StandardSence/StandardScene.Core/Docs/CoderSettings汇总.md

脚本生成特性汇总表

本文档汇总了工程中所有的 TemplateTrackCoderSettings、TemplateSiteCoderSettings 和 ProgramTrackCoderSettings 特性配置。

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关键参数说明

参数	说明
priority	优先级，数值越大则脚本生成顺序越靠前
useVerb	判断条件，为 true 时生成 templateString
blockVerb	如果为 true，且 useVerb 通过，则低于此 priority 的脚本不再继续判断
templateString	生成的脚本模板，支持 ${变量} 语法
siteFields	站点字段类型定义
trackFields	路径字段类型定义
planFields	计划字段类型定义

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执行流程说明

1. 按 priority 从大到小 依次检查每个 CoderSettings
2. 如果 useVerb 条件为 true，则生成 templateString 脚本
3. 如果 blockVerb 为 true 且 useVerb 通过，则 阻止低优先级脚本继续执行
4. ProgramTrackCoderSettings 使用自定义的 ITrackCoder 程序来生成脚本

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一、TemplateTrackCoderSettings（路径脚本）

1. MultiWheelLifterCar.cs - 多舵轮顶升车

Priority	useVerb	blockVerb	templateString	说明
30	track.SleepTime!=0	false	agv.Wait();agv.Sleep(${track.SleepTime});agv.Wait();	路径上休眠
30	track.TrayTarget!=0	false	agv.Wait();agv.TrayControl(${track.TrayTarget});agv.Wait();	托盘控制
27	track.LidarArea != -2	-	agv.Queue(()=>{},()=>{ agv.SwitchLidarArea(${track.LidarArea}); });	切换激光避障区域
20	(无条件)	-	agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceDistance(${track.StopDistance},${track.SlowDistance}); });	更改避障距离
20	track.IOArea != -1	-	agv.Queue(()=>{},()=>{ agv.SwitchIoArea(${track.IOArea}); });	切换IO区域
20	dst.ChangeAvoidanceParam==true	-	agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceParam(${dst.CarLength},${dst.CarWidth},${dst.CarCenterX},${dst.CarCenterY}); });	切换避障尺寸
20	track.BiasAlarmThresh >0 || track.DthAlarmThresh > 0	-	agv.Queue(()=>{},()=>{ agv.ChangeTrackingErrThresh(${track.BiasAlarmThresh},${track.DthAlarmThresh}); });	更改跟踪误差阈值
19	dst.tag>0 && src.tag>0	true	agv.QrGo(${src.x},${src.y},${src.id},${src.tag},${dst.x},${dst.y},${dst.id},${dst.tag},${track.id},...);	二维码导航

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2. Kiva.cs - Kiva车

Priority	useVerb	blockVerb	templateString	说明
30	dst.tag>0 && src.tag>0	true	agv.QrGo(...);	二维码导航
22	src.Shelf && plan.curSeg==1	true	agv.LeaveShelf(...);	离开货架
20	plan.action=='fetch' && dst.Shelf && plan.curSeg==plan.segN-2	true	agv.Fetch(...);	取货
20	plan.action=='put' && dst.Shelf && plan.curSeg==plan.segN-2	true	agv.Put(...);	放货
20	(无条件)	-	agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceDistance(...); });	更改避障距离
20	(无条件)	-	agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceParam(${dst.CarLength},${dst.CarWidth}); });	切换避障尺寸
20	track.IOArea != -1	-	agv.Queue(()=>{},()=>{ agv.SwitchIoArea(${track.IOArea}); });	切换IO区域
20	track.BiasAlarmThresh >0 || track.DthAlarmThresh > 0	-	agv.Queue(()=>{},()=>{ agv.ChangeTrackingErrThresh(...); });	更改跟踪误差阈值
17	track.LidarArea != -2	-	agv.Queue(()=>{},()=>{ agv.SwitchLidarArea(${track.LidarArea}); });	切换激光避障区域
10	track.CalibrateWheelEncoder && track.ReverseDst != dst.id	true	agv.CalibrateWheelEncoder(...);	标定轮里程计

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3. Forklift.cs - 叉车

Priority	useVerb	blockVerb	templateString	说明
22	src.Shelf	true	agv.LeaveShelf(...);agv.Wait();	离开货架
20	track.LidarArea != -2	-	agv.Queue(()=>{},()=>{ agv.SwitchLidarArea(${track.LidarArea}); });	切换激光避障区域
20	track.IOArea != -1	-	agv.Queue(()=>{},()=>{ agv.SwitchIoArea(${track.IOArea}); });	切换IO区域
20	dst.CarLength != -1 && dst.CarWidth != -1	-	agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceParam(${dst.CarLength},${dst.CarWidth}); });	切换避障尺寸
20	plan.action=='fetch' && dst.Shelf	true	agv.Wait();agv.Fetch(...);agv.Wait();	取货
20	plan.action=='put' && dst.Shelf	true	agv.Wait();agv.Put(...);agv.Wait();	放货
20	track.BiasAlarmThresh >0 || track.DthAlarmThresh > 0	-	agv.Queue(()=>{},()=>{ agv.ChangeTrackingErrThresh(...); });	更改跟踪误差阈值

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4. MultiWheelForkLifter.cs - 多舵轮叉车

