; set; } = "";
public List<int> HoldingLocks { get; set; }
public List<int> PendingLocks { get; set; }
public List<BlockedByItem> BlockedBy { get; set; }
public string BlockingTime { get; set; } = "";
public string TrafficMessage { get; set; } = "";
public int AquiringLock { get; set; } = -1;
public bool StopAccept { get; set; } = false;
public List<CarAlarm> Alarms { get; set; }
public List<TaskInfo> Tasks { get; set; }
public List<TaskAction> Actions { get; set; }
}
public class BlockedByItem
{
public string CarCode { get; set; }
public int Type { get; set; }
}
public class CarAlarm
{
public string Code { get; set; }
public string Name { get; set; }
}
public class TaskInfo
{
public string Code { get; set; }
public string State { get; set; }
public List<ResponseNode> Nodes { get; set; }
}
public class TaskAction
{
public string Code { get; set; }
public string ActionType { get; set; }
public string BlockingType { get; set; }
public string State { get; set; }
}
public class ResponseNode
{
public string Code { get; set; }
//public List<TaskAction> Actions { get; set; }
}
public class TaskCancel
{
public string TaskCode { get; set; }
public string MissionType { get; set; }
public string TaskStatus { get; set; }
}
public class TaskRecord
{
public string TaskId { get; set; }
public string Name { get; set; }
public string CarId { get; set; }
public string CarName { get; set; }
public string SrcSiteId { get; set; }
public string DestSiteId { get; set; }
public int Priority { get; set; } = 0;
public string State { get; set; }
public DateTime? StartTime { get; set; }
public DateTime? EndTime { get; set; }
public DateTime Created { get; set; }
}
public class CarBaseInfo
{
public string Code { get; set; }
public string Name { get; set; }
public string CarType { get; set; }
public double Length { get; set; }
public double Width { get; set; }
public string CurrNodeCode { get; set; }
public string CurrState { get; set; }
public double Battery { get; set; }
public string Address { get; set; }
public double Speed { get; set; }
public double X { get; set; }
public double Y { get; set; }
public double Theta { get; set; }
public double Voltage { get; set; }
public double ElectricCurrent { get; set; }
public bool IsOnline { get; set; } = false;
public Dictionary<string, string> Additional { get; set; }
public CarBaseInfo()
{
Additional = new Dictionary<string, string>();
}
public static CarBaseInfo FromCar(Car car)
{
var info = new CarBaseInfo()
{
Code = car.id.ToString(),
Name = car.name,
Address = car.address.Equals("/") ? "127.0.0.1" : car.address,
CurrNodeCode = car.status.holdingLocks.FirstOrDefault().ToString(),
X = car.x,
Y = car.y,
Theta = car.th,
Speed = car.speed
};
//info.Length = car.latestShape.lx;
//info.Width = car.latestShape.ly;
info.CarType = car.fields.ContainsKey("CarType") ? car.fields["CarType"] : "Car";
info.Battery = car.status.enums.ContainsKey("Soc") ? int.Parse(car.status.enums["Soc"]) : 100;
info.Voltage = car.status.enums.ContainsKey("Voltage") ? double.Parse(car.status.enums["Voltage"]) : 0;
info.ElectricCurrent = car.status.enums.ContainsKey("ElectricCurrent") ? double.Parse(car.status.enums["ElectricCurrent"]) : 0;
var isOnline = false;
string carState = SwitchCarState(car, ref isOnline);
info.IsOnline = isOnline;
info.CurrState = carState;
return info;
}
public static string SwitchCarState(Car car, ref bool isOnline)
{
string state = "Stopping";
if (car.GetLastSite() == -1)
{
isOnline = false;
return state;
}
if (Commons.GetVehicleStatus(car)!= VehicleStatus.Offline)
{
if (Commons.GetVehicleStatus(car) is VehicleStatus.Normal or VehicleStatus.NeedInit)
state = "Stopping"; //Idle
var lp = car.status.programs.latest;
if (lp != null)
{
if (
lp.status.state >= SimpleCore.Compiler.CarProgram.StatusEnum.Programming
&& lp.status.state <= SimpleCore.Compiler.CarProgram.StatusEnum.Running
)
{
state = "Running"; //Executing
}
}
//存在报警信息
if (car.status.enums.ContainsKey("AlarmInfo"))
{
if (!string.IsNullOrEmpty(car.status.enums["AlarmInfo"]))
{
state = "Faulting"; //Malfunction
}
}
if (car.tags.Contains("charging"))
state = "Charging";
isOnline = true;
}
else
{
isOnline = false;
}
return state;
}
}
}