578 lines
23 KiB
C#
578 lines
23 KiB
C#
using IoTClient.Clients.PLC;
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using IoTClient.Common.Enums;
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using LessokajiWeaverUtilities.Utilities;
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using SimpleLite.RCS;
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using SimpleCore.Library;
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using SimpleCore.PropType;
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using StandardScene;
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using StandardScene.CarTypes;
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using StandardScene.Scheduler;
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using System;
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using System.Collections.Generic;
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using System.Globalization;
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using System.IO;
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using System.Linq;
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using SimpleLite.RCS.CarTypes;
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namespace StandardScene.Scheduler.FassEvent
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{
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/// <summary>
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/// FASS 车辆事件核心处理器，逻辑对齐 <c>EventCarService</c>。
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/// <para>处理流程：TriggerHandler（触发匹配）→ ConditionHandler（条件 AND）→ ExecuteTask（Start/Stop）。</para>
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/// </summary>
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internal sealed class FassEventCarHandler
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{
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/// <summary>
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/// 防重复执行任务的车辆标签名。同一地标周期内只执行一次，换地标后由 EventCarMission 清除。
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/// 标签值为 <see cref="BuildTaskKey"/> 生成的任务指纹。
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/// </summary>
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internal const string ActiveTaskTag = "FassEvent:Active";
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private readonly EventCarMission _mission;
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/// <summary>PLC 读写串行锁，避免多车并发条件中同时 Open/Close 同一连接。</summary>
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private readonly object _plcLock = new object();
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/// <summary>JSON ConditionMethodName → 内置条件方法 映射表。</summary>
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private readonly Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>> _eventMethods;
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public FassEventCarHandler(EventCarMission mission)
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{
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_mission = mission;
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_eventMethods = BuildEventMethods();
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}
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/// <summary>
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/// 单次 TimerTick 对一辆车的处理入口（通常在 Task.Run 中调用）。
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/// 仅处理 TriggerEvent=TimerTick 的配置项。
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/// </summary>
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public void HandleCarTimerTick(Car car, FassEventCarSnapshot snapshot, IReadOnlyList<FassEventCarConfig> eventCars)
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{
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foreach (var eventConfig in eventCars.Where(item => string.Equals(item.TriggerEvent, "TimerTick", StringComparison.OrdinalIgnoreCase)))
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{
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if (!TriggerHandler(snapshot, eventConfig))
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{
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continue;
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}
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if (!ConditionHandler(car, snapshot, eventConfig))
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{
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continue;
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}
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if (!eventConfig.TaskEnable)
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{
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continue;
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}
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ExecuteTask(car, snapshot, eventConfig);
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}
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}
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/// <summary>注册与 FASS EventCarService.InitEventMethod 一致的条件方法名（保留历史拼写）。</summary>
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private Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>> BuildEventMethods()
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{
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return new Dictionary<string, Func<FassEventCarSnapshot, FassConditionEventConfig, bool>>(StringComparer.OrdinalIgnoreCase)
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{
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["NodeAllUnlockedNotCar"] = NodeAllUnlockedNotCar,
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["NodeAllUnlocked"] = NodeAllUnlocked,
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["NodeAnyLockedNotCar"] = NodeAnyLockedNotCar,
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["NodeAnyLocked"] = NodeAnyLocked,
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["NodeAllUnlockedNotCarNotEndCarState"] = NodeAllUnlockedNotCarNotEndCarState,
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["requestStaion"] = RequestStation,
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["clearStaion"] = ClearStation,
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["EmegerStop"] = EmergencyStop,
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["EmegerStart"] = EmergencyStart,
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["IsExistRunningStateCar"] = IsExistRunningStateCar,
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["ChargeStart"] = ChargeStart
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};
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}
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/// <summary>
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/// 触发器匹配：车辆编号、前后地标、状态、角度等 CSV 过滤。
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/// 配置项为空表示“不限制”；车辆对应字段为空则无法匹配非空配置。
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/// </summary>
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private bool TriggerHandler(FassEventCarSnapshot snapshot, FassEventCarConfig config)
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{
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if (!MatchesCsvFilter(config.TriggerCarCode, snapshot.Code))
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{
