600 lines
24 KiB
C#
600 lines
24 KiB
C#
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.RCS.Signal;
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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;
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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.Drawing;
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using System.IO;
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using System.Linq;
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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 System.Windows.Forms;
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using Microsoft.Win32.SafeHandles;
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namespace StandardScene.Chained
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{
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/// <summary>
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/// 任务类型枚举
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/// </summary>
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public enum TaskType
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{
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移动 = 1, // 移动任务（当前未使用）
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搬运 = 2, // 搬运任务
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装车 = 3, // 装车任务
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卸车 = 4, // 卸车任务
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}
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/// <summary>
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/// 运输任务类
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/// 继承自AbstractDelivery，实现具体的运输任务功能
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/// </summary>
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/// public class TransportDelivery : AbstractChainedDeliveryMission.AbstractDelivery
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public class TransportDelivery : ChainedDeliveryMission.Delivery
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{
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/// <summary>任务类型（枚举值）</summary>
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public TaskType Type;
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/// <summary>任务类型（字符串形式）</summary>
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public string TaskType;
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/// <summary>使用的小车名称</summary>
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public string UsingCarName = "/";
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/// <summary>物料信息</summary>
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public string Material = "";
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/// <summary>占车站点</summary>
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public string HoldCarSite = "";
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/// <summary>阶段任务代码（用于标记阶段任务）</summary>
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public string MGTaskCode = "";
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/// <summary>任务ID字符串（用于标记阶段任务，可包含多个任务ID，用逗号分隔）</summary>
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public string TaskIdsString = "";
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/// <summary>
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/// 构造函数
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/// 注册任务生命周期回调函数
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/// </summary>
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public TransportDelivery()
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{
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// 注册任务开始回调
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OnStart += d => { TransportOnStart((TransportDelivery)d); };
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// 注册取货完成回调
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DoneFetch += d => { TransportDoneFetch((TransportDelivery)d); };
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// 注册放货完成回调
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DonePut += d => { TransportDonePut((TransportDelivery)d); };
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// 注册任务完成回调
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DoneMission += d => { TransportDoneMission((TransportDelivery)d); };
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}
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/// <summary>
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/// 任务开始时的回调处理
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/// </summary>
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/// <param name="d">运输任务对象</param>
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private void TransportOnStart(TransportDelivery d)
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{
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Diagnosis.Post($"{d.TaskId}___{d.Src}->{d.Dst}: step-onStart");
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}
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/// <summary>
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/// 取货完成时的回调处理
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/// </summary>
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/// <param name="d">运输任务对象</param>
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private void TransportDoneFetch(TransportDelivery d)
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{
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Diagnosis.Post($"{d.TaskId}___{d.Src}->{d.Dst}: step-doneFetch");
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}
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/// <summary>
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/// 放货完成时的回调处理
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/// </summary>
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/// <param name="d">运输任务对象</param>
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private void TransportDonePut(TransportDelivery d)
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{
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Diagnosis.Post($"{d.TaskId}___{d.Src}->{d.Dst}: step-donePut");
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}
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/// <summary>
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/// 任务完成时的回调处理
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/// </summary>
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/// <param name="d">运输任务对象</param>
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private void TransportDoneMission(TransportDelivery d)
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{
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Diagnosis.Post($"{d.TaskId}___{d.Src}->{d.Dst}: step-doneMission");
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}
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}
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/// <summary>
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/// 搬运任务进程类
