255 lines
9.5 KiB
Markdown
255 lines
9.5 KiB
Markdown
|
# 脚本生成特性汇总表
|
||
|
|
|
||
|
|
> 本文档汇总了工程中所有的 `TemplateTrackCoderSettings`、`TemplateSiteCoderSettings` 和 `ProgramTrackCoderSettings` 特性配置。
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
## 关键参数说明
|
||
|
|
|
||
|
|
| 参数 | 说明 |
|
||
|
|
|------|------|
|
||
|
|
| **priority** | 优先级，数值越大则脚本生成顺序越靠前 |
|
||
|
|
| **useVerb** | 判断条件，为 true 时生成 templateString |
|
||
|
|
| **blockVerb** | 如果为 true，且 useVerb 通过，则低于此 priority 的脚本不再继续判断 |
|
||
|
|
| **templateString** | 生成的脚本模板，支持 `${变量}` 语法 |
|
||
|
|
| **siteFields** | 站点字段类型定义 |
|
||
|
|
| **trackFields** | 路径字段类型定义 |
|
||
|
|
| **planFields** | 计划字段类型定义 |
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
## 执行流程说明
|
||
|
|
|
||
|
|
1. 按 **priority 从大到小** 依次检查每个 CoderSettings
|
||
|
|
2. 如果 **useVerb** 条件为 true，则生成 **templateString** 脚本
|
||
|
|
3. 如果 **blockVerb** 为 true 且 useVerb 通过，则 **阻止低优先级脚本继续执行**
|
||
|
|
4. ProgramTrackCoderSettings 使用自定义的 `ITrackCoder` 程序来生成脚本
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
## 一、TemplateTrackCoderSettings（路径脚本）
|
||
|
|
|
||
|
|
### 1. MultiWheelLifterCar.cs - 多舵轮顶升车
|
||
|
|
|
||
|
|
| Priority | useVerb | blockVerb | templateString | 说明 |
|
||
|
|
|----------|---------|-----------|----------------|------|
|
||
|
|
| 30 | `track.SleepTime!=0` | false | `agv.Wait();agv.Sleep(${track.SleepTime});agv.Wait();` | 路径上休眠 |
|
||
|
|
| 30 | `track.TrayTarget!=0` | false | `agv.Wait();agv.TrayControl(${track.TrayTarget});agv.Wait();` | 托盘控制 |
|
||
|
|
| 27 | `track.LidarArea != -2` | - | `agv.Queue(()=>{},()=>{ agv.SwitchLidarArea(${track.LidarArea}); });` | 切换激光避障区域 |
|
||
|
|
| 20 | (无条件) | - | `agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceDistance(${track.StopDistance},${track.SlowDistance}); });` | 更改避障距离 |
|
||
|
|
| 20 | `track.IOArea != -1` | - | `agv.Queue(()=>{},()=>{ agv.SwitchIoArea(${track.IOArea}); });` | 切换IO区域 |
|
||
|
|
| 20 | `dst.ChangeAvoidanceParam==true` | - | `agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceParam(${dst.CarLength},${dst.CarWidth},${dst.CarCenterX},${dst.CarCenterY}); });` | 切换避障尺寸 |
|
||
|
|
| 20 | `track.BiasAlarmThresh >0 \|\| track.DthAlarmThresh > 0` | - | `agv.Queue(()=>{},()=>{ agv.ChangeTrackingErrThresh(${track.BiasAlarmThresh},${track.DthAlarmThresh}); });` | 更改跟踪误差阈值 |
|
||
|
|
| 19 | `dst.tag>0 && src.tag>0` | true | `agv.QrGo(${src.x},${src.y},${src.id},${src.tag},${dst.x},${dst.y},${dst.id},${dst.tag},${track.id},...);` | 二维码导航 |
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
### 2. Kiva.cs - Kiva车
|
||
|
|
|
||
|
|
| Priority | useVerb | blockVerb | templateString | 说明 |
|
||
|
|
|----------|---------|-----------|----------------|------|
|
||
|
|
| 30 | `dst.tag>0 && src.tag>0` | true | `agv.QrGo(...);` | 二维码导航 |
|
||
|
|
| 22 | `src.Shelf && plan.curSeg==1` | true | `agv.LeaveShelf(...);` | 离开货架 |
|
||
|
|
