zhaowei.huang
a0dc1e6cd0
将 StandardScene 各插件的配置/监控窗体从 WinForms 迁移到 CycleGUI（删除 .Designer.cs/.resx，重写为 PanelBuilder 立即模式 UI，新增 CycleUiHelper 统一对话框）。 同时修复代码审核中的问题： - 后台文件写入加锁 + try/catch（ButtonBoxManager / DoorManager，对齐 LoopViewer.SaveTasks 模式） - CoderFieldsMetadata.cs 启用 #nullable enable，消除 CS8632 警告 - DummyCar 移除已废弃的 rightClickAction()/SetPosition() - CarRemoteHelper.OpenVehicleWebPage 的 Process.Start 加 try/catch - 重命名名不副实的 Mstsc()（现为打开网页） - 统一弃元命名为 _ - TrafficInterlockViewer 改用稳定 Id（GUID）做选择/编辑，替代行索引 - csproj 改用 $(CGUILibDir) 解析 CycleGUI，绝对路径收敛到 Directory.Build.props 构建：dotnet build StandardScene.sln → 0 错误，30 警告（均为历史遗留）。 注：static 单例状态重构（审核第 8 项）暂未处理，留待单独任务。
385 lines
17 KiB
C#
385 lines
17 KiB
C#
using CommonUsage.Mathematics;
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using LessokajiWeaverUtilities.Utilities;
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using Nancy.Helpers;
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using Newtonsoft.Json;
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using SimpleLite;
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using SimpleLite.RCS;
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using SimpleLite.RCS.CarTypes;
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using SimpleLite.CADTools;
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using SimpleLite.Props;
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using SimpleLite.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 StandardScene.Model;
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using StandardScene.Coders;
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using StandardScene.Utils;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Drawing;
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using System.Linq;
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using System.Net.Http;
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using System.Numerics;
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using System.Runtime;
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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 Track = SimpleCore.PropType.Track;
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namespace StandardScene.CarTypes
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{
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// 磁循迹器已与 Kiva 版去重合并为唯一 StandardScene.Magnetic.Coders.MagneticTrackCoder。
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// 原 MWL 版 NaiveMagGo 缺少 ${track.Speed}，合并后统一为含 Speed 的版本（用户确认）。
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// MultiWheelLifter 系字段袋下沉至基座 StandardScene.Core\CarTypes\MultiWheelLifterFields.cs
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// （MultiVehicleCar 等跨平台车型引用它们）。
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[TemplateTrackCoderSettings(
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priority = 30,
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useVerb = "track.SleepTime!=0",
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templateString = "agv.Wait();agv.Sleep(${track.SleepTime});agv.Wait();",
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blockVerb = "false",
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siteFields = typeof(MultiWheelLifterSiteFields),
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trackFields = typeof(MultiWheelLifterTrackFields),
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planFields = typeof(MultiWheelLifterPlanFields))]
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[TemplateTrackCoderSettings(
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priority = 30,
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useVerb = "track.TrayTarget!=0",
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templateString = "agv.Wait();agv.TrayControl(${track.TrayTarget});agv.Wait();",
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blockVerb = "false",
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siteFields = typeof(MultiWheelLifterSiteFields),
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trackFields = typeof(MultiWheelLifterTrackFields),
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planFields = typeof(MultiWheelLifterPlanFields))]
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//调整方向+钻车
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[TemplateTrackCoderSettings(
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priority = 19,
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useVerb = "dst.name=='FetchSite'&&plan.action=='fetch'",
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templateString = "agv.Wait();agv.RotateToTarget(${plan.AngleTarget});agv.Wait();agv.TireFollowing(${plan.TireNum},${plan.FrontLidarDetect},${plan.FirstTire});agv.Wait();",
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blockVerb = "false",
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siteFields = typeof(MultiWheelLifterSiteFields),
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trackFields = typeof(MultiWheelLifterTrackFields),
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planFields = typeof(MultiWheelLifterPlanFields))]
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//[TemplateTrackCoderSettings(
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// priority = 19,
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// useVerb = "dst.FetchPlace && plan.action=='fetch'",
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// templateString = "agv.Wait();agv.RotateToTarget(${plan.AngleTarget});agv.Wait();",
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// blockVerb = "false",
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// siteFields = typeof(MultiWheelLifterSiteFields),
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// trackFields = typeof(MultiWheelLifterTrackFields),
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// planFields = typeof(MultiWheelLifterPlanFields))]
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//下使能+夹抱+上使能
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[TemplateTrackCoderSettings(
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priority = 18,
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useVerb = "dst.name=='FetchSite'&&plan.action=='fetch'",
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templateString = "agv.DriverDisable();agv.Wait();agv.ClamptoTarget(${dst.ClampClose});agv.Wait();agv.DriverAble();agv.Wait();",
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blockVerb = "true",
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siteFields = typeof(MultiWheelLifterSiteFields),
