新增 scene.signal 信号交互插件，落地 PLC 握手与扫车放行。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
ykkokluo
Cursor
@@ -0,0 +1,183 @@
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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 System.Threading;
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using SimpleCore.Library;
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using SimpleLite.RCS.CarTypes;
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using StandardScene.Signal.Model;
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using StandardScene.Signal.Plc;
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namespace StandardScene.Signal.Logic
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{
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/// <summary>1s 扫全场车，对齐反编译 DefaultPlugin.ExcuteThreadMethod + StarSignManage。</summary>
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public sealed class CarScanWorker : IDisposable
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{
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private readonly Func<IReadOnlyList<PlcStationRuntime>> _runtimes;
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private readonly int _tickMs;
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private readonly object _configLock = new object();
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private Dictionary<int, HandshakePointModel> _handshake = new Dictionary<int, HandshakePointModel>();
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private Dictionary<int, ReleasePointModel> _release = new Dictionary<int, ReleasePointModel>();
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private readonly Dictionary<string, int> _rateFlowLog = new Dictionary<string, int>();
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private readonly Dictionary<int, DateTime> _chargeStarted = new Dictionary<int, DateTime>();
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private readonly Dictionary<int, DateTime> _unknownTypeLog = new Dictionary<int, DateTime>();
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private CancellationTokenSource _cts;
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private Thread _thread;
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private int _tickCount;
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public CarScanWorker(Func<IReadOnlyList<PlcStationRuntime>> runtimes, int tickMs)
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{
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_runtimes = runtimes ?? throw new ArgumentNullException(nameof(runtimes));
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_tickMs = Math.Max(100, tickMs);
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}
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public int TickCount => _tickCount;
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public void ReplaceConfig(IEnumerable<HandshakePointModel> handshake, IEnumerable<ReleasePointModel> release)
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{
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lock (_configLock)
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{
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_handshake = (handshake ?? Array.Empty<HandshakePointModel>())
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.Where(x => x != null && x.Sit > 0 && !string.IsNullOrWhiteSpace(x.SignalType))
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.GroupBy(x => x.Sit)
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.ToDictionary(g => g.Key, g => g.First());
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_release = (release ?? Array.Empty<ReleasePointModel>())
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.Where(x => x != null && x.Sit > 0)
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.GroupBy(x => x.Sit)
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.ToDictionary(g => g.Key, g => g.First());
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}
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}
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public void Start()
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{
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if (_thread != null && _thread.IsAlive) return;
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_cts = new CancellationTokenSource();
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_thread = new Thread(Loop)
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{
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IsBackground = true,
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Name = "SignalScan"
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};
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_thread.Start();
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Diagnosis.Log("扫车握手线程已启动", "Signal", true);
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}
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public void Stop()
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{
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try { _cts?.Cancel(); }
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catch { }
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try { _thread?.Join(2000); }
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catch { }
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_thread = null;
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Diagnosis.Log("扫车握手线程已停止", "Signal", true);
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}
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public void Dispose() => Stop();
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private void Loop()
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{
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var token = _cts.Token;
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while (!token.IsCancellationRequested)
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{
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try
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{
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ScanOnce();
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Interlocked.Increment(ref _tickCount);
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}
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catch (Exception ex)
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{
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Diagnosis.Log($"检测信号停止的AGV是否可以放行异常：{ex.Message}", "Signal", true);
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}
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try { Thread.Sleep(_tickMs); }
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catch (ThreadInterruptedException) { break; }
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}
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}
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internal void ScanOnce()
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{
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Dictionary<int, HandshakePointModel> handshake;
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Dictionary<int, ReleasePointModel> release;
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lock (_configLock)
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{