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/// 继承自AbstractChainedDeliveryMission，实现具体的搬运任务调度
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/// </summary>
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[MissionType(Name = "搬运任务进程", editor = typeof(TransportMission))]
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internal class TransportMission : ChainedDeliveryMission
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{
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/// <summary>是否启用就近任务策略（"1"=启用，"0"=禁用）</summary>
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private static readonly string NearestTask = "1";
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/// <summary>任务查看器窗口对象</summary>
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private DeliveryViewer dv;
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public TransportMission()
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{
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// 确保回调静态类已完成注册
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TransportDeliveryCallbacks.EnsureInitialized();
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// 根据配置的 MissionCallbackURL 设置回调地址（若有）
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var p = Param;
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if (p != null && !string.IsNullOrWhiteSpace(p.MissionCallbackURL))
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{
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if (Commons.IsValidHttpUrl(p.MissionCallbackURL))
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{
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_lastCallbackUrl = p.MissionCallbackURL;
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TransportDeliveryCallbacks.ConfigureCallbackUrl(_lastCallbackUrl);
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}
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else
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{
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Diagnosis.Log($"无效的 MissionCallbackURL 配置: {p.MissionCallbackURL}", "TransportMission");
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}
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}
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}
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public class TransportMissionParam
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{
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/// <summary>
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/// 递送任务状态回调地址。
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/// </summary>
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public string MissionCallbackURL;
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}
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public TransportMissionParam Param => StringDictConvert<TransportMissionParam>.Convert(fields);
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private readonly bool _onDisplay = true;
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private string _lastCallbackUrl;
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protected override Delivery CreateDeliveryFromSnapshot(DeliveryStateSnapshot snap)
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{
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var usingCar = SimpleLib.GetCar(snap.UsingCarId);
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if (snap.UsingCarId != -1 && usingCar == null)
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{
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Diagnosis.Post($"CreateDeliveryFromSnapshot[{snap.Id}] failed:usingCar[{snap.UsingCarId}] not found");
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return null;
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}
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if (usingCar != null && usingCar is not Car)
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{
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Diagnosis.Post($"CreateDeliveryFromSnapshot[{snap.Id}] skipped:usingCar[{snap.UsingCarId}] is not Car type");
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return null;
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}
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var d = new TransportDelivery
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{
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Id = snap.Id,
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TaskId = snap.TaskId ?? string.Empty,
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Src = snap.Src,
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Dst = snap.Dst,
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SkipFetch = snap.SkipFetch,
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SkipPut = snap.SkipPut,
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Putting = snap.Putting,
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CreateTime = snap.CreateTime,
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StartTime = snap.StartTime,
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FinishTime = snap.FinishTime,
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CarType = snap.CarType,
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UsingCar = (Car)usingCar
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};
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if (usingCar != null && string.Equals(snap.Status, "putting", StringComparison.OrdinalIgnoreCase) && !CheckCarLoaded(usingCar))
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{
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d.Error = true;
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}
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// 恢复回调配置与事件绑定
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d.ReportOnStarted = snap.ReportOnStarted;
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d.ReportOnFetched = snap.ReportOnFetched;
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d.ReportOnPut = snap.ReportOnPut;
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d.ReportOnFinished = snap.ReportOnFinished;
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d.ReportOnFailed = snap.ReportOnFailed;
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d.ReportOnTerminated = snap.ReportOnTerminated;
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d.OnStartCallbackKeys = snap.OnStartCallbackKeys ?? new List<string>();
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d.DoneFetchCallbackKeys = snap.DoneFetchCallbackKeys ?? new List<string>();
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d.DonePutCallbackKeys = snap.DonePutCallbackKeys ?? new List<string>();
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d.DoneMissionCallbackKeys = snap.DoneMissionCallbackKeys ?? new List<string>();
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d.FailedCallbackKeys = snap.FailedCallbackKeys ?? new List<string>();
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d.OnTerminatedCallbackKeys = snap.OnTerminatedCallbackKeys ?? new List<string>();
