黄兆尉andCursor
e075bc0d7d
对齐 FairyView 宿主命名。环线/充电/按钮/门进程的 Stop 改为 override，避免隐藏基类；Kiva.ForceStop 改为 override。 Co-authored-by: Cursor <cursoragent@cursor.com>
720 lines
28 KiB
C#
720 lines
28 KiB
C#
using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using System.Numerics;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using Simple3.RCS;
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using Simple3.RCS.CarTypes;
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using Simple3.CADTools;
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using Simple3.Props;
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using Simple3.UI;
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using SimpleCore;
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using SimpleCore.Compiler;
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using SimpleCore.Library;
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using SimpleCore.PropType;
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using SimpleCore.Traffic;
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using StandardScene.InterLock;
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using StandardScene.Model;
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using StandardScene.Utils;
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using static StandardScene.Chained.ChainedDeliveryMission;
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namespace StandardScene
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{
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/// <summary>
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/// 插件本地化设置
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/// </summary>
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public class CustomOperationsBeforeLoading
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{
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public static void Set()
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{
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///死锁提醒
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TrafficControl.OnDeadLock = (loopingCar) =>
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{
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try
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{
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var cars = string.Join(",", loopingCar.Select(p => $"{p.id}"));
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var msg = $"小车:{cars}间发生死锁" +
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$"请及时人工介入处理!!!!";
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FairyUiHelper.Alert("死锁提醒", msg);
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}
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catch { }
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};
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}
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}
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public class NoReflectionApi : Attribute
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{
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}
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public class ReflectionApiWithParameter : Attribute
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{
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public string name;
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public string desc;
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public string Hint;
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}
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public static class Commons
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{
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public static VehicleStatus GetVehicleStatus(Car car)
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{
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if(car is DummyCar && car.lstatus.Contains("上线"))
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return VehicleStatus.Normal;
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if (car.lstatus.Contains("正常但未初始化")||car.lstatus.Contains("Normal but not initialized"))
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return VehicleStatus.NeedInit;
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if (car.lstatus.Contains("正常") || car.lstatus.Contains("Normal")||car.lstatus.Contains("上线"))
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return VehicleStatus.Normal;
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if (car.lstatus.Contains("自动驾驶系统失联") || car.lstatus.Contains("Autonomous driving system lost"))
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return VehicleStatus.Offline;
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return VehicleStatus.Unknown;
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}
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/// <summary>
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/// 获取车辆状态
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/// </summary>
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/// <param name="car">车辆</param>
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/// <param name="key">状态-键</param>
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/// <returns>状态-值</returns>
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public static string GetCarStatus(Car car, string key)
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{
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string value = "0";
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if (car == null) return value;
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if (car.status.enums.TryGetValue(key, out var valueStr))
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value = valueStr;
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return value;
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}
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/// <summary>
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/// 添加标签
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/// </summary>
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/// <param name="item"></param>
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/// <param name="tag"></param>
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/// <param name="value"></param>
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public static void AddOrUpdateTag<T>(T item, string tag, string value) where T : TagSet
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{
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if (item.Contains(tag))
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item.Remove(tag);
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item.Add(tag, value);
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}
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/// <summary>