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handshake = _handshake;
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release = _release;
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}
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PlcStationRuntime Find(string name)
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{
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if (string.IsNullOrWhiteSpace(name))
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return null;
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var list = _runtimes() ?? Array.Empty<PlcStationRuntime>();
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return list.FirstOrDefault(x =>
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string.Equals(x.Config.JgName, name, StringComparison.OrdinalIgnoreCase));
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}
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foreach (var car in SignalCarAdapter.All())
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{
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if (car == null) continue;
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var sit = SignalCarAdapter.PositionId(car);
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var spec = ResolveSpec(sit, handshake);
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if (SignalCarAdapter.IsStopped(car))
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{
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if (spec != null)
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DispatchStopped(car, spec, Find);
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ReleasePointHandler.OnStopped(car, sit, release);
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}
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else if (spec != null && spec.Is("JGControl"))
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{
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JgControlHandler.OnMoving(car, spec, Find);
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}
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}
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}
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private SignalStopSpec ResolveSpec(int sit, IReadOnlyDictionary<int, HandshakePointModel> handshake)
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{
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if (sit <= 0) return null;
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if (SignalCarAdapter.TryReadSignalStop(sit, out var type, out var parms))
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{
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if (string.IsNullOrWhiteSpace(type))
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return null;
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return SignalStopSpec.Parse(type, parms);
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}
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if (handshake != null && handshake.TryGetValue(sit, out var model))
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return SignalStopSpec.From(model);
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return null;
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}
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private void DispatchStopped(Car car, SignalStopSpec spec, Func<string, PlcStationRuntime> find)
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{
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if (spec.Is("TimedCharging"))
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{
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TimedChargeHandler.OnStopped(car, spec, _chargeStarted);
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return;
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}
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if (spec.Is("JGControl"))
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{
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JgControlHandler.OnStopped(car, spec, find, _rateFlowLog);
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return;
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}
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if (spec.Is("PointControl"))
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{
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PointControlHandler.OnStopped(car, spec, find);
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return;
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}
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if (spec.Is("RateFlowControl"))
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{
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RateFlowHandler.OnStopped(car, spec, _rateFlowLog);
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return;
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}
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var sit = SignalCarAdapter.PositionId(car);
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if (_unknownTypeLog.TryGetValue(sit, out var last) && (DateTime.Now - last).TotalSeconds < 10)
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return;
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_unknownTypeLog[sit] = DateTime.Now;
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Diagnosis.Log($"信号类型【{spec.SignalType}】未找到匹配的业务处理模块", "Signal", true);
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}
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}
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}
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@@ -0,0 +1,133 @@
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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 SimpleCore.Library;
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using SimpleLite.RCS.CarTypes;
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using StandardScene.Signal.Model;
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using StandardScene.Signal.Plc;
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namespace StandardScene.Signal.Logic
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{
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/// <summary>对齐反编译 DefaultPlugin.JGControl / JGJudge / RequestIn / Arrived。</summary>
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public static class JgControlHandler
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{
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public static void OnStopped(Car car, SignalStopSpec spec, Func<string, PlcStationRuntime> find, IDictionary<string, int> rateFlowLog)
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{
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var jgName = spec.Part(0).Trim();
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var action = spec.Part(1).Trim();
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var rateFlow = spec.Part(2).Trim();
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if (string.IsNullOrEmpty(jgName))
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{
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Diagnosis.Log($"AGV{car.id}停在地标{SignalCarAdapter.PositionId(car)}，读取配置机构名称为空", "JGControl", true);
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return;
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}