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// 统一通过 Attacher 挂载所有回调
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DeliveryCallbackAttacher.AttachAll(d);
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return d;
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}
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protected override bool CheckCarLoaded(AbstractCar car)
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{
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if(car is DummyCar)
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return true;
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var carLoaded = Commons.GetCarStatus((Car)car, "Loaded");
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if (!string.IsNullOrEmpty(carLoaded) && bool.TryParse(carLoaded, out var result))
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return result;
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return false;
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}
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/// <summary>
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/// 执行方法（启动任务调度进程）
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/// 启动基类的任务调度循环，并启动状态显示线程
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/// </summary>
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public override void Execute()
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{
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base.Execute(); // 调用基类Execute方法，启动任务调度循环
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//HideSimpleConsole(); // 隐藏控制台窗口
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// 启动状态显示线程，实时显示小车状态和任务执行情况
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new Thread(() =>
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{
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while (true)
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{
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Thread.Sleep(100); // 每100ms更新一次显示
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var painter = SimpleMonitor.getPainter("TransportMissionPainter");
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painter.clear();
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if (!_onDisplay) continue; // 如果未启用显示，跳过
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// 检查并更新任务状态回调 URL（如果配置发生变化）
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var p = Param;
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var currentUrl = p?.MissionCallbackURL;
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if (!string.IsNullOrWhiteSpace(currentUrl) && currentUrl != _lastCallbackUrl)
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{
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// 使用 Commons 中的统一 URL 校验逻辑
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if (Commons.IsValidHttpUrl(currentUrl))
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{
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TransportDeliveryCallbacks.ConfigureCallbackUrl(currentUrl);
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_lastCallbackUrl = currentUrl;
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}
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else
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{
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Diagnosis.Log($"无效的 MissionCallbackURL 配置: {currentUrl}", "TransportMission");
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}
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}
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var onMissionCnt = 0; // 正在执行任务的小车数量
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var carStr = $"{string.Join("\n", SimpleLib.GetAllCars().Select(cc =>
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{
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var status = "";
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if (cc.tags.TryGetValue("occupied", out var occupiedStr))
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{
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onMissionCnt++;
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status = occupiedStr;
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if (cc.tags.TryGetValue("idle", out var _))
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{
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Diagnosis.Post($"strange idle tag, {cc.name}({cc.id})");
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cc.tags.Remove("idle");
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}
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}
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else if (cc.tags.TryGetValue("idle", out var idleStr)) status = DateTime.TryParse(idleStr, out var idleTime) ? $"idle:{idleTime}" : $"idle:{idleStr}";
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return $"{cc.name}({cc.id})\t{status}";
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}))}";
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//var waitingMissions = GetDeliveries()
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// .Where(dd => dd.GetStatus() == DeliveryStatus.Waiting).ToList();
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painter.drawTextFixed(
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$"小车：\t开动率：{onMissionCnt}/{SimpleLib.GetAllCars().Length}\n{carStr}\n\n",
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new SolidBrush(Color.Black),
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VirtualPainter.DrawPosition.LeftTop, Color.AliceBlue);
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painter = null;
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}
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}).Start();
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}
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/// <summary>
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/// 变更任务优先级（重写基类方法）
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/// 根据配置决定是否执行就近任务策略
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/// </summary>
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public override void ChangePriority()
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{
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try
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{
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if (NearestTask == "1") // NearestTask 等于1 执行就近原则
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{
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// 就近任务执行（当前被注释，未启用）
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// NearestTaskExecute();
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}
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else
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{
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// 如果未启用就近原则，移除所有小车的就近选车标记
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foreach (var car in SimpleLib.GetAllCars().OfType<Car>())