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/// 删除标签
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/// </summary>
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/// <typeparam name="T"></typeparam>
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/// <param name="item"></param>
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/// <param name="tag"></param>
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public static void DeleteTag<T>(T item, string tag) where T : TagSet
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{
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if (item.Contains(tag))
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{
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item.Remove(tag);
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}
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}
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/// <summary>
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/// 清空标签
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/// </summary>
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/// <typeparam name="T"></typeparam>
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/// <param name="item"></param>
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public static void ClearTags<T>(T item) where T : TagSet
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{
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item.Clear();
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}
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/// <summary>
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/// 添加或更新字段
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/// </summary>
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/// <param name="car"></param>
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/// <param name="field"></param>
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/// <param name="value"></param>
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public static void AddOrUpdateCarField(Car car, string field, string value)
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{
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if (car.fields.ContainsKey(field))
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{
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car.fields.Remove(field);
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car.fields.Add(field, value);
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}
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else
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car.fields.Add(field, value);
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}
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/// <summary>
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/// 删除字段
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/// </summary>
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/// <param name="car"></param>
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/// <param name="field"></param>
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public static void DeleteCarField(Car car, string field)
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{
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if (car.fields.ContainsKey(field))
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{
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car.fields.Remove(field);
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}
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}
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/// <summary>
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/// 清空字段
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/// </summary>
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/// <param name="car"></param>
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public static void ClearCarFields(Car car)
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{
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car.fields.Clear();
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}
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/// <summary>
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/// 添加或更新site的字段
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/// </summary>
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/// <param name="site"></param>
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/// <param name="field"></param>
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/// <param name="value"></param>
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public static void AddOrUpdateSiteField(Site site, string field, string value)
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{
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if (site.fields.ContainsKey(field))
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{
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site.fields.Remove(field);
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site.fields.Add(field, value);
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}
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else
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site.fields.Add(field, value);
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}
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/// <summary>
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/// 删除site的字段
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/// </summary>
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/// <param name="site"></param>
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/// <param name="field"></param>
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public static void DeleteSiteField(Site site, string field)
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{
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if (site.fields.ContainsKey(field))
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{
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site.fields.Remove(field);
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}
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}
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/// <summary>
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/// 清空site的字段
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/// </summary>
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/// <param name="site"></param>
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public static void ClearSiteFields(Site site)
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{
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site.fields.Clear();
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}
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/// <summary>
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/// 检查给定字符串是否为合法的 HTTP/HTTPS URL（至少包含协议与主机）。