Priority	useVerb	blockVerb	templateString	说明
20	plan.action=='fetch' && dst.Shelf && plan.curSeg==plan.segN-2	true	agv.Wait();agv.Fetch(...);agv.Wait();	取货
20	plan.action=='put' && dst.Shelf && plan.curSeg==plan.segN-2	true	agv.Wait();agv.Put(...);agv.Wait();	放货

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二、TemplateSiteCoderSettings（站点脚本）

1. Kiva.cs

Priority	useVerb	blockVerb	templateString	说明
25	plan.action=='fetch' && plan.segN == 1 && dst.Shelf	true	agv.FetchInPlace(...);agv.Wait();	原地取货

2. Forklift.cs

Priority	useVerb	blockVerb	templateString	说明
25	plan.action=='fetch' && plan.segN==1 && dst.Shelf	true	agv.FetchInPlace(...);agv.Wait();	原地取货

3. ArmCar.cs - 机械臂车

Priority	useVerb	blockVerb	templateString	说明
5	plan.action=='pickFull' && plan.curSeg==plan.segN-1	true	agv.Wait();agv.PickFull("${dst.name}");agv.Wait();	满盘取货
5	plan.action=='pickEmpty' && plan.curSeg==plan.segN-1	true	agv.Wait();agv.PickEmpty("${dst.name}");agv.Wait();	空盘取货
5	plan.action=='putFull' && plan.curSeg==plan.segN-1	true	agv.Wait();agv.PutFull("${dst.name}");agv.Wait();	满盘放货
5	plan.action=='putEmpty' && plan.curSeg==plan.segN-1	true	agv.Wait();agv.PutEmpty("${dst.name}");agv.Wait();	空盘放货
5	plan.action=='MoveArm' && plan.curSeg==plan.segN-1	true	agv.Wait();agv.MoveArm(${dst.MoveDirection});agv.Wait();	移动机械臂

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三、ProgramTrackCoderSettings（程序化路径脚本）

车型	Priority	Program	说明
MultiWheelLifterCar	19	MagTrackCoder	磁导航路径编码
Kiva	19	AllCarMagTrackCoder	磁导航路径编码
Kiva	5	KivaCarTrackCoder	Kiva旋转控制

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四、字段类型定义

BasicCarFields

public float MagSlowSpeed = 0;
public float MagFullSpeed = 0;

BasicSiteFields

public bool Shelf = false;
public float CarLength = -1;
public float CarWidth = -1;
public float CarCenterX = 0;
public float CarCenterY = 0;
public int tag = -1;
public int TagValue = -1;// 磁导航，二维码值，或者rfid值

BasicTrackFields

public int IOArea = -1;
public int LidarArea = -2;
public float BiasAlarmThresh = -1;
public float DthAlarmThresh = -1;
public float Speed = 0.2f;
public bool Reverse = false;
public int ReverseDst = -1;
public bool SwitchBarrier = false;
public bool CalibrateWheelEncoder = false;
public float CarDirectionBias = 0;
public bool EnableCarAbsoluteDirection = false;
public float CarAbsoluteDirection = 0;
public float SlowDistance = -1;
public float StopDistance = -1;

BasicPlanFields

public string action = "/";
public float CarLength = -1;
public float CarWidth = -1;

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五、扩展字段类型

MultiWheelLifterTrackFields (继承 BasicTrackFields)

public int SleepTime = 0;
public float TrayTarget = 0;

MultiWheelLifterSiteFields (继承 BasicSiteFields)

public bool ChangeAvoidanceParam = false;

KivaSiteFields (继承 BasicSiteFields)

public int AngleTarget = 0;
public bool Turn = false;
public float FetchSpeed = 0;
public int FetchLidarArea = -2;
public int FetchIOArea = -1;
public bool FetchReverse = false;
public float FetchBlindMoveDist = 0;
public float FetchLiftDownTarget = -1;
public float FetchLiftUpTarget = -1;
public bool FetchUseQr = false;
public int FetchQrMode = -1;
public bool FetchIsUpQr = false;
public bool FetchUseDetector = false;
public int FetchDetector = 0;
public float FetchDetectWidth = -1;
public float FetchDetectDepth = -1;
public bool FetchLeaveSrcEarly = false;
public float FetchShieldObstacleDist = -1;
// ... 以及 Put 和 LeaveShelf 相关字段

KivaTrackFields (继承 BasicTrackFields)

public int ManeuverDir = 0;
public int ForwardDst = 0;
public int ForwardObChooseDst = -2;
public float BlindMoveDist = 0;
public bool UseDetector = false;
public int DetectorMode = -1;
public float DetectWidth = -1;
public float DetectDepth = -1;
public bool LeaveSrcEarly = false;
public float ShieldObstacleDist = -1;

KivaPlanFields (继承 BasicPlanFields)

public bool reverse = false;
public int level = 0;

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六、ITrackCoder 接口

程序化脚本生成器需要实现 ITrackCoder 接口：

public interface ITrackCoder
{
    /// <summary>
    /// 生成脚本代码
    /// </summary>
    /// <param name="plan">路径计划</param>
    /// <param name="track">当前路径段</param>
    /// <param name="src">起点</param>
    /// <param name="dst">终点</param>
  /// <param name="i">段索引</param>
    /// <returns>是否成功生成</returns>
    bool Code(SegmentPlan plan, Track track, Site src, Site dst, int i);
    
    /// <summary>
    /// 是否阻止后续脚本生成
    /// </summary>
    bool toBlock();
}

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文档生成时间: 2024年