| 20 | `plan.action=='fetch' && dst.Shelf && plan.curSeg==plan.segN-2` | true | `agv.Fetch(...);` | 取货 |
|
||
|
|
| 20 | `plan.action=='put' && dst.Shelf && plan.curSeg==plan.segN-2` | true | `agv.Put(...);` | 放货 |
|
||
|
|
| 20 | (无条件) | - | `agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceDistance(...); });` | 更改避障距离 |
|
||
|
|
| 20 | (无条件) | - | `agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceParam(${dst.CarLength},${dst.CarWidth}); });` | 切换避障尺寸 |
|
||
|
|
| 20 | `track.IOArea != -1` | - | `agv.Queue(()=>{},()=>{ agv.SwitchIoArea(${track.IOArea}); });` | 切换IO区域 |
|
||
|
|
| 20 | `track.BiasAlarmThresh >0 \|\| track.DthAlarmThresh > 0` | - | `agv.Queue(()=>{},()=>{ agv.ChangeTrackingErrThresh(...); });` | 更改跟踪误差阈值 |
|
||
|
|
| 17 | `track.LidarArea != -2` | - | `agv.Queue(()=>{},()=>{ agv.SwitchLidarArea(${track.LidarArea}); });` | 切换激光避障区域 |
|
||
|
|
| 10 | `track.CalibrateWheelEncoder && track.ReverseDst != dst.id` | true | `agv.CalibrateWheelEncoder(...);` | 标定轮里程计 |
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
### 3. Forklift.cs - 叉车
|
||
|
|
|
||
|
|
| Priority | useVerb | blockVerb | templateString | 说明 |
|
||
|
|
|----------|---------|-----------|----------------|------|
|
||
|
|
| 22 | `src.Shelf` | true | `agv.LeaveShelf(...);agv.Wait();` | 离开货架 |
|
||
|
|
| 20 | `track.LidarArea != -2` | - | `agv.Queue(()=>{},()=>{ agv.SwitchLidarArea(${track.LidarArea}); });` | 切换激光避障区域 |
|
||
|
|
| 20 | `track.IOArea != -1` | - | `agv.Queue(()=>{},()=>{ agv.SwitchIoArea(${track.IOArea}); });` | 切换IO区域 |
|
||
|
|
| 20 | `dst.CarLength != -1 && dst.CarWidth != -1` | - | `agv.Queue(()=>{},()=>{ agv.ChangeAvoidanceParam(${dst.CarLength},${dst.CarWidth}); });` | 切换避障尺寸 |
|
||
|
|
| 20 | `plan.action=='fetch' && dst.Shelf` | true | `agv.Wait();agv.Fetch(...);agv.Wait();` | 取货 |
|
||
|
|
| 20 | `plan.action=='put' && dst.Shelf` | true | `agv.Wait();agv.Put(...);agv.Wait();` | 放货 |
|
||
|
|
| 20 | `track.BiasAlarmThresh >0 \|\| track.DthAlarmThresh > 0` | - | `agv.Queue(()=>{},()=>{ agv.ChangeTrackingErrThresh(...); });` | 更改跟踪误差阈值 |
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
### 4. MultiWheelForkLifter.cs - 多舵轮叉车
|
||
|
|
|
||
|
|
| Priority | useVerb | blockVerb | templateString | 说明 |
|
||
|
|
|----------|---------|-----------|----------------|------|
|
||
|
|
| 20 | `plan.action=='fetch' && dst.Shelf && plan.curSeg==plan.segN-2` | true | `agv.Wait();agv.Fetch(...);agv.Wait();` | 取货 |
|
||
|
|
| 20 | `plan.action=='put' && dst.Shelf && plan.curSeg==plan.segN-2` | true | `agv.Wait();agv.Put(...);agv.Wait();` | 放货 |
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
## 二、TemplateSiteCoderSettings（站点脚本）
|
||
|
|
|
||
|
|
### 1. Kiva.cs
|
||
|
|
|
||
|
|
| Priority | useVerb | blockVerb | templateString | 说明 |
|
||
|
|
|----------|---------|-----------|----------------|------|
|
||
|
|