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/// </summary>
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/// <param name="url">待校验的 URL 字符串</param>
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/// <returns>true 表示 URL 合法</returns>
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public static bool IsValidHttpUrl(string url)
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{
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if (string.IsNullOrWhiteSpace(url)) return false;
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if (!Uri.TryCreate(url, UriKind.Absolute, out var uri)) return false;
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if (uri.Scheme != Uri.UriSchemeHttp && uri.Scheme != Uri.UriSchemeHttps) return false;
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if (string.IsNullOrEmpty(uri.Host)) return false;
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return true;
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}
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public static double CarValue(Car car, string key)
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{
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if (car.fields.TryGetValue("electricCurrent", out var strelectricCurrent))
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return double.Parse(strelectricCurrent);
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if (key == "Soc" && (car.name.Contains("模拟") || car.name.ToLower().Contains("sim")))
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{
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if (car.fields.TryGetValue("Soc", out var strSoc))
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return double.Parse(strSoc);
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return 100;
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}
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var value = "0";
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if (car.status.enums.TryGetValue(key, out var valueStr))
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value = valueStr;
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return double.Parse(value);
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}
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/// <summary>
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/// 添加或更新mission的字段
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/// </summary>
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/// <param name="mission"></param>
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/// <param name="field"></param>
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/// <param name="value"></param>
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public static void AddOrUpdateMissionField(Mission mission, string field, string value)
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{
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if (mission.fields.ContainsKey(field))
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{
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mission.fields.Remove(field);
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mission.fields.Add(field, value);
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}
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else
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mission.fields.Add(field, value);
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}
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/// <summary>
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/// 删除mission的字段
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/// </summary>
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/// <param name="mission"></param>
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/// <param name="field"></param>
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/// <returns></returns>
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public static void DeleteMissionField(Mission mission, string field)
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{
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if (mission.fields.ContainsKey(field))
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mission.fields.Remove(field);
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}
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public static List<AbstractCar> GetOnlineCars()
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{
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return SimpleLib.GetAllCars().Where(c => c.GetLastSite() != -1 && Commons.GetVehicleStatus((Car)c)== VehicleStatus.Normal).ToList();
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}
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public static bool IsSceneSiteByCode(int[] siteCodes)
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{
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try
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{
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foreach (var siteCode in siteCodes)
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{
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var site = SimpleLib.GetAllSites().FirstOrDefault(s => s.id == siteCode);
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if (site == null) return false;
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}
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}
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catch (Exception ex)
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{
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Console.WriteLine($@"IsSceneSite 校验报错=>{ex.Message}");
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return false;
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}
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return true;
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}
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public static readonly object PlanSession = new object();
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public static int SelectCar(AbstractCar car, bool enableGoingStandbyCar = false, bool needCharge = false, bool checkHoldCar = false)
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{
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var carHaveCoordination = (Car)car;
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var conditions = car.GetLastSite() != -1 && GetVehicleStatus((Car)car)== VehicleStatus.Normal&&
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!car.tags.Contains("changePriority") &&
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!car.tags.Contains("priority") && !car.tags.Contains("occupied")
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&& !car.tags.Contains("agvOffline")