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trackFields = typeof(MultiWheelLifterTrackFields),
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planFields = typeof(MultiWheelLifterPlanFields))]
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[TemplateTrackCoderSettings(
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priority = 19,
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useVerb = "dst.tag>0 && src.tag>0",
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templateString = "agv.QrGo(${src.x},${src.y},${src.id},${src.tag},${dst.x},${dst.y},${dst.id},${dst.tag},${track.id}," +
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"${track.Speed},${track.Reverse || (track.ReverseDst == dst.id)}," +
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"${track.CarDirectionBias},${track.EnableCarAbsoluteDirection},${track.CarAbsoluteDirection}," +
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"${track.typeInfo});",
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blockVerb = "true",
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siteFields = typeof(MultiWheelLifterSiteFields),
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trackFields = typeof(MultiWheelLifterTrackFields),
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planFields = typeof(MultiWheelLifterPlanFields))]
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// 通用避障/IO coder 已抽离为 StandardScene.Coders.*（见类前 [ProgramTrackCoderSettings] 引用）
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// 避障区尺寸(4参,含中心点)切换 coder 已抽离为 StandardScene.Coders.AvoidanceParamCoder（见类前 [ProgramTrackCoderSettings] 引用）
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// 纠偏阈值 coder 已抽离为 StandardScene.Coders.TrackingErrThreshCoder
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[ProgramTrackCoderSettings(priority = 27, program = typeof(LidarAreaSwitchCoder))]
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[ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceDistanceCoder))]
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[ProgramTrackCoderSettings(priority = 20, program = typeof(IoAreaSwitchCoder))]
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[ProgramTrackCoderSettings(priority = 20, program = typeof(TrackingErrThreshCoder))]
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[ProgramTrackCoderSettings(priority = 20, program = typeof(AvoidanceParamCoder))]
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[EnvelopConfig(lengthX = 3000, lengthY = 1300, centerX = 0, centerY = 0)]
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[CarType(Name = "多舵轮顶升车")]
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[I18N.DocumentTranslation(Name = "MultiWheel Lifter Car", locale = "en")]
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public class MultiWheelLifterCar : GhostCar
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{
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[FieldMember]public float CarLength = 2000;
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[FieldMember] public float CarWidth = 1400;
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public static async Task<MultiWheelLifterCar> Create()
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{
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var car = new MultiWheelLifterCar()
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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 = "多舵轮顶升车"
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};
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return car;
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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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public void newTrafficReset(int resetId = 0)
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{
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//if (!status.programs.task.IsCompleted &&
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// MessageBox.Show($"小车{name}({id})当前有任务：{status.programs.printStatus()}，确认初始化？", "确认",
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// MessageBoxButtons.YesNo) == DialogResult.No) return;
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try
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{
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if (GetLastSite() != -1 && Commons.GetVehicleStatus((Car)this) != VehicleStatus.NeedInit)
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{
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Diagnosis.Post($"Car{id}初始化失败：已初始化");
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return;
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}
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var debug = "ui invoke reset. ";
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// todo: 找点和线段的最近点。。。
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// lock
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UISite site1 = null;
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float dist = float.MaxValue;
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List<(float, Site, Site)> trackList = new List<(float, Site, Site)>();
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if (resetId == 0)
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{
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(float bias, Vector2 hPnt, float fd) Project2DLine(
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Vector2 pnt,
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Vector2 segSt,
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Vector2 segEnd
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)
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{
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var dir = Vector2.Normalize(segEnd - segSt);
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var fd = Vector2.Dot(pnt - segSt, dir);
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var hPnt = segSt + fd * dir;
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var bias = dir.X * (pnt.Y - segSt.Y) - (pnt.X - segSt.X) * dir.Y;
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return (bias, hPnt, fd);
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}
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foreach (var allTrack in SimpleLib.GetAllTracks())
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{
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var s = SimpleLib.GetSite(allTrack.siteA);
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var e = SimpleLib.GetSite(allTrack.siteB);
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var (b, h, fd) = Project2DLine(