| 25 | `plan.action=='fetch' && plan.segN == 1 && dst.Shelf` | true | `agv.FetchInPlace(...);agv.Wait();` | 原地取货 |
|
||
|
|
|
||
|
|
### 2. Forklift.cs
|
||
|
|
|
||
|
|
| Priority | useVerb | blockVerb | templateString | 说明 |
|
||
|
|
|----------|---------|-----------|----------------|------|
|
||
|
|
| 25 | `plan.action=='fetch' && plan.segN==1 && dst.Shelf` | true | `agv.FetchInPlace(...);agv.Wait();` | 原地取货 |
|
||
|
|
|
||
|
|
### 3. ArmCar.cs - 机械臂车
|
||
|
|
|
||
|
|
| Priority | useVerb | blockVerb | templateString | 说明 |
|
||
|
|
|----------|---------|-----------|----------------|------|
|
||
|
|
| 5 | `plan.action=='pickFull' && plan.curSeg==plan.segN-1` | true | `agv.Wait();agv.PickFull("${dst.name}");agv.Wait();` | 满盘取货 |
|
||
|
|
| 5 | `plan.action=='pickEmpty' && plan.curSeg==plan.segN-1` | true | `agv.Wait();agv.PickEmpty("${dst.name}");agv.Wait();` | 空盘取货 |
|
||
|
|
| 5 | `plan.action=='putFull' && plan.curSeg==plan.segN-1` | true | `agv.Wait();agv.PutFull("${dst.name}");agv.Wait();` | 满盘放货 |
|
||
|
|
| 5 | `plan.action=='putEmpty' && plan.curSeg==plan.segN-1` | true | `agv.Wait();agv.PutEmpty("${dst.name}");agv.Wait();` | 空盘放货 |
|
||
|
|
| 5 | `plan.action=='MoveArm' && plan.curSeg==plan.segN-1` | true | `agv.Wait();agv.MoveArm(${dst.MoveDirection});agv.Wait();` | 移动机械臂 |
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
## 三、ProgramTrackCoderSettings（程序化路径脚本）
|
||
|
|
|
||
|
|
| 车型 | Priority | Program | 说明 |
|
||
|
|
|------|----------|---------|------|
|
||
|
|
| MultiWheelLifterCar | 19 | `MagTrackCoder` | 磁导航路径编码 |
|
||
|
|
| Kiva | 19 | `AllCarMagTrackCoder` | 磁导航路径编码 |
|
||
|
|
| Kiva | 5 | `KivaCarTrackCoder` | Kiva旋转控制 |
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
## 四、字段类型定义
|
||
|
|
|
||
|
|
### BasicCarFields
|
||
|
|
```csharp
|
||
|
|
public float MagSlowSpeed = 0;
|
||
|
|
public float MagFullSpeed = 0;
|
||
|
|
```
|
||
|
|
|
||
|
|
### BasicSiteFields
|
||
|
|
```csharp
|
||
|
|
public bool Shelf = false;
|
||
|
|
public float CarLength = -1;
|
||
|
|
public float CarWidth = -1;
|
||
|
|
public float CarCenterX = 0;
|
||
|
|
public float CarCenterY = 0;
|
||
|
|
public int tag = -1;
|
||
|
|
public int TagValue = -1;// 磁导航，二维码值，或者rfid值
|
||
|
|
```
|
||
|
|
|
||
|
|
### BasicTrackFields
|
||
|
|
```csharp
|
||
|
|
public int IOArea = -1;
|
||
|
|
public int LidarArea = -2;
|
||
|
|
public float BiasAlarmThresh = -1;
|
||
|
|
public float DthAlarmThresh = -1;
|
||
|
|
public float Speed = 0.2f;
|
||
|
|
public bool Reverse = false;
|
||
|
|
public int ReverseDst = -1;
|
||
|
|
public bool SwitchBarrier = false;
|
||
|
|
public bool CalibrateWheelEncoder = false;
|
||
|
|
public float CarDirectionBias = 0;
|
||
|
|
public bool EnableCarAbsoluteDirection = false;
|
||
|
|
public float CarAbsoluteDirection = 0;
|
||
|
|
public float SlowDistance = -1;
|
||
|
|
public float StopDistance = -1;
|
||
|
|
```
|
||
|
|
|
||
|
|
### BasicPlanFields
|
||
|
