96 lines
3.4 KiB
C#
96 lines
3.4 KiB
C#
using LessokajiWeaverUtilities.Utilities;
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using Newtonsoft.Json;
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using Simple3.RCS;
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using Simple3.RCS.CarTypes;
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using SimpleCore;
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using SimpleCore.Compiler;
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using SimpleCore.PropType;
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using System;
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using System.Diagnostics;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using StandardScene.Utils;
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namespace StandardScene.CarTypes
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{
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[CarType(Name = "锂电双举升")]
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[I18N.DocumentTranslation(Name = "Dual Lift Car", locale = "en")]
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public class DualLiftingCar : GhostCar
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{
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public static async Task<DualLiftingCar> Create()
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{
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var car = new DualLiftingCar()
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{
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lstatus = "连接中",
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address = "127.0.0.1",
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name = "锂电双举升"
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};
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return car;
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}
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public override string SetDisplayInfo()
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{
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try
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{
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var str = $"{name}({id})\n";
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status.enums.TryGetValue("ChassisMode", out var manual);
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var ms = manual == "0" ? "自动" : "手动";
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status.enums.TryGetValue("Soc", out var soc);
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str = $"{str}{ms}|soc:{soc}";
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var alarmStr = Commons.GetCarStatus(this, "AlarmInfo");
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if (alarmStr != "")
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str = $"{str}|{alarmStr}";
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if (status.enums.TryGetValue("ElectricCurrent", out var electricCurrent) &&
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!string.IsNullOrEmpty(electricCurrent))
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{
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var charging = float.Parse(electricCurrent) * 0.01f > 0 ? "充电中" : "未充电";
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str = $"{str}|charge:{charging}";
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}
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var thresSpeed = Commons.CarValue(this, "ThresSpeed");
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str = $"{str}{((thresSpeed <= 0) ? "|避障触发" : "")}";
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return str;
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}
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catch (Exception e)
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{
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Console.WriteLine(e);
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return "bad car";
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}
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}
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[MethodMember(Name = "进入小车管理界面", Description = "在浏览器中打开小车 Web 页面")]
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[I18N.DocumentTranslation(Name = "Open vehicle management page", Description = "Open the car's management page in browser", locale = "en")]
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public void OpenVehicleManagementPage()
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{
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CarRemoteHelper.OpenVehicleWebPage(address);
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}
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private bool _running;
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[MethodMember(Name = "测试")]
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[I18N.DocumentTranslation(Name = "Start test", locale = "en")]
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public async void Test()
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{
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_running = true;
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var siteA = SimpleLib.GetAllSites().First(s => s.name == "A");
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var siteB = SimpleLib.GetAllSites().First(s => s.name == "B");
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while (_running)
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{
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var planA = new SegmentPlan() { usingCar = this };
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planA.FindRoute(SimpleLib.GetSite(GetLastSite()), siteA);
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await planA.Compile("A").Queue();
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var planB = new SegmentPlan(){usingCar = this };
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planB.FindRoute(siteA, siteB);
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await planB.Compile("B").Queue();
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Thread.Sleep(1000);
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}
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}
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[MethodMember(Name = "停止测试")]
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[I18N.DocumentTranslation(Name = "Stop test", locale = "en")]
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public void Stop()
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{
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_running = false;
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}
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}
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}
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