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{
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Commons.DeleteTag(car.tags, "changePriority");
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}
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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("同一工序就近执行就近任务执行：" + ex.ToString());
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}
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}
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/// <summary>
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/// 一键初始化所有小车
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/// 将状态为"正常"或"上线"且未初始化的小车进行重置
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/// </summary>
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[MethodMember(Name = "一键初始化")]
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public void ResetAll()
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{
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foreach (var car in SimpleLib.GetAllCars().OfType<Car>().Where(c => c.lstatus.Contains("正常") || c.lstatus.Contains("上线")))
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{
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// 如果小车未初始化（GetLastSite返回-1），执行重置
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if (car.GetLastSite() == -1)
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((Car)car).Reset();
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}
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}
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/// <summary>
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/// 一键上线所有小车
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/// 将状态为"正常"或"上线"且已初始化的小车标记为在线状态
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/// </summary>
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[MethodMember(Name = "一键上线")]
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public void OnlineAll()
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{
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foreach (var car in SimpleLib.GetAllCars().OfType<Car>().Where(c => c.lstatus.Contains("正常") || c.lstatus.Contains("上线")))
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{
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// 如果小车已初始化，标记为在线
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if (car.GetLastSite() != -1)
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{
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Commons.AddOrUpdateTag(car.tags, "Online", "true");
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}
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}
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}
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/// <summary>
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/// 查看任务列表界面
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/// 打开任务查看器窗口，显示所有任务的状态
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/// </summary>
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[MethodMember(Name = "查看任务", Description = "显示界面")]
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public void Print()
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{
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dv = new DeliveryViewer();
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dv.Show();
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}
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/// <summary>
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/// 手动创建单取货任务
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/// 通过UI交互选择小车和取货点，创建仅取货任务（跳过取货步骤，小车从当前位置移动到取货点）
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/// </summary>
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[MethodMember(Name = "单取货", Description = "增加并排队搬运任务链")]
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public async void ManualEnqueueFetch()
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{
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try
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{
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G.pushStatus("选择小车");
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var selected = SimpleMonitor.selected.ToArray();
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if (selected.Length == 0) { MessageBox.Show("请先选择需要控制的小车！"); return; }
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var obj = selected[0];
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if (obj is Car car)
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{
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G.pushStatus("选择取货位");
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// 等待用户在UI中选择取货点
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var pt1 = await Program.UI.getPoint(new UIOps.getPointOptions() { site = true });
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// 创建运输任务：从小车当前位置到选择的取货点
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var d = new TransportDelivery
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{
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CarType = "Car",
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Src = car.GetLastSite(), // 起始点为小车当前位置
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Dst = pt1.site, // 目标点为选择的取货点
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SkipFetch = true, // 跳过取货步骤（因为小车已经在起始点）
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UsingCar = car, // 指定使用的小车
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PutPlanInfo = new() { { "action", "fetch" } }, // 路径动作设置为fetch
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};
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G.pushStatus($"排序了一个{car.name}搬运任务{d.Id}: {car.GetLastSite()} -> {d.Dst}");
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Enqueue(d);
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}
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else
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{
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MessageBox.Show("请选择需要控制的小车！");
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}
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}
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catch
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{
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G.pushStatus($"结束任务链");
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}
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}
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//写一个冒泡排序的算法，按照距离排序
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[MethodMember(Name = "切换后台显示")]
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public void SwitchBackgroundDisplay()
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{
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ShowSimpleConsole();
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}
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/// <summary>