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&& car.status.pendingLocks.Length == 0 && !car.tags.Contains("deliver") &&//pendingLocks临时增加解决车接多任务问题
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(!car.tags.Contains("shouldCharge") || needCharge)
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&& !car.tags.Contains("currentWorkStep") && !car.fields.ContainsKey("StopAccept") && car.tags.Contains("Online"); //巡航任务未完成的车
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// Mag2Car 联调：UDP Online 即可调度，不强制 lstatus=上线（模拟器常报 state=0 未准备）
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var isMag2Car = string.Equals(car.GetType().Name, "Mag2Car", StringComparison.Ordinal);
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if (car.name.Contains("模拟") || isMag2Car)
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{
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conditions = car.GetLastSite() != -1 &&
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(!car.tags.Contains("holdCar") || !checkHoldCar) && !car.tags.Contains("occupied")
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&& (!isMag2Car || car.tags.Contains("Online"))
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&& car.status.pendingLocks.Length == 0 && !car.tags.Contains("deliver") &&//pendingLocks临时增加解决车接多任务问题
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(!car.tags.Contains("shouldCharge") || needCharge)
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&& !car.tags.Contains("currentWorkStep") && !car.fields.ContainsKey("StopAccept"); //巡航任务未完成的车
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}
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//((carHaveCoordination.haveCoordination || car.name.Contains("模拟")) && (!car.tags.Contains("shouldCharge") || needCharge));
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if (conditions) return 1;
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if (enableGoingStandbyCar && car.tags.TryGetValue("dest", out var dst) &&
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int.TryParse(dst, out var dstId) &&
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SimpleLib.GetSite(dstId).fields.ContainsKey(GetGiveWayType((Car)car))) return 1;
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return -1;
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}
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private static string GetGiveWayType(Car car)
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{
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if (car.fields.ContainsKey("mover")) return "standbyMover";
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if (car.fields.ContainsKey("loader")) return "standbyLoader";
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return "giveWay";
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}
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public static bool SiteHaveTask(Site site)
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{
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var siteHaveTask = SimpleLib.GetAllCars().ToList().FindAll(o =>
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{
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if (o.status.pendingLocks.Length > 0)
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{
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if (o.status.pendingLocks.Contains(site.id))
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{
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return true;
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}
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}
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if (o.status.holdingLocks.Length > 0)
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{
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if (o.status.holdingLocks.Contains(site.id))
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{
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return true;
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}
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}
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return false;
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}).Count != 0;
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return siteHaveTask;
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}
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public static SegmentPlan GetNearestPlan(Car car, Func<Site, bool> test, int srcId = -1, bool disableConflict = false)
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{
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var curRouteLength = float.MaxValue;
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SegmentPlan targetPlan = null;
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foreach (var site in SimpleLib.GetAllSites())
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{
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if (!test(site)) continue;
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bool occupied = false;
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foreach (var cc in SimpleLib.GetAllCars())
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{
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if (cc != car)
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{
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if (cc.tags.Contains("dest") && cc.tags.IsEqual("dest", site.id.ToString()) ||
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cc.status.holdingLocks.Contains(site.id))
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occupied = true;
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}
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}
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if (occupied) continue;
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var mPlan = new SegmentPlan { usingCar = car };
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if (disableConflict)
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mPlan.fields["forbid_cross"] = "false";
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try
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{
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var newRouteLength = mPlan.FindRoute(
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SimpleLib.GetSite(srcId == -1 ? car.GetLastSite() : srcId),
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SimpleLib.GetSite(site.id));
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if (newRouteLength < curRouteLength)
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{
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curRouteLength = newRouteLength;
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targetPlan = mPlan;
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}
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}
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catch
