黄兆尉andCursor
e075bc0d7d
对齐 FairyView 宿主命名。环线/充电/按钮/门进程的 Stop 改为 override，避免隐藏基类；Kiva.ForceStop 改为 override。 Co-authored-by: Cursor <cursoragent@cursor.com>
414 lines
12 KiB
C#
414 lines
12 KiB
C#
using SimpleCore.Traffic;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using Simple3.RCS;
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using Simple3.RCS.CarTypes;
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using SimpleCore.Library;
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using SimpleCore.PropType;
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using SimpleCore;
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using System.Threading;
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using Simple3.CADTools;
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using Simple3.Props;
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using Simple3.UI;
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using Simple3;
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using StandardScene.Utils;
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using Newtonsoft.Json;
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namespace StandardScene.InterLock
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{
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public class MyDictionary<TKey, TItem> where TItem : new()
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{
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private readonly Dictionary<TKey, TItem> dictionary = new();
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public TItem this[TKey key]
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{
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get
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{
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if (dictionary.TryGetValue(key, out var item)) return item;
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var newItem = new TItem();
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dictionary[key] = newItem;
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return newItem;
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}
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set => dictionary[key] = value;
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}
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public ICollection<TKey> Keys
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{
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get => dictionary.Keys;
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}
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}
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public class AbstractInterlockMission : Mission
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{
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public bool GetAskEnter(int siteId)
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{
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if (!SiteFilter(siteId)) return false;
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lock (sync) return askEnter[siteId];
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}
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public void SetAllowEnter(int siteId, bool value)
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{
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if (!SiteFilter(siteId)) return;
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lock (sync) allowEnter[siteId] = value;
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}
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public bool GetAskExit(int siteId)
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{
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if (!SiteFilter(siteId)) return false;
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lock (sync) return askExit[siteId];
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}
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public void SetAllowExit(int siteId, bool value)
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{
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if (!SiteFilter(siteId)) return;
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lock (sync) allowExit[siteId] = value;
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}
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public bool GetReportLeave(int siteId)
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{
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if (!SiteFilter(siteId)) return false;
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lock (sync) return reportLeave[siteId];
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}
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public void SetAcknowledgeLeave(int siteId, bool value)
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{
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if (!SiteFilter(siteId)) return;
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lock (sync) acknowledgeLeave[siteId] = value;
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}
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public int GetInSiteCarId(int siteId)
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{
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if (!SiteFilter(siteId)) return -1;
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lock (sync) return inSiteCarId[siteId];
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}
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// 请求进站（写）
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[JsonIgnore] private readonly MyDictionary<int, bool> askEnter = new();
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// 允许进站（读）
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[JsonIgnore] private readonly MyDictionary<int, bool> allowEnter = new();
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// 请求离站（写）
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[JsonIgnore] private readonly MyDictionary<int, bool> askExit = new();
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// 允许离站（读）
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[JsonIgnore] private readonly MyDictionary<int, bool> allowExit = new();
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// 报告离开（写）
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[JsonIgnore] private readonly MyDictionary<int, bool> reportLeave = new();
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// 确认离开（读）
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[JsonIgnore] private readonly MyDictionary<int, bool> acknowledgeLeave = new();
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// 站点上所在的小车（状态）
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[JsonIgnore] private readonly MyDictionary<int, int> inSiteCarId = new();
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[JsonIgnore] private object sync = new();
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public virtual string GetSiteDisplay(int siteId)
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{
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return $"{siteId}";
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}
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/// <summary>
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/// 返回为true的站点，是当前互锁机制关注的站点
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/// </summary>
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/// <param name="siteId"></param>
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/// <returns></returns>
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public virtual bool SiteFilter(int siteId)
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{
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return true;
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}
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/// <summary>
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/// 互锁站点进站条件
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/// </summary>
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/// <param name="car"></param>
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/// <param name="siteId"></param>
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/// <returns></returns>
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private bool EnterCondition(AbstractCar car, int siteId)
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{
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// todo: 是否考虑提前更多申请进入，加快节拍？
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if (car.status.pendingLocks.First() != siteId) return false;
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//DateTime startTime = DateTime.Now;
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//bool validTime = false;
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lock (sync)
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{
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// if (askEnter[siteId] == false)
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// {
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// Diagnosis.Post($"{car.name}({car.id}) 申请进站 {GetSiteDisplay(siteId)}", "intertime", true);
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// //startTime = DateTime.Now;
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// //validTime = true;
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// }
