fix: FASS2 状态机与 UDP 枢纽审查项

等锁超时、全路径签名、无锁窗口不下发、Fault 终态可等待、Pass+机构不再短路、Alarm 不杀单、catch-up 停在未完成站；VehicleCode=0/重复车号拒绝注册，Hub 已运行时不抢监听口；FileLogger 空目录可写。 Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-26 23:04:58 +08:00
parent 29a06f004f
commit e4a245e644
13 changed files with 465 additions and 48 deletions
@@ -80,6 +80,9 @@ namespace StandardScene.Magnetic.Tasking

        public int ActionRetryIntervalMs { get; set; } = 1000;

+        /// <summary>交管等锁 / 管控等放行上限。0 表示不限制。</summary>
+        public int TrafficWaitTimeoutMs { get; set; } = 180_000;
+
        public bool StartBeforeMove { get; set; } = true;

        public ushort HeadingAngle { get; set; }
@@ -90,7 +93,8 @@ namespace StandardScene.Magnetic.Tasking
            {
                lock (_syncRoot)
                {
-                    return Context.Phase is Fass2TaskPhase.Idle or Fass2TaskPhase.Complete or Fass2TaskPhase.Cancelled;
+                    return Context.Phase is Fass2TaskPhase.Idle or Fass2TaskPhase.Complete
+                        or Fass2TaskPhase.Cancelled or Fass2TaskPhase.Fault;
                }
            }
        }
@@ -327,11 +331,6 @@ namespace StandardScene.Magnetic.Tasking

                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);
@@ -432,14 +431,25 @@ namespace StandardScene.Magnetic.Tasking
        public async Task WaitForCompletionAsync(int timeoutMs, CancellationToken cancellationToken = default)
        {
            TaskCompletionSource<int> waiter;
+            string failReason;
            lock (_syncRoot)
            {
-                if (Context.Phase is Fass2TaskPhase.Complete or Fass2TaskPhase.Cancelled or Fass2TaskPhase.Fault)
+                if (Context.Phase == Fass2TaskPhase.Complete)
                {
                    return;
                }

-                waiter = _completionSource ?? ResetCompletionSource();
+                waiter = _completionSource;
+                failReason = Context.FaultReason;
+                if (Context.Phase is not Fass2TaskPhase.Cancelled and not Fass2TaskPhase.Fault)
+                {
+                    waiter = waiter ?? ResetCompletionSource();
+                }
+            }
+
+            if (waiter == null)
+            {
+                throw new InvalidOperationException(failReason ?? "task ended without completion source");
            }

            await WaitWithTrafficPauseAsync(waiter, timeoutMs, cancellationToken);
@@ -459,6 +469,7 @@ namespace StandardScene.Magnetic.Tasking
            var remainingMs = timeoutMs <= 0 ? -1 : timeoutMs;
            const int sliceMs = 500;
            var lastPauseLog = DateTime.MinValue;
+            var pauseElapsedMs = 0;

            while (true)
            {
@@ -500,6 +511,17 @@ namespace StandardScene.Magnetic.Tasking

                if (waitingPaused)
                {
+                    if (TrafficWaitTimeoutMs > 0)
+                    {
+                        pauseElapsedMs += delayMs;
+                        if (pauseElapsedMs >= TrafficWaitTimeoutMs)
+                        {
+                            Cancel($"{pauseKind} timeout after {TrafficWaitTimeoutMs}ms");
+                            throw new TimeoutException(
+                                $"FASS2 {pauseKind} timeout after {TrafficWaitTimeoutMs}ms, phase={Context.Phase}, index={Context.CurrentIndex}, goal={Context.GoalSiteId}");
+                        }
+                    }
+
                    if ((DateTime.Now - lastPauseLog).TotalSeconds >= 5)
                    {
                        lastPauseLog = DateTime.Now;
@@ -509,6 +531,8 @@ namespace StandardScene.Magnetic.Tasking
                    continue;
                }

+                pauseElapsedMs = 0;
+
                if (remainingMs < 0)
                {
                    continue;
@@ -552,7 +576,13 @@ namespace StandardScene.Magnetic.Tasking
            }
            catch (Exception ex)
            {
-                return Fault($"traffic prepare failed: {ex.Message}", result);
+                Context.Phase = Fass2TaskPhase.Moving;
+                Context.WaitingForTraffic = true;
+                result.Phase = Context.Phase;
+                result.Message = $"traffic prepare wait: {ex.Message}";
+                Log(result.Message);
+                Persist();
+                return result;
            }

            if (StartBeforeMove && Context.CurrentIndex == 0)
@@ -884,7 +914,7 @@ namespace StandardScene.Magnetic.Tasking
            }

            var newSignature = Fass2SiteFieldReader.BuildFieldsSignature(
-                Context.Plan.SiteIds, Context.CurrentIndex, SimpleLib.GetSite);
+                Context.Plan.SiteIds, 0, SimpleLib.GetSite);
            if (string.Equals(newSignature, Context.FieldsSignature, StringComparison.Ordinal))
            {
                return false;
@@ -1005,7 +1035,12 @@ namespace StandardScene.Magnetic.Tasking

            lockedCount = Fass2ControlAreaGate.LimitWindowCount(
                nodes, start, lockedCount, Context.ControlReleasedIndex);
-            lockedCount = Math.Max(1, Math.Min(lockedCount, wantWindow));
+            lockedCount = Math.Max(0, Math.Min(lockedCount, wantWindow));
+            if (lockedCount <= 0)
+            {
+                return Array.Empty<Fass2NodeMessage>();
+            }
+
            var window = new Fass2NodeMessage[lockedCount];
            for (var i = 0; i < lockedCount; i++)
            {
@@ -1039,8 +1074,12 @@ namespace StandardScene.Magnetic.Tasking
            var catchTo = reportIndex;
            for (var i = Context.CurrentIndex; i < reportIndex; i++)
            {
-                if (Fass2ControlAreaGate.IsControlStop(Context.Plan.Nodes[i].StartStop) &&
-                    Context.ControlReleasedIndex != i)
+                var node = Context.Plan.Nodes[i];
+                var unreleasedControl = Fass2ControlAreaGate.IsControlStop(node.StartStop) &&
+                                        Context.ControlReleasedIndex != i;
+                var actionStation = Fass2ActionResolver.RequiresActionWait(node) &&
+                                    node.StartStop != Fass2TaskBuilder.StartStopControlStart;
+                if (unreleasedControl || actionStation)
                {
                    catchTo = i;
                    break;