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new Vector2(x, y),
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new Vector2(s.x, s.y),
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new Vector2(e.x, e.y)
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);
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b = Math.Abs(b);
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if (fd < 0 || fd > 1)
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continue;
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if (dist > b)
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{
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UISite ss;
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if (fd < 0.5)
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ss = (UISite)s;
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else
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ss = (UISite)e;
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foreach (var ccar in SimpleLib.GetAllCars())
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{
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if (ccar == this)
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continue;
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if (ccar.status.holdingLocks.Contains(s.id))
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goto next;
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}
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dist = b;
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site1 = ss;
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next:
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;
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}
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}
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float radius = 5000;
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//根据小车为圆心找到半径radius内的站点
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var surroundSites = SimpleLib.GetAllSites().ToList().FindAll(p => LessMath.dist(x, y, p.x, p.y) <= radius);
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foreach (var allTrack in SimpleLib.GetAllTracks())
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{
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var s = SimpleLib.GetSite(allTrack.siteA);
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var e = SimpleLib.GetSite(allTrack.siteB);
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if (!surroundSites.Contains(s) && !surroundSites.Contains(e) && surroundSites.Count != 0) continue;
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var (b, h, fd) = Project2DLine(new Vector2(x, y), new Vector2(s.x, s.y), new Vector2(e.x, e.y));
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b = Math.Abs(b);
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double pathAngle = Double.NaN;
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if (allTrack.direction == 1)
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pathAngle = Math.Atan2((e.y - s.y), (e.x - s.x)) / Math.PI * 180;
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else if (allTrack.direction == 2)
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pathAngle = Math.Atan2((e.y - s.y), (e.x - s.x)) / Math.PI * 180 + 180;
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else
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trackList.Add((b, s, e));
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if (Math.Abs(this.th - pathAngle) < 30)
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trackList.Add((b, s, e));
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foreach (var ccar in SimpleLib.GetAllCars())
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{
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if (ccar == this) continue;
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if (ccar.status.holdingLocks.Contains(s.id)) goto next;
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}
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next:;
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}
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//var sites = trackList.OrderBy(p => p.Item1).ToArray();
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List<(double, Site)> distList = new List<(double, Site)>();
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foreach (var site in trackList)
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{
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if (site.Item2.fields.ContainsKey("no_reset") || site.Item3.fields.ContainsKey("no_reset"))
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continue;
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foreach (var ccar in SimpleLib.GetAllCars())
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{
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if (ccar == this) continue;
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if (ccar.status.holdingLocks.Contains(site.Item2.id) || ccar.status.holdingLocks.Contains(site.Item3.id)) goto next;
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}
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distList.Add((LessMath.dist(site.Item2.x, site.Item2.y, x, y), site.Item2));
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distList.Add((LessMath.dist(site.Item3.x, site.Item3.y, x, y), site.Item3));
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next:;
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}
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site1 = (UISite)distList.OrderBy(p => p.Item1).First().Item2;
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//foreach (var site in SimpleLib.GetAllSites())
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//{
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// if (site.fields.ContainsKey("no_reset"))
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// continue;
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// foreach (var ccar in SimpleLib.GetAllCars())
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// {
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// if (ccar == this)
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// continue;
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// if (ccar.status.holdingLocks.Contains(site.id))
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// goto next;
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// }
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// var d = LessMath.dist(site.x, site.y, x, y);
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// if (d < dist)