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if (!string.IsNullOrEmpty(rateFlow) && !RateFlowHandler.AllowPass(car, rateFlow, rateFlowLog))
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{
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Diagnosis.Log($"AGV{car.id}停在地标{SignalCarAdapter.PositionId(car)}，限流禁止通行", "JGControl", true);
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return;
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}
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if (string.Equals(action, "RequestIn", StringComparison.OrdinalIgnoreCase))
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RequestIn(jgName, car, find);
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else if (string.Equals(action, "Arrived", StringComparison.OrdinalIgnoreCase))
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Arrived(jgName, car, find);
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}
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public static void OnMoving(Car car, SignalStopSpec spec, Func<string, PlcStationRuntime> find)
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{
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var jgName = spec.Part(0).Trim();
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var action = spec.Part(1).Trim();
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if (string.IsNullOrEmpty(jgName))
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return;
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if (string.Equals(action, "RequestIn", StringComparison.OrdinalIgnoreCase))
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RequestInJudge(jgName, car, find);
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}
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private static void RequestIn(string jgName, Car car, Func<string, PlcStationRuntime> find)
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{
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var rt = find(jgName);
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if (rt == null)
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{
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Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
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return;
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}
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lock (rt.Sync)
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{
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if (rt.ReadSignal == SignalReadValue.允许进入 &&
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rt.RequestInAgvNo == 0 &&
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rt.ReadWriteSignal == SignalWriteValue.无状态)
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{
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if (rt.Config.LineType is SignalLineType.单牵引下线机构 or SignalLineType.双牵引下线机构)
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{
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var inside = SignalCarAdapter.CarsAt(rt.Config.JgPointId);
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if (inside.Count > 0)
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{
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Diagnosis.Log(
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$"{jgName} 机构内有AGV【{string.Join(",", inside.Select(x => x.id))}】暂不放行AGV{car.id}",
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"JGControl", true);
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return;
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}
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}
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Diagnosis.Log($"{jgName} 机构允许进入，通知AGV{car.id}启动，通知机构AGV进入中", "JGControl", true);
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rt.WriteSignal = SignalWriteValue.进入中;
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rt.RequestInAgvNo = car.id;
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SignalCarAdapter.StopCharge(car);
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SignalCarAdapter.Start(car);
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return;
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}
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if (rt.ReadSignal != SignalReadValue.允许进入 &&
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rt.RequestInAgvNo != car.id &&
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SignalCarAdapter.IsMoving(car))
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{
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SignalCarAdapter.Stop(car);
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Diagnosis.Log($"{jgName} 机构不允许进入，监控到AGV启动，暂停AGV{car.id}", "JGControl", true);
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}
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}
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}
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private static void RequestInJudge(string jgName, Car car, Func<string, PlcStationRuntime> find)
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{
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var rt = find(jgName);
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if (rt == null)
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{
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Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
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return;
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}
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lock (rt.Sync)
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{
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if (rt.ReadSignal != SignalReadValue.允许进入 &&
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rt.RequestInAgvNo != car.id &&
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SignalCarAdapter.IsMoving(car))
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{
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SignalCarAdapter.Stop(car);
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Diagnosis.Log($"{jgName} 机构不允许进入，监控到AGV启动，暂停AGV{car.id}", "JGControl", true);
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}
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}
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}
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private static void Arrived(string jgName, Car car, Func<string, PlcStationRuntime> find)
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{
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var rt = find(jgName);
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if (rt == null)
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{
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Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
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return;
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}
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lock (rt.Sync)
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{
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if (rt.InAgvNo == car.id)
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return;
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Diagnosis.Log($"AGV{car.id}已到达机构{jgName}", "JGControl", true);
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rt.WriteSignal = SignalWriteValue.到位;