|
```csharp
|
||
|
|
public string action = "/";
|
||
|
|
public float CarLength = -1;
|
||
|
|
public float CarWidth = -1;
|
||
|
|
```
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
## 五、扩展字段类型
|
||
|
|
|
||
|
|
### MultiWheelLifterTrackFields (继承 BasicTrackFields)
|
||
|
|
```csharp
|
||
|
|
public int SleepTime = 0;
|
||
|
|
public float TrayTarget = 0;
|
||
|
|
```
|
||
|
|
|
||
|
|
### MultiWheelLifterSiteFields (继承 BasicSiteFields)
|
||
|
|
```csharp
|
||
|
|
public bool ChangeAvoidanceParam = false;
|
||
|
|
```
|
||
|
|
|
||
|
|
### KivaSiteFields (继承 BasicSiteFields)
|
||
|
|
```csharp
|
||
|
|
public int AngleTarget = 0;
|
||
|
|
public bool Turn = false;
|
||
|
|
public float FetchSpeed = 0;
|
||
|
|
public int FetchLidarArea = -2;
|
||
|
|
public int FetchIOArea = -1;
|
||
|
|
public bool FetchReverse = false;
|
||
|
|
public float FetchBlindMoveDist = 0;
|
||
|
|
public float FetchLiftDownTarget = -1;
|
||
|
|
public float FetchLiftUpTarget = -1;
|
||
|
|
public bool FetchUseQr = false;
|
||
|
|
public int FetchQrMode = -1;
|
||
|
|
public bool FetchIsUpQr = false;
|
||
|
|
public bool FetchUseDetector = false;
|
||
|
|
public int FetchDetector = 0;
|
||
|
|
public float FetchDetectWidth = -1;
|
||
|
|
public float FetchDetectDepth = -1;
|
||
|
|
public bool FetchLeaveSrcEarly = false;
|
||
|
|
public float FetchShieldObstacleDist = -1;
|
||
|
|
// ... 以及 Put 和 LeaveShelf 相关字段
|
||
|
|
```
|
||
|
|
|
||
|
|
### KivaTrackFields (继承 BasicTrackFields)
|
||
|
|
```csharp
|
||
|
|
public int ManeuverDir = 0;
|
||
|
|
public int ForwardDst = 0;
|
||
|
|
public int ForwardObChooseDst = -2;
|
||
|
|
public float BlindMoveDist = 0;
|
||
|
|
public bool UseDetector = false;
|
||
|
|
public int DetectorMode = -1;
|
||
|
|
public float DetectWidth = -1;
|
||
|
|
public float DetectDepth = -1;
|
||
|
|
public bool LeaveSrcEarly = false;
|
||
|
|
public float ShieldObstacleDist = -1;
|
||
|
|
```
|
||
|
|
|
||
|
|
### KivaPlanFields (继承 BasicPlanFields)
|
||
|
|
```csharp
|
||
|
|
public bool reverse = false;
|
||
|
|
public int level = 0;
|
||
|
|
```
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
## 六、ITrackCoder 接口
|
||
|
|
|
||
|
|
程序化脚本生成器需要实现 `ITrackCoder` 接口：
|
||
|
|
|
||
|
|
```csharp
|
||
|
|
public interface ITrackCoder
|
||
|
|
{
|
||
|
|
/// <summary>
|
||
|
|
/// 生成脚本代码
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="plan">路径计划</param>
|
||
|
|
/// <param name="track">当前路径段</param>
|
||
|
|
/// <param name="src">起点</param>
|
||
|
|
/// <param name="dst">终点</param>
|
||
|
|
/// <param name="i">段索引</param>
|
||
|
|
/// <returns>是否成功生成</returns>
|
||
|
|
bool Code(SegmentPlan plan, Track track, Site src, Site dst, int i);
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// 是否阻止后续脚本生成
|
||
|
|
/// </summary>
|
||
|
|
bool toBlock();
|
||
|
|
}
|
||
|
|
```
|
||
|
|
|
||
|
|
---
|
||
|
|
|
||
|
|
*文档生成时间: 2024年*
|