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return false;
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}
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if (!MatchesCsvFilter(config.TriggerCarPrevNodeCode, snapshot.PrevNodeCode))
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{
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return false;
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}
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if (!MatchesCsvFilter(config.TriggerCarCurrentNodeCode, snapshot.CurrentNodeCode))
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{
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return false;
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}
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if (!MatchesCsvFilter(config.TriggerCarNextNodeCode, snapshot.NextNodeCode))
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{
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return false;
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}
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if (!MatchesCsvFilter(config.TriggerCarState, snapshot.State))
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{
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return false;
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}
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if (!MatchesCsvFilter(config.TriggerCarAngle, snapshot.Angle.ToString(CultureInfo.InvariantCulture)))
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{
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return false;
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}
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return true;
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}
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/// <summary>所有 ConditionEvents 必须全部通过（逻辑与）。</summary>
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private bool ConditionHandler(Car car, FassEventCarSnapshot snapshot, FassEventCarConfig config)
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{
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if (config.ConditionEvents == null || config.ConditionEvents.Count == 0)
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{
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return true;
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}
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foreach (var condition in config.ConditionEvents)
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{
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if (!SingleConditionHandler(car, snapshot, condition))
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{
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return false;
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}
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}
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return true;
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}
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/// <summary>单条条件分发：Method / Assembly / Plugin。</summary>
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private bool SingleConditionHandler(Car car, FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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if (!condition.ConditionEnable)
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{
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return true;
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}
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var conditionType = condition.ConditionType ?? "Method";
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if (string.Equals(conditionType, "Method", StringComparison.OrdinalIgnoreCase))
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{
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return MethodInvoke(snapshot, condition);
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}
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if (string.Equals(conditionType, "Assembly", StringComparison.OrdinalIgnoreCase) ||
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string.Equals(conditionType, "Plugin", StringComparison.OrdinalIgnoreCase))
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{
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LogSignal($"暂不支持的 ConditionType={conditionType}, Method={condition.ConditionMethodName}");
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return false;
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}
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return false;
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}
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/// <summary>按方法名调用内置条件实现。</summary>
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private bool MethodInvoke(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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if (string.IsNullOrWhiteSpace(condition.ConditionMethodName))
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{
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return false;
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}
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if (_eventMethods.TryGetValue(condition.ConditionMethodName, out var handler))
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{
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return handler(snapshot, condition);
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}
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LogSignal($"未注册的条件方法：{condition.ConditionMethodName}");
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return false;
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}
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/// <summary>
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/// 执行任务：MagCar 调用 SendStart/SendStop；其他车型仅打日志。
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/// 通过 ActiveTaskTag 防止同一地标周期内重复下发。
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/// </summary>
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private void ExecuteTask(Car car, FassEventCarSnapshot snapshot, FassEventCarConfig config)
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{
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if (car.tags != null && car.tags.Contains(ActiveTaskTag))
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{
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return;
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}
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var taskType = config.TaskType ?? "Start";
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if (car is MagCar magCar)
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{
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switch (taskType)
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{
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case "Start":
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magCar.SendStart((ushort)Math.Round(magCar.th));
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break;
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case "Stop":
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magCar.SendStop(0);
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break;
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default:
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LogTraffic($"车辆[{snapshot.Code}] 收到任务类型[{taskType}]，当前仅显式处理 Start/Stop");
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break;
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}
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}
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else
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{
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LogTraffic($"车辆[{snapshot.Code}] 非 MagCar，任务类型[{taskType}] 仅记录标签");
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}
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var taskKey = BuildTaskKey(snapshot, config);
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Commons.AddOrUpdateTag(car.tags, ActiveTaskTag, taskKey);
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LogTraffic($"车辆[{snapshot.Code}] 触发事件任务：{taskType} @ node={snapshot.CurrentNodeCode}, state={snapshot.State}");
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}
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/// <summary>生成任务指纹，写入 ActiveTaskTag 的值，便于日志追溯。</summary>
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private static string BuildTaskKey(FassEventCarSnapshot snapshot, FassEventCarConfig config)
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{
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return $"FassEvent:{snapshot.CurrentNodeCode}:{config.TriggerCarState}:{config.TaskType}:{string.Join("|", config.ConditionEvents?.Select(item => item.ConditionMethodName) ?? Array.Empty<string>())}";
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}
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#region 交管条件（节点锁）
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/// <summary>指定节点全部未被其他车辆占用（排除自身）。参数：逗号分隔节点号。</summary>
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private bool NodeAllUnlockedNotCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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return FassEventNodeHelper.NodeAllUnlockedNotCar(snapshot.Code, SplitArgs(condition.ConditionMethodArgs));
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}
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/// <summary>指定节点全部空闲（含自身锁也计入）。</summary>
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private bool NodeAllUnlocked(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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return FassEventNodeHelper.NodeAllUnlocked(SplitArgs(condition.ConditionMethodArgs));
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}
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/// <summary>指定节点中存在被其他车占用的点。</summary>
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private bool NodeAnyLockedNotCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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return FassEventNodeHelper.NodeAnyLockedNotCar(snapshot.Code, SplitArgs(condition.ConditionMethodArgs));
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}
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/// <summary>
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/// 指定节点存在占用时先 SendStart 再判断（与 FASS NodeAnyLocked 行为一致）。
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/// </summary>
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private bool NodeAnyLocked(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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var car = SimpleCore.SimpleLib.GetCar(snapshot.CarId) as MagCar;
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car?.SendStart((ushort)Math.Round(car.th));
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return FassEventNodeHelper.NodeAnyLocked(SplitArgs(condition.ConditionMethodArgs));
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}
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/// <summary>节点全解锁且路径上无其他运行中车辆。</summary>
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private bool NodeAllUnlockedNotCarNotEndCarState(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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return FassEventNodeHelper.NodeAllUnlockedNotCarNotEndCarState(snapshot.Code, "Runing", SplitArgs(condition.ConditionMethodArgs));
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}
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/// <summary>判断指定节点范围是否不存在其他“运行中”车辆（返回 true 表示可以放行）。</summary>
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private bool IsExistRunningStateCar(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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var param = SplitArgs(condition.ConditionMethodArgs);
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LogTraffic($"IsExistRunningStateCar 参数：{condition.ConditionMethodArgs}");
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return !FassEventNodeHelper.ExistsRunningCarOnNodes(snapshot.Code, "Runing", param);
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}
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#endregion
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#region 电量与安全
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/// <summary>
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/// 电量达到阈值方可放行。阈值优先取 ConditionMethodArgs 首参，否则用 Mission.ChargeStartThreshold。
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/// </summary>
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private bool ChargeStart(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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var threshold = _mission.ChargeStartThreshold;
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var configured = SplitArgs(condition.ConditionMethodArgs).FirstOrDefault();
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if (!string.IsNullOrWhiteSpace(configured) &&
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double.TryParse(configured, NumberStyles.Float, CultureInfo.InvariantCulture, out var eventThreshold))
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{
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threshold = eventThreshold;
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}
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var result = snapshot.Charge >= threshold;
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if (result)
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{
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LogSignal($"ChargeStart 车辆[{snapshot.Code}] 电量[{snapshot.Charge}] >= 阈值[{threshold}]");
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}
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return result;
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}
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/// <summary>
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/// 设备安全急停：读 PLC 布尔位，false 表示故障需停车（条件返回 true 以触发 Stop 任务）。
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/// 参数 param[0]：PLC 地址。
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/// </summary>
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private bool EmergencyStop(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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return ExecutePlcCondition(snapshot, condition, 1, (client, param) =>
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{
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var allowIn = client.ReadBoolean(param[0]).Value;
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if (!allowIn)