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{
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// ignored
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}
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}
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return targetPlan;
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}
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public static void NearestTask(List<Delivery> deliveries, List<Delivery> runningDeliveries = null)
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{
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try
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{
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var curW = float.MaxValue;
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var priority = int.MinValue;
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Delivery priorityNextDelivery = null;
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Delivery deliveryTask = null;
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//车不是空闲车，但这个任务结束的时候离另一个将要执行的任务很近。
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//（通常来说是同一个工序的，除非单纯地返空托（或路线规划失败，跳别的任务了未按优先级执行）在仓库）
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// 车空闲
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foreach (var car in SimpleLib.GetAllCars().OfType<Car>()) //找到那个车 距离待执行任务最近
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{
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DeleteTag(car.tags, "changePriority");
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//车的状态是OK的
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if (car.GetLastSite() == -1 || car.tags.Contains("agvOffline") || car.tags.Contains("occupied")) continue;
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//车已经被分配过任务了
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if (deliveries.FirstOrDefault(t => t.UsingCar == car) != null) continue;
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int dst = 0;
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#region ObsoleteCode
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//if (car.tags.ContainsKey("occupied")) //说明是正在执行任务的车
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//{
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// if (car.tags.ContainsKey("dest")
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// && deliverys.Where(d => d.usingCar != null && d.usingCar == car) == null //并且这个车没有需要等待的任务执行的任务
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// //还存在一种情况车被选了但中途有高优先级的任务进来
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// )
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// {
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// //这个车正在执行的任务
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// dst = int.Parse(car.tags["dest"]);
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// }
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// else
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// {
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// //这个车已经有需要等待的任务了。
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// continue;
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// }
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//}
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//else //车空闲
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//{
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// dst = car.GetLastSite();
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//}
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//无效
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#endregion
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dst = car.GetLastSite();
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if (dst == -1)
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{
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//输出日志 变更dst;
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dst = car.status.holdingLocks.First();
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Diagnosis.Post($"调度小车{car.name}:{car.id}的GetLastSite 为 -1 。变更 holdingLocks.First() 为小车初始点{dst}");
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}
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//空闲的车 //如果有多个那个离的最近
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foreach (var delivery in deliveries.Where(d => d.UsingCar == null))
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{
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//车是否能接到该任务。
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if (car.fields.ContainsKey("group") && !string.IsNullOrEmpty(car.fields["group"]) && !car.fields["group"].Contains(delivery.Group))
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continue;
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var mPlan = new SegmentPlan { usingCar = car };
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try
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{
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var myW = mPlan.FindRoute(
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SimpleLib.GetSite(dst),
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SimpleLib.GetSite(delivery.Src));
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//找到最近的，
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if (myW < curW)
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{
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curW = myW;
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//找到优先级最高的。且距离最近
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if (delivery.Priority >= priority)
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{
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priorityNextDelivery = delivery;
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priority = delivery.Priority;
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Diagnosis.Post($"{priorityNextDelivery.Id}/{priorityNextDelivery.Group}/{priority}", " delivery.priority");
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}
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//找到距离最近的。
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Delivery nextDelivery = delivery;
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if (nextDelivery != priorityNextDelivery) //并且这两个任务不同 优先级高的比较远
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{
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if (runningDeliveries != null)
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{
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//优先级高的先执行
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Delivery deliveryRunning = null; // runningDeliveries.Where(d => d.group == priorityNextDelivery.group).FirstOrDefault();
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//有车正在执行优先级高的任务。有的话就不让车过去
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if (deliveryRunning != null) //true