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/// 手动创建单放货任务
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/// 通过UI交互选择小车和放货点，创建仅放货任务（小车从当前位置移动到放货点并放货）
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/// </summary>
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[MethodMember(Name = "单放货", Description = "增加并排队搬运任务链")]
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public async void ManualEnqueuePut()
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{
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try
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{
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G.pushStatus("选择小车");
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var selected = SimpleMonitor.selected.ToArray();
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if (selected.Length == 0) { MessageBox.Show("请先选择需要控制的小车！"); return; }
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var obj = selected[0];
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if (obj is Car car)
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{
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G.pushStatus("选择取货位");
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// 等待用户在UI中选择放货点（注释写的是"取货位"但实际是放货点）
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var pt1 = await Program.UI.getPoint(new UIOps.getPointOptions() { site = true });
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var srcSite = SimpleLib.GetSite(pt1.site);
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// 创建运输任务：从小车当前位置到选择的放货点
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var d = new TransportDelivery
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{
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CarType = "Car",
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Src = car.GetLastSite(), // 起始点为小车当前位置
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Dst = pt1.site, // 目标点为选择的放货点
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UsingCar = car, // 指定使用的小车
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SkipFetch = true, // 跳过取货步骤
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PutPlanInfo = new() { { "action", "put" } }, // 路径动作设置为put
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};
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G.pushStatus($"排序了一个{car.name}搬运任务{d.Id}: {srcSite.id} -> {d.Dst}");
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Enqueue(d);
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}
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else
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{
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MessageBox.Show("请选择需要控制的小车！");
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}
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}
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catch
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{
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G.pushStatus($"结束任务链");
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}
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}
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/// <summary>
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/// 手动创建完整的取放货任务
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/// 通过UI交互选择取货点和放货点，创建完整的搬运任务（取货->放货）
|
||
/// </summary>
|
||
[MethodMember(Name = "取放货", Description = "增加并排队搬运任务链")]
|
||
public async void ManualEnqueue()
|
||
{
|
||
try
|
||
{
|
||
G.pushStatus("选择取货位");
|
||
// 等待用户在UI中选择取货点
|
||
var pt1 = await Program.UI.getPoint(new UIOps.getPointOptions() { site = true });
|
||
var srcSite = SimpleLib.GetSite(pt1.site);
|
||
|
||
G.pushStatus("选择放货位");
|
||
// 等待用户在UI中选择放货点
|
||
var pt2 = await Program.UI.getPoint(new UIOps.getPointOptions() { site = true });
|
||
var dstSite = SimpleLib.GetSite(pt2.site);
|
||
|
||
// 创建完整的运输任务：从取货点到放货点
|
||
var d = new TransportDelivery
|
||
{
|
||
CarType = "Car",
|
||
Src = srcSite.id, // 取货点
|
||
Dst = dstSite.id, // 放货点
|
||
TaskId = $"ManualTask-{DateTime.Now}" // 生成任务ID
|
||
};
|
||
|
||
G.pushStatus($"排序了一个叉车搬运任务{d.Id}: {srcSite.id} -> {dstSite.id}");
|
||
Enqueue(d);
|
||
}
|
||
catch
|
||
{
|
||
G.pushStatus($"结束任务链");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 手动创建移动任务（去某地）
|
||
/// 通过UI交互选择目标站点，创建移动任务（起点和终点相同，只移动不放货）
|
||
/// </summary>
|
||
[MethodMember(Name = "去某地", Description = "去某地")]
|
||
public async void ManualEnqueueGo()
|
||
{
|
||
try
|
||
{
|
||
G.pushStatus("选择前往的站点");
|
||
// 等待用户在UI中选择目标站点
|
||
var pt1 = await Program.UI.getPoint(new UIOps.getPointOptions() { site = true });
|
||
var srcSite = SimpleLib.GetSite(pt1.site);
|
||
|
||
// 创建移动任务：起点和终点相同（只移动到目标点，不执行取放货操作）
|
||
var d = new TransportDelivery
|
||
{
|
||
CarType = "Car",
|
||
Src = pt1.site, // 起点（实际不会取货）
|
||
Dst = pt1.site, // 终点（实际不会放货）
|
||
TaskId = $"ManualTask-{DateTime.Now}",
|
||
SrcFindLoop = false, // 起点不查找回路
|
||
DstFindLoop = false // 终点不查找回路
|
||
};
|
||
|
||
G.pushStatus($"排序了一个叉车搬运任务{d.Id}: {srcSite.id} -> {srcSite.id}");
|
||
Enqueue(d);
|
||
}
|
||
catch
|
||
{
|
||
G.pushStatus($"结束任务链");
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 供按钮盒进程反射调用：ButtonMission.ExecuteButtonActionInternal 反射调用本方法后，
|
||
/// 由 HandleMethodResult 解析返回值，驱动 OnActionExecuted 成功/失败反馈。
|
||
/// 返回 true 表示已入队；false 表示站点无效。若 Enqueue 抛错，由按钮进程捕获后同样视为失败。
|
||
/// 按钮配置示例：TriggerMission=TransportMission，TriggerMethod=EnqueueTransportByButton，TriggerMethodParams=取货站点ID,放货站点ID
|
||
/// </summary>
|
||
/// <param name="srcSiteId">取货站点 ID</param>
|
||
/// <param name="dstSiteId">放货站点 ID</param>
|
||
public bool EnqueueTransportByButton(int srcSiteId, int dstSiteId)
|
||
{
|
||
if (SimpleLib.GetSite(srcSiteId) == null || SimpleLib.GetSite(dstSiteId) == null)
|
||
{
|
||
Diagnosis.Log($"按钮排队搬运失败：站点不存在 src={srcSiteId}, dst={dstSiteId}", "TransportMission", true);
|
||
return false;
|
||
}
|
||
|
||
var d = new TransportDelivery
|
||
{
|
||
CarType = "Car",
|
||
Src = srcSiteId,
|
||
Dst = dstSiteId,
|
||
TaskId = $"Button-{DateTime.Now:yyyyMMddHHmmssfff}"
|
||
};
|
||
Enqueue(d);
|
||
Diagnosis.Post($"按钮排队搬运 {d.Id}: {srcSiteId} -> {dstSiteId}");
|
||
return true;
|
||
}
|
||
|
||
// ========== 控制台窗口显示控制 ==========
|
||
|
||
/// <summary>Windows API：获取控制台窗口句柄</summary>
|
||
[DllImport("kernel32.dll")]
|
||
static extern IntPtr GetConsoleWindow();
|
||
|
||
/// <summary>Windows API：显示/隐藏窗口</summary>
|
||
[DllImport("user32.dll")]
|
||
static extern bool ShowWindow(IntPtr hWnd, int nCmdShow);
|
||
|
||
/// <summary>控制台显示状态标志</summary>
|
||
private static bool ShowConsole = false;
|
||
|
||
/// <summary>
|
||
/// 切换控制台窗口显示/隐藏
|
||
/// </summary>
|
||
public static void ShowSimpleConsole()
|
||
{
|
||
ShowConsole = !ShowConsole; // 切换显示状态
|
||
var handle = GetConsoleWindow();
|
||
int n = ShowConsole ? 0 : 5; // 0=显示，5=隐藏
|
||
Console.WriteLine(n);
|
||
ShowWindow(handle, n);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 隐藏控制台窗口
|
||
/// </summary>
|
||
public static void HideSimpleConsole()
|
||
{
|
||
var handle = GetConsoleWindow();
|
||
ShowWindow(handle, 0); // 0表示隐藏窗口
|
||
}
|
||
}
|
||
|
||
}
|