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askEnter[siteId] = true;
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if (reportLeave[siteId])
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{
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Diagnosis.Post($"{car.name}({car.id})未被准许进站{GetSiteDisplay(siteId)}，前车离开信号未被确认", "interlock", true);
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return false;
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}
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if (allowEnter[siteId])
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{
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Diagnosis.Post($"{car.name}({car.id})准许进站{GetSiteDisplay(siteId)}", "interlock", true);
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// Diagnosis.Post($"{car.name}({car.id}) 准许进站 {GetSiteDisplay(siteId)}", "intertime", true);
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lock (sync) askEnter[siteId] = false;
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return true;
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}
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Diagnosis.Post($"{car.name}({car.id})未被准许进站{GetSiteDisplay(siteId)}", "interlock", true);
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return false;
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}
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}
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/// <summary>
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/// 互锁站点离站条件
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/// </summary>
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/// <param name="car"></param>
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/// <param name="siteId"></param>
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/// <returns></returns>
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private bool ExitCondition(AbstractCar car, int siteId)
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{
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lock (sync)
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{
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askExit[siteId] = true;
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if (allowExit[siteId])
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{
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Diagnosis.Post($"{car.name}({car.id})准许离站{GetSiteDisplay(siteId)}", "interlock", true);
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askExit[siteId] = false;
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return true;
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}
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Diagnosis.Post($"{car.name}({car.id})未被准许离站{GetSiteDisplay(siteId)}", "interlock", true);
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return false;
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}
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}
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/// <summary>
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/// 告知对方设备小车离开，直到对方设备确认收到离开信号
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/// </summary>
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/// <param name="car"></param>
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/// <param name="siteId"></param>
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private void LeaveEvent(AbstractCar car, int siteId)
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{
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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);
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lock (sync)
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{
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if (acknowledgeLeave[siteId]) // 已经确认小车离开
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{
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Diagnosis.Post($"{GetSiteDisplay(siteId)}确认{car.name}({car.id})离开", "interlock", true);
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break;
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}
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}
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Diagnosis.Post($"{car.name}({car.id})告知离开{GetSiteDisplay(siteId)}", "interlock", true);
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lock (sync) reportLeave[siteId] = true;
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}
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lock (sync) reportLeave[siteId] = false;
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}).Start();
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}
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[JsonIgnore] private bool enableSimulation = false;
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[JsonIgnore] public bool started = false;
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[JsonIgnore] public Thread showT;
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[MethodMember(Name = "启动进程", Description = "处理安全互锁")]
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public override void Execute()
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{
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if (started) return;
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// started = true;
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status.status = "已启动";
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showT = new Thread(() =>
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{
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while (true)
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{
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Thread.Sleep(300);
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try
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{
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if (fields.TryGetValue("enableSimulation", out var userEnableSimulation))
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enableSimulation = bool.Parse(userEnableSimulation);
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foreach (var site in SimpleLib.GetAllSites().Where(ss => SiteFilter(ss.id)))
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{
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var carId = -1;
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foreach (var car in SimpleLib.GetAllCars())
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{
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lock (TrafficControl.syncTrafficSequence)
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{
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if (car.status.holdingLocks.Length == 1 && car.status.holdingLocks[0] == site.id)
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{
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carId = car.id;
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break;
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}
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}
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}
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lock (sync) inSiteCarId[site.id] = carId;
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}
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// if (!onDisplay) continue;
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var painter = SimpleMonitor.getPainter("DemoInterlockMission");
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painter.clear();
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if (!onDisplay) continue;
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//string str;
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//lock (sync)
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//{
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// var keys = askEnter.Keys.Concat(askExit.Keys).Concat(reportLeave.Keys).ToHashSet()
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// .OrderBy(kk => int.Parse(SimpleLib.GetSite(kk).fields["ASNub"])).ToList();
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// str = $"站点\t\t请求进站\t允许进站\t请求离站\t允许离站\t上报离开\t确认离开\t小车id\n" +
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// $"{string.Join("\n", keys.Select(key =>
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// $"{GetSiteDisplay(key)}\t{askEnter[key]}\t\t{allowEnter[key]}\t\t" +
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// $"{askExit[key]}\t\t{allowExit[key]}\t\t" +
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// $"{reportLeave[key]}\t\t{acknowledgeLeave[key]}\t\t{inSiteCarId[key]}"))}";
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//}
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//painter.drawTextFixed(str, new SolidBrush(Color.Black), VirtualPainter.DrawPosition.RightTop, Color.AliceBlue);
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}
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catch (Exception ex)
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{
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Diagnosis.Post(ExceptionFormatter.FormatEx(ex), "interlock", true);
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}
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}
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}) { Name = "InterlockMission" };