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{
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Diagnosis.Post($"{deliveryRunning.Id}/{deliveryRunning.UsingCar?.id}/" +
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$"{deliveryRunning.Group}/{deliveryRunning.Priority}", "deliveryRunning");
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deliveryTask = nextDelivery;
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}
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else
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{
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deliveryTask = priorityNextDelivery;
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Diagnosis.Post($"{priorityNextDelivery.Id}/{priorityNextDelivery.UsingCar?.id}/" +
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$"{priorityNextDelivery.Group}/{priorityNextDelivery.Priority}", "priorityNextDelivery1");
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}
|
|
}
|
|
else
|
|
{
|
|
deliveryTask = priorityNextDelivery;
|
|
Diagnosis.Post($"{priorityNextDelivery.Id}/{priorityNextDelivery.UsingCar?.id}/" +
|
|
$"{priorityNextDelivery.Group}/{priorityNextDelivery.Priority}", "priorityNextDelivery2");
|
|
|
|
}
|
|
}
|
|
else
|
|
{
|
|
deliveryTask = nextDelivery;
|
|
Diagnosis.Post($"{nextDelivery.Id}/{nextDelivery.UsingCar?.id}/" +
|
|
$"{nextDelivery.Group}/{nextDelivery.Priority}", "nextDelivery");
|
|
}
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Console.WriteLine(ex.Message + ex.ToString());
|
|
}
|
|
}
|
|
if (deliveryTask != null)
|
|
{
|
|
deliveryTask.UsingCar = car;
|
|
deliveryTask.Priority = 50;
|
|
}
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
|
|
Console.WriteLine(ex.Message + ex.ToString());
|
|
}
|
|
}
|
|
|
|
public static async Task GoSite(AbstractCar car, Site targetSite, int step, string action = "/", bool reverse = false)
|
|
{
|
|
|
|
try
|
|
{
|
|
var plan = new SegmentPlan
|
|
{
|
|
usingCar = car,
|
|
fields =
|
|
{
|
|
["reverse"] = reverse.ToString(),
|
|
["action"] = action,
|
|
["allow_destination_on_route"] = "true"
|
|
}
|
|
};
|
|
/* if (stations!=null && stations.Count()>=1)
|
|
{
|
|
var finishLeftPtlSites = SimpleLib.GetAllSites().Where(site => site.name.Contains("TaskStation")).ToList();
|
|
foreach (var site in finishLeftPtlSites)
|
|
{
|
|
var stationCode = site.name.Split('-')[1];
|
|
if (stations.Contains(stationCode))
|
|
{
|
|
site.fields.Add("askInfons1", "1");
|
|
}
|
|
}
|
|
}*/
|
|
plan.FindRoute(SimpleLib.GetSite(car.GetLastSite()), targetSite);
|
|
//plan.HintNotEnding();
|
|
var program = plan.Compile("move");
|
|
car.tags.Add("occupied", $"go{targetSite.id}");
|
|
Console.WriteLine($">>Script:{program.script}");
|
|
var tsk = program.Queue();
|
|
/* if (stations != null && stations.Count() >= 1)
|
|
{
|
|
var finishLeftPtlSites = SimpleLib.GetAllSites().Where(site => site.name.Contains("TaskStation")).ToList();
|
|
foreach (var site in finishLeftPtlSites)
|
|
{
|
|
var stationCode = site.name.Split('-')[1];
|
|
if (stations.Contains(stationCode))
|
|
{
|
|
site.fields.Remove("askInfons1");
|
|
}
|
|
}
|
|
}*/
|
|
await tsk;
|
|
car.tags.Remove("occupied");
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Console.WriteLine(ex.Message + "重新执行");
|
|
Thread.Sleep(3000);
|
|
}
|
|
}
|
|
|
|
public static SegmentPlan GenerateEscapePlan(SegmentPlan dstPlan, Func<Site, bool> escapeSiteCondition = null)
|
|
{
|
|
var curW = float.MaxValue;
|
|
var car = dstPlan.usingCar;
|
|
|
|
var escapedSites = SimpleLib.GetAllCars().Where(cc => cc.status.escape.Length > 0)
|
|
.Select(cc => cc.status.escape.Last()).ToHashSet();
|
|
|
|
SegmentPlan planEsc = null;
|
|
foreach (var site in SimpleLib.GetAllSites())
|
|
{
|
|
if (site.id == dstPlan.Destination.id || site.id == dstPlan.Source.id) continue;
|
|
if (escapedSites.Contains(site.id)) continue;
|
|
if (escapeSiteCondition != null && !escapeSiteCondition(site)) continue;
|
|
|
|
bool occupied = false;
|
|
foreach (var cc in SimpleLib.GetAllCars())
|
|
{
|
|
if (cc != car)
|
|
{
|
|
if (cc.status.holdingLocks.Contains(site.id) ||
|
|
(cc.tags.Contains("dest") && cc.tags["dest"] == site.id.ToString())) occupied = true;
|
|
}
|
|
}
|
|
|
|
if (occupied) continue;
|
|
|
|
TryGeneratePlan(dstPlan.usingCar, dstPlan.Destination, site, ref curW, ref planEsc);
|
|
}
|
|
|
|
return planEsc;
|
|
}
|
|
private static void TryGeneratePlan(AbstractCar car, Site srcSite, Site dstSite, ref float curW, ref SegmentPlan generatedPlan)
|
|
{
|
|
var mPlan = new SegmentPlan { usingCar = car, findLoop = false, fields = new Dictionary<string, string>() };
|
|
mPlan.fields["forbid_cross"] = "false";
|
|
try
|
|
{
|
|
var actuallyFindRoute = false;
|
|
|
|
var myw = TryGetWeight(srcSite, dstSite);
|
|
if (myw < 0)
|
|
{
|
|
myw = mPlan.FindRoute(srcSite, dstSite);
|
|
AddWeight(srcSite, dstSite, myw);
|
|
actuallyFindRoute = true;
|
|
}
|
|
|
|
if (myw < curW)
|
|
{
|
|
if (!actuallyFindRoute) mPlan.FindRoute(srcSite, dstSite);
|
|
curW = myw;
|
|
generatedPlan = mPlan;
|
|
}
|
|
}
|
|
catch
|
|
{
|
|
// ignored
|
|
}
|
|
}
|
|
public static Dictionary<(Site, Site), float> weightDictionary = new();
|
|
public static float TryGetWeight(Site s1, Site s2)
|
|
{
|
|
lock (weightDictionary)
|
|
{
|
|
if (weightDictionary.TryGetValue((s1, s2), out var w)) return w;
|
|
if (weightDictionary.TryGetValue((s2, s1), out var ww)) return ww;
|
|
}
|
|
return -1;
|
|
}
|
|
|
|
public static void AddWeight(Site s1, Site s2, float w)
|
|
{
|
|
lock (weightDictionary) weightDictionary[(s1, s2)] = w;
|
|
}
|
|
|
|
|
|
|
|
public static SegmentPlan SimpleToNearestPlan(AbstractCar car, Func<Site, bool> test, int srcID = -1)
|
|
{
|
|
var curw = float.MaxValue;
|
|
SegmentPlan targetPlan = null;
|
|
var srcSite = SimpleLib.GetSite(srcID == -1 ? car.GetLastSite() : srcID);
|
|
|
|
foreach (var site in SimpleLib.GetAllSites())
|
|
{
|
|
if (!test(site)) continue;
|
|
if (site.id == srcSite.id) continue;
|
|
bool occupied = false;
|
|
foreach (var cc in SimpleLib.GetAllCars())
|
|
{
|
|
// if (cc != car)//当前
|
|
{
|
|
if (cc.status.holdingLocks.Contains(site.id) ||
|
|
(cc.tags.Contains("dest") && cc.tags["dest"] == site.id.ToString())) occupied = true;
|
|
}
|
|
}
|
|
|
|
if (occupied) continue;
|
|
TryGeneratePlan(car, srcSite, site, ref curw, ref targetPlan);
|
|
}
|
|
|
|
return targetPlan;
|
|
}
|
|
[DllImport("kernel32.dll")]
|
|
static extern IntPtr GetConsoleWindow();
|
|
|
|
[DllImport("user32.dll")]
|
|
static extern bool ShowWindow(IntPtr hWnd, int nCmdShow);
|
|
|
|
|
|
private static bool ShowConsole = false;
|
|
|
|
public static void ShowConsoleFun()
|
|
{
|
|
ShowConsole = !ShowConsole;
|
|
var handle = GetConsoleWindow();
|
|
int n = ShowConsole ? 0 : 5;
|
|
Console.WriteLine(n);
|
|
ShowWindow(handle, n);
|
|
|
|
}
|
|
public static void HideConsoleFun()
|
|
{
|
|
var handle = GetConsoleWindow();
|
|
ShowWindow(handle, 0);
|
|
}
|
|
}
|
|
}
|