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rt.InAgvNo = car.id;
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rt.RequestInAgvNo = 0;
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}
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}
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}
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}
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@@ -0,0 +1,77 @@
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using System;
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using SimpleCore.Library;
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using SimpleLite.RCS.CarTypes;
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using StandardScene.Signal.Model;
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using StandardScene.Signal.Plc;
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namespace StandardScene.Signal.Logic
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{
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/// <summary>对齐反编译 DefaultPlugin.PointControl：牵引棒升/降到位后再放行。</summary>
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public static class PointControlHandler
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{
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public static void OnStopped(Car car, SignalStopSpec spec, Func<string, PlcStationRuntime> find)
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{
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var action = spec.Part(0).Trim();
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var jgName = spec.Part(1).Trim();
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if (string.IsNullOrEmpty(action))
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{
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Diagnosis.Log($"AGV{car.id}停在地标{SignalCarAdapter.PositionId(car)}，读取配置特殊点名称为空", "SetPin", true);
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return;
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}
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var waitLeave = false;
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if (!string.IsNullOrEmpty(jgName))
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{
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var rt = find(jgName);
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if (rt != null)
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{
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lock (rt.Sync)
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waitLeave = rt.ReadSignal != SignalReadValue.允许离开;
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}
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}
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var pos = SignalCarAdapter.PositionId(car);
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switch (action)
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{
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case "UP1":
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PinThenGo(car, pos, waitLeave, jgName, "SetPin1Up");
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break;
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case "UP2":
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PinThenGo(car, pos, waitLeave, jgName, "SetPin1Up", "SetPin2Up");
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break;
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case "Down1":
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PinThenGo(car, pos, waitLeave, jgName, "SetPin1Down");
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break;
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case "Down2":
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PinThenGo(car, pos, waitLeave, jgName, "SetPin1Down", "SetPin2Down");
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break;
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}
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}
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private static void PinThenGo(Car car, int pos, bool waitLeave, string jgName, params string[] actions)
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{
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var done = true;
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foreach (var a in actions)
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{
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if (!SignalCarAdapter.IsActionFinish(car, a))
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done = false;
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}
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if (!done)
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{
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foreach (var a in actions)
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SignalCarAdapter.Control(car, a);
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return;
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}
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if (waitLeave)
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{
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Diagnosis.Log($"AGV{car.id}停在地标{pos}，需要读取{jgName}工位的允许离开", "SetPin", true);
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return;
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}
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SignalCarAdapter.Start(car);
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Diagnosis.Log($"AGV{car.id}停在地标{pos}，牵引棒动作到位，已通知AGV启动", "SetPin", true);
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}
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}
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}
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@@ -0,0 +1,83 @@
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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 SimpleCore.Library;
|
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using SimpleLite.RCS.CarTypes;
|
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using StandardScene.Signal.Plc;
|
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|
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namespace StandardScene.Signal.Logic
|
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{
|
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/// <summary>
|
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/// 对齐反编译 DefaultPlugin.RateFlowControl。
|
||||
/// 独立类型用分号：区域;车组;限额;点1,点2。JGControl 第三段用短横：区域-车组-限额-点1,点2。
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/// </summary>
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public static class RateFlowHandler
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{
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public static void OnStopped(Car car, SignalStopSpec spec, IDictionary<string, int> logByArea)
|
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{
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if (AllowPass(car, spec.SignalParams, logByArea, sep: ';'))
|
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{
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SignalCarAdapter.StopCharge(car);
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SignalCarAdapter.Start(car);
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}
|