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{
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LogSignal($"设备安全故障急停：{allowIn}");
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return true;
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}
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return false;
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});
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}
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/// <summary>
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/// 设备安全恢复：PLC 布尔位为 true 时允许 Start。
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/// </summary>
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private bool EmergencyStart(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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return ExecutePlcCondition(snapshot, condition, 1, (client, param) =>
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{
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var allowIn = client.ReadBoolean(param[0]).Value;
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if (allowIn)
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{
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LogSignal($"设备安全恢复放行：{allowIn}");
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return true;
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}
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return false;
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});
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}
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#endregion
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#region ME11 下料站 PLC 交互
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/// <summary>
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/// 清除站点到位与离开中信号。
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/// 参数：param[0] 到位信号地址，param[1] 离开中信号地址。
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/// </summary>
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private bool ClearStation(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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var context = BuildStationLogContext(nameof(ClearStation), snapshot, condition);
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LogSignal($"{context} 开始清除站点到位/离开中信号");
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if (!_mission.IsEnableMEll)
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{
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LogSignal($"车辆[{snapshot.Code}] ME11 未启用，直接返回 true");
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return true;
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}
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return ExecutePlcCondition(snapshot, condition, 2, (client, param) =>
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{
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var afterClear = WriteAndRead(client, param[0], false, "清除到位信号", context);
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WriteStationSignal(client, param[1], false, "清除离开中信号", context);
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var leavingClear = client.ReadBoolean(param[1]).Value;
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var result = !afterClear && !leavingClear;
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LogSignal($"{context} 清除站点信号结束，返回[{result}]");
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return result;
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});
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}
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/// <summary>
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/// 请求进入工位：读“请求进入”，为 true 时写“正在进入中”，并以进入中信号作为放行条件结果。
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/// 参数：param[0] 请求进入，param[1] 正在进入中。
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/// </summary>
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private bool RequestStation(FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
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{
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var context = BuildStationLogContext(nameof(RequestStation), snapshot, condition);
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LogSignal($"{context} 开始请求进入信号判断");
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if (!_mission.IsEnableMEll)
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{
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LogSignal($"车辆[{snapshot.Code}] ME11 未启用，直接返回 true");
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return true;
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}
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return ExecutePlcCondition(snapshot, condition, 2, (client, param) =>
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{
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var requestIn = ReadStationSignal(client, param[0], "请求进入", context);
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if (requestIn)
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{
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WriteStationSignal(client, param[1], true, "正在进入中", context);
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}
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var result = ReadStationSignal(client, param[1], "正在进入中", context);
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LogSignal($"{context} 请求进入判断结束，返回[{result}]");
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return result;
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});
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}
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/// <summary>
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/// 到位与允许离开交互（ME11 下料核心逻辑）。
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/// <para>
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/// 参数：param[0] 到位，param[1] 允许离开，param[2] 正在进入中，param[3] 正在离开中。
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/// ME11 车型：气缸伸出(Read3&Read5)后写到位；读到允许离开后切换为放行车型。
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/// 放行车型：气缸收回(Read4&Read6)后写离开中、清除到位。
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/// </para>
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/// </summary>
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/// <summary>将车辆 fields["CarModel"] 切换为放行车型，供后续触发器匹配。</summary>
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private void SaveCarModel(int carId, string carModel, string reason)
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{
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var car = SimpleCore.SimpleLib.GetCar(carId) as Car;
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if (car == null)
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{
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return;
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}
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car.fields ??= new Dictionary<string, string>();
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if (string.Equals(FassEventCarSnapshotFactory.GetCarModel(car), carModel, StringComparison.OrdinalIgnoreCase))
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{
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return;