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// {
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// dist = (float)d;
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// site1 = (UISite)site;
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// }
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// next:
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// ;
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//}
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TrafficReset(site1, true, strict: false);
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}
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else
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{
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TrafficReset(SimpleLib.GetSite(resetId), true, strict: false);
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}
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siteID = site1.id;
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lstatus = "上线";
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debug += $"site={site1.id}";
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AppendDebug(debug);
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G.pushStatus($"Car {name}({id}) reset to Site {site1.id}");
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}
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catch (Exception e)
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{
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Diagnosis.Post($"{this.name}---初始化失败--{e.Message}", $"{this.name}", true);
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}
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}
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protected override void draw(Graphics eGraphics)
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{
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var HalfCarLength = CarLength / 2;
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var HalfCarWidth = CarWidth / 2;
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eGraphics.FillRectangle(Brushes.Gray, -HalfCarLength, -HalfCarWidth, HalfCarLength * 2, HalfCarWidth * 2);
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eGraphics.DrawRectangle(Pens.White, -HalfCarLength, -HalfCarWidth, HalfCarLength * 2, HalfCarWidth * 2);
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eGraphics.DrawLine(Pens.White, HalfCarLength - HalfCarWidth, -HalfCarWidth, HalfCarLength, 0);
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eGraphics.DrawLine(Pens.White, HalfCarLength - HalfCarWidth, HalfCarWidth, HalfCarLength, 0);
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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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private bool _running = false;
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[MethodMember(Name = "测试", Description = "循环")]
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[I18N.DocumentTranslation(Name = "Test", Description = "Looping", locale = "en")]
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public async void Test()
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{
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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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_running = true;
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while (_running)
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{
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var plan = new SegmentPlan() { usingCar = this };
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plan.FindRoute(SimpleLib.GetSite(this.GetLastSite()), siteA);
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await plan.Compile("GoA").Queue();
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var planB = new SegmentPlan() { usingCar = this };
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planB.FindRoute(SimpleLib.GetSite(this.GetLastSite()), siteB);
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await planB.Compile("GoB").Queue();
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await Task.Delay(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", Description = "Stop Looping", 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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HttpClient hc = new HttpClient() { Timeout = TimeSpan.FromMilliseconds(300) };
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[MethodMember(Name = "小车暂停", Description = "小车暂停")]
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[I18N.DocumentTranslation(Name = "Emergency Stop",Description = "Emergency Stop the car", locale = "en")]
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public void EmergencyStop(string reason)
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{
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Diagnosis.Post($"car{name}:EmergencyStop");
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hc.GetStringAsync($"http://{address}:8008/setValue?FieldName=ISRelease&Value=1");
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}
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[MethodMember(Name = "小车暂停恢复", Description = "小车暂停恢复")]
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[I18N.DocumentTranslation(Name = "Emergency Release",Description = "Release Emergency Stop of the car", locale = "en")]
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public void EmergencyRelease()
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{
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Diagnosis.Post($"car{name}:EmergencyStop release");
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hc.GetStringAsync($"http://{address}:8008/setValue?FieldName=ISRelease&Value=0");
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}
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[MethodMember(Name = "小车重启C", Description = "小车重启Clumsy")]
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[I18N.DocumentTranslation(Name = "Reset Clumsy",Description = "Reset Clumsy of the car", locale = "en")]
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public void ResetClumsy()
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{
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Diagnosis.Post($"car{name}-{address}:ResetClumsy");
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hc.GetStringAsync($"http://{address}:8008/reset");
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}
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}
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}
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