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}
|
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|
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public static bool AllowPass(Car car, string rateFlowString, IDictionary<string, int> logByArea) =>
|
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AllowPass(car, rateFlowString, logByArea, sep: '-');
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|
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private static bool AllowPass(Car car, string raw, IDictionary<string, int> logByArea, char sep)
|
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{
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try
|
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{
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var parts = (raw ?? "").Split(sep);
|
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var area = parts.Length > 0 ? parts[0] : "";
|
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var group = parts.Length > 1 ? parts[1] : "";
|
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var limit = 0;
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if (parts.Length > 2)
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int.TryParse(parts[2], out limit);
|
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var sites = new List<int>();
|
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if (parts.Length > 3)
|
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{
|
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foreach (var s in parts[3].Split(new[] { ',' }, StringSplitOptions.RemoveEmptyEntries))
|
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{
|
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if (int.TryParse(s.Trim(), out var id))
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sites.Add(id);
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}
|
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}
|
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|
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var others = SignalCarAdapter.CarsAt(sites)
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.Where(x => x.id != car.id && string.Equals(SignalCarAdapter.GroupId(x), group, StringComparison.Ordinal))
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||||
.ToList();
|
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var count = others.Count;
|
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if (count < limit)
|
||||
{
|
||||
Diagnosis.Log(
|
||||
$"限流区域{area}限制AGV组{group}流量{limit}辆AGV，当前停放{count}，放行AGV{car.id}",
|
||||
"RateFlow", true);
|
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Note(logByArea, area, car, raw);
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||||
return true;
|
||||
}
|
||||
|
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Diagnosis.Log(
|
||||
$"限流区域{area}限制AGV组{group}流量{limit}辆AGV，当前停放{count}，无法放行",
|
||||
"RateFlow", true);
|
||||
Note(logByArea, area, car, raw);
|
||||
return false;
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
Diagnosis.Log($"处理区域限流业务异常：{ex.Message}", "RateFlow", true);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
private static void Note(IDictionary<string, int> logByArea, string area, Car car, string raw)
|
||||
{
|
||||
if (logByArea == null) return;
|
||||
var changed = !logByArea.TryGetValue(area, out var last) || last != car.id;
|
||||
logByArea[area] = car.id;
|
||||
if (changed)
|
||||
Diagnosis.Log($"AGV{car.id}停在地标{SignalCarAdapter.PositionId(car)}，配置参数：【{raw}】", "RateFlow", true);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
using System.Collections.Generic;
|
||||
using SimpleLite.RCS.CarTypes;
|
||||
using StandardScene.Signal.Model;
|
||||
using StandardScene.Signal.Plc;
|
||||
|
||||
namespace StandardScene.Signal.Logic
|
||||
{
|
||||
/// <summary>对齐反编译 StarSignManage：配置点停稳则停充并放行。</summary>
|
||||
public static class ReleasePointHandler
|
||||
{
|
||||
public static void OnStopped(Car car, int sit, IReadOnlyDictionary<int, ReleasePointModel> points)
|
||||
{
|
||||
if (points == null || !points.TryGetValue(sit, out var p) || p == null || !p.IsUse)
|
||||
return;
|
||||
SignalCarAdapter.StopCharge(car);
|
||||
SignalCarAdapter.Start(car);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
using System;
|
||||
using StandardScene.Signal.Model;
|
||||
|
||||
namespace StandardScene.Signal.Logic
|
||||
{
|
||||
/// <summary>握手点解析结果。参数格式与反编译 SignalStop.SignalParams 一致。</summary>
|
||||
public sealed class SignalStopSpec
|
||||
{
|
||||
public string SignalType { get; init; } = "";
|
||||
public string SignalParams { get; init; } = "";
|
||||
public string[] Parts { get; init; } = Array.Empty<string>();
|
||||
|
||||
public string Part(int index)
|
||||
{
|
||||
if (index < 0 || index >= Parts.Length)
|
||||
return "";
|
||||
return Parts[index] ?? "";
|
||||
}
|
||||
|
||||
public static SignalStopSpec Parse(string signalType, string signalParams)
|
||||
{
|
||||
var type = (signalType ?? "").Trim();
|
||||
var raw = signalParams ?? "";
|
||||
return new SignalStopSpec
|
||||
{
|
||||
SignalType = type,
|
||||
SignalParams = raw,
|
||||
Parts = raw.Split(new[] { ';' }, StringSplitOptions.None)
|
||||
};
|
||||
}
|
||||
|
||||
public static SignalStopSpec From(HandshakePointModel model)
|
||||
{
|
||||
if (model == null)
|
||||
return null;
|
||||
return Parse(model.SignalType, model.SignalParams);
|
||||
}
|
||||
|
||||
public bool Is(string type) =>
|
||||
string.Equals(SignalType, type, StringComparison.OrdinalIgnoreCase);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,57 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using SimpleCore.Library;
|
||||
using SimpleLite.RCS.CarTypes;
|
||||
using StandardScene.Signal.Plc;
|
||||
|
||||
namespace StandardScene.Signal.Logic
|
||||
{
|
||||
/// <summary>对齐反编译 DefaultPlugin.TimedCharging：时长 / 上限电量 / 下限电量。</summary>
|
||||
public static class TimedChargeHandler
|
||||
{
|
||||
public static void OnStopped(Car car, SignalStopSpec spec, IDictionary<int, DateTime> chargeStarted)
|
||||
{
|
||||
int.TryParse(spec.Part(0), out var maxSeconds);
|
||||
int.TryParse(spec.Part(1), out var maxSoc);
|
||||
int.TryParse(spec.Part(2), out var minSoc);
|
||||
|
||||
var charged = SignalCarAdapter.ChargeSeconds(car, chargeStarted);
|
||||
var soc = SignalCarAdapter.Soc(car);
|
||||
var pos = SignalCarAdapter.PositionId(car);
|
||||
|
||||
if (SignalCarAdapter.IsCharging(car))
|
||||
{
|
||||
Diagnosis.Log(
|
||||
$"AGV{car.id}实时电量{soc}停在地标{pos}上已充电{charged}秒，信号停止类型为定时充电，参数为：{maxSeconds}，{maxSoc}，{minSoc}",
|
||||
"Charge", true);
|
||||
|
||||
if (maxSoc != 0 && soc >= maxSoc)
|
||||
{
|
||||
Diagnosis.Log($"AGV{car.id}电量大于配置的最高充电电量，故停止充电", "Charge", true);
|
||||
SignalCarAdapter.StopCharge(car);
|
||||
return;
|
||||
}
|
||||
|
||||
if (maxSeconds != 0 && charged >= maxSeconds)
|
||||
{
|
||||
if (minSoc != 0 && soc <= minSoc)
|
||||
{
|
||||
Diagnosis.Log($"AGV{car.id}充电时长已到达{maxSeconds}秒，但仍未充电至{minSoc}继续充电", "Charge", true);
|
||||
return;
|
||||
}
|
||||
|
||||
Diagnosis.Log($"AGV{car.id}充电时长已到达{maxSeconds}秒，故停止充电", "Charge", true);
|
||||
SignalCarAdapter.StopCharge(car);
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
if (SignalCarAdapter.IsStopped(car))
|
||||
{
|
||||
Diagnosis.Log($"AGV{car.id}已经停止充电，故放行AGV", "Charge", true);
|
||||
SignalCarAdapter.Start(car);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user