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}
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car.fields["CarModel"] = carModel;
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LogSignal($"{reason}：车辆[{FassEventCarSnapshotFactory.GetCarCode(car)}] 车型切换为 [{carModel}]");
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}
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#endregion
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#region PLC 与工具方法
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/// <summary>在 PLC 锁内打开连接、执行读写、关闭连接。</summary>
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private bool ExecutePlcCondition(
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FassEventCarSnapshot snapshot,
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FassConditionEventConfig condition,
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int minArgs,
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Func<SiemensClient, string[], bool> action)
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{
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if (!TryGetConditionArgs(condition, minArgs, out var param))
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{
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return false;
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}
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lock (_plcLock)
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{
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SiemensClient client = null;
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try
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{
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client = CreatePlcClient();
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client.Open();
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return action(client, param);
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}
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catch (Exception ex)
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{
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LogSignalError(ex, "交互站点报错");
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return false;
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}
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finally
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{
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client?.Close();
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}
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}
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}
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/// <summary>根据 Mission 配置创建西门子 PLC 客户端。</summary>
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private SiemensClient CreatePlcClient()
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{
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var version = ParsePlcVersion(_mission.PlcVersion);
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return new SiemensClient(version, _mission.PlcIpAddress, _mission.PlcPort, 0);
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}
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private static SiemensVersion ParsePlcVersion(string version)
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{
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if (string.IsNullOrWhiteSpace(version))
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{
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return SiemensVersion.S7_1500;
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}
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return Enum.TryParse(version, true, out SiemensVersion parsed) ? parsed : SiemensVersion.S7_1500;
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||
}
|
||
|
||
/// <summary>拼接站点交互日志上下文，便于现场对照 PLC 地址排查。</summary>
|
||
private string BuildStationLogContext(string methodName, FassEventCarSnapshot snapshot, FassConditionEventConfig condition)
|
||
{
|
||
return $"{methodName} 车辆[{snapshot.Code}] 状态[{snapshot.State}] 当前地标[{snapshot.CurrentNodeCode}] 下一地标[{snapshot.NextNodeCode}] 车型[{snapshot.CarModel}] 参数[{condition.ConditionMethodArgs}]";
|
||
}
|
||
|
||
private bool ReadStationSignal(SiemensClient client, string address, string signalName, string context)
|
||
{
|
||
var value = client.ReadBoolean(address).Value;
|
||
LogSignal($"{context} 读取信号[{signalName}] 地址[{address}] 值[{value}]");
|
||
return value;
|
||
}
|
||
|
||
private void WriteStationSignal(SiemensClient client, string address, bool value, string signalName, string context)
|
||
{
|
||
LogSignal($"{context} 写入信号[{signalName}] 地址[{address}] 值[{value}]");
|
||
client.Write(address, value);
|
||
var readBackValue = client.ReadBoolean(address).Value;
|
||
LogSignal($"{context} 回读信号[{signalName}] 地址[{address}] 值[{readBackValue}]");
|
||
}
|
||
|
||
private bool WriteAndRead(SiemensClient client, string address, bool value, string signalName, string context)
|
||
{
|
||
WriteStationSignal(client, address, value, signalName, context);
|
||
return client.ReadBoolean(address).Value;
|
||
}
|
||
|
||
/// <summary>校验条件参数个数是否满足 PLC 方法要求。</summary>
|
||
private static bool TryGetConditionArgs(FassConditionEventConfig condition, int minLength, out string[] args)
|
||
{
|
||
args = SplitArgs(condition.ConditionMethodArgs);
|
||
return args.Length >= minLength;
|
||
}
|
||
|
||
/// <summary>将逗号分隔的配置参数字符串拆分为数组。</summary>
|
||
private static string[] SplitArgs(string args)
|
||
{
|
||
if (string.IsNullOrWhiteSpace(args))
|
||
{
|
||
return Array.Empty<string>();
|
||
}
|
||
|
||
return args.Split(new[] { ',' }, StringSplitOptions.RemoveEmptyEntries)
|
||
.Select(item => item.Trim())
|
||
.ToArray();
|
||
}
|
||
|
||
/// <summary>
|
||
/// CSV 过滤器：filter 为空则通过；否则 value 必须等于 filter 中某项（忽略大小写）。
|
||
/// 用于 TriggerCarState 等多值匹配，如 "Stopping,Charging"。
|
||
/// </summary>
|
||
private static bool MatchesCsvFilter(string filter, string value)
|
||
{
|
||
if (string.IsNullOrWhiteSpace(filter))
|
||
{
|
||
return true;
|
||
}
|
||
|
||
if (string.IsNullOrWhiteSpace(value))
|
||
{
|
||
return false;
|
||
}
|
||
|
||
return filter.Split(',').Select(item => item.Trim()).Any(item => string.Equals(item, value, StringComparison.OrdinalIgnoreCase));
|
||
}
|
||
|
||
private void LogTraffic(string message) => Diagnosis.Post(message, "Fass交管", true);
|
||
|
||
private void LogSignal(string message) => Diagnosis.Post(message, "Fass信号交互", true);
|
||
|
||
private void LogSignalError(Exception ex, string message) =>
|
||
Diagnosis.Post($"{message}: {ExceptionFormatter.FormatEx(ex)}", "Fass信号交互", true);
|
||
|
||
#endregion
|
||
}
|
||
|
||
/// <summary>从磁盘加载 EventCar JSON 配置数组。</summary>
|
||
internal static class FassEventConfigLoader
|
||
{
|
||
/// <summary>
|
||
/// 读取并反序列化配置文件。
|
||
/// </summary>
|
||
/// <param name="configPath">JSON 文件路径。</param>
|
||
/// <returns>事件配置列表；文件内容为空数组时返回空列表。</returns>
|
||
/// <exception cref="FileNotFoundException">文件不存在时抛出。</exception>
|
||
public static List<FassEventCarConfig> Load(string configPath)
|
||
{
|
||
if (string.IsNullOrWhiteSpace(configPath) || !File.Exists(configPath))
|
||
{
|
||
throw new FileNotFoundException($"未找到 FASS 车辆事件配置文件：{configPath}");
|
||
}
|
||
|
||
var json = File.ReadAllText(configPath);
|
||
return Newtonsoft.Json.JsonConvert.DeserializeObject<List<FassEventCarConfig>>(json)
|
||
?? new List<FassEventCarConfig>();
|
||
}
|
||
}
|
||
}
|