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showT.Start();
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}
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[JsonIgnore] private bool onDisplay = true;
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[MethodMember(Name = "切换显示", Description = "是否在右下角显示")]
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public void SwitchAlwaysOnDisplay()
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{
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onDisplay = !onDisplay;
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}
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private async void SimButton(string title, MyDictionary<int, bool> toManipulate)
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{
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//if (!enableSimulation) return;
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G.pushStatus("请选择站点");
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var pt = await Startup.UI.getPoint(new UIOps.getPointOptions() { site = true });
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var site = SimpleLib.GetSite(pt.site);
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if (SiteFilter(site.id))
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{
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var vv = await Startup.UI.Input("请输入true/false", title, "true");
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if (vv == null || !bool.TryParse(vv, out var allow))
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{
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FairyUiHelper.Alert("错误", "输入错误");
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return;
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}
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lock (sync) toManipulate[site.id] = allow;
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}
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}
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[MethodMember(Name = "模拟准许进站")]
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public void SimAllowEnter()
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{
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SimButton("模拟准许进入状态", allowEnter);
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}
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[MethodMember(Name = "模拟准许离站")]
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public void SimAllowExit()
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{
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SimButton("模拟准许离站状态", allowExit);
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}
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[MethodMember(Name = "模拟确认离开")]
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public void SimLeaveNoted()
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{
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SimButton("模拟确认离开状态", acknowledgeLeave);
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}
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[MethodMember(Name = "模拟发送离开")]
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public async void SimReportLeave()
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{
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// if (!enableSimulation) return;
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G.pushStatus("请选择站点");
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var pt = await Startup.UI.getPoint(new UIOps.getPointOptions() { site = true });
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var site = SimpleLib.GetSite(pt.site);
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if (SiteFilter(site.id))
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{
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lock (sync) reportLeave[site.id] = true;
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}
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new Thread(() =>
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{
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var t1 = DateTime.Now;
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while (true)
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{
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Thread.Sleep(100);
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lock (sync)
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{
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var deltaT = (DateTime.Now - t1).TotalSeconds;
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if (acknowledgeLeave[site.id]||deltaT>5) // 已经确认小车离开
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{
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Diagnosis.Post($"{GetSiteDisplay(site.id)} 停止发送离开", "simlikai", true);
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break;
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}
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}
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Diagnosis.Post($"模拟告知离开{GetSiteDisplay(site.id)}", "simlikai", true);
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lock (sync) reportLeave[site.id] = true;
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}
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lock (sync) reportLeave[site.id] = false;
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}).Start();
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// SimButton("模拟确认离开状态", reportLeave);
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}
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public AbstractInterlockMission()
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{
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Diagnosis.Post($"InterlockMechanism loaded", "interlock", true);
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TrafficControl.BeforeLock += (car, siteId) =>
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{
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if (SiteFilter(siteId)) // EnterCondition
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return EnterCondition(car, siteId);
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var site = SimpleLib.GetSite(siteId);
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if (site.fields.ContainsKey("PreAskEnterSite") && int.TryParse(site.fields["PreAskEnterSite"], out int PreAskEnterSiteId))
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{
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var presite = SimpleLib.GetSite(PreAskEnterSiteId);
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if (presite != null && SiteFilter(PreAskEnterSiteId))
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{
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Diagnosis.Post($"{car.name}({car.id})在{siteId}-{GetSiteDisplay(siteId)}，提前申请 {PreAskEnterSiteId} 的请求进入", "interlock", true);
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askEnter[PreAskEnterSiteId] = true;
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}
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}
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// ExitCondition
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lock (TrafficControl.syncTrafficSequence)
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if (!car.status.holdingLocks.Any(ss => SiteFilter(ss)))
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return true;
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var isNeighbor = false;
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var lockSiteId = -1;
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foreach (var trackId in site.relatedTracks)
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{
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var track = SimpleLib.GetTrack(trackId);
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if (SiteFilter(track.siteA))
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{
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isNeighbor = true;
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lockSiteId = track.siteA;
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break;
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}
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if (SiteFilter(track.siteB))
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{
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isNeighbor = true;
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lockSiteId = track.siteB;
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break;
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}
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}
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return !isNeighbor || ExitCondition(car, lockSiteId);
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};
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TrafficControl.AfterLeave += (car, siteId) =>
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{
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if (SiteFilter(siteId)) LeaveEvent(car, siteId);
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};
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}
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}
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}
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