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>
2026-08-14 14:43:11 +08:00
parent 1e780c2b65
commit 12c7c1d518
29 changed files with 2425 additions and 1 deletions
@@ -0,0 +1,133 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using SimpleCore.Library;
+using SimpleLite.RCS.CarTypes;
+using StandardScene.Signal.Model;
+using StandardScene.Signal.Plc;
+
+namespace StandardScene.Signal.Logic
+{
+    /// <summary>对齐反编译 DefaultPlugin.JGControl / JGJudge / RequestIn / Arrived。</summary>
+    public static class JgControlHandler
+    {
+        public static void OnStopped(Car car, SignalStopSpec spec, Func<string, PlcStationRuntime> find, IDictionary<string, int> rateFlowLog)
+        {
+            var jgName = spec.Part(0).Trim();
+            var action = spec.Part(1).Trim();
+            var rateFlow = spec.Part(2).Trim();
+            if (string.IsNullOrEmpty(jgName))
+            {
+                Diagnosis.Log($"AGV{car.id}停在地标{SignalCarAdapter.PositionId(car)}，读取配置机构名称为空", "JGControl", true);
+                return;
+            }
+
+            if (!string.IsNullOrEmpty(rateFlow) && !RateFlowHandler.AllowPass(car, rateFlow, rateFlowLog))
+            {
+                Diagnosis.Log($"AGV{car.id}停在地标{SignalCarAdapter.PositionId(car)}，限流禁止通行", "JGControl", true);
+                return;
+            }
+
+            if (string.Equals(action, "RequestIn", StringComparison.OrdinalIgnoreCase))
+                RequestIn(jgName, car, find);
+            else if (string.Equals(action, "Arrived", StringComparison.OrdinalIgnoreCase))
+                Arrived(jgName, car, find);
+        }
+
+        public static void OnMoving(Car car, SignalStopSpec spec, Func<string, PlcStationRuntime> find)
+        {
+            var jgName = spec.Part(0).Trim();
+            var action = spec.Part(1).Trim();
+            if (string.IsNullOrEmpty(jgName))
+                return;
+            if (string.Equals(action, "RequestIn", StringComparison.OrdinalIgnoreCase))
+                RequestInJudge(jgName, car, find);
+        }
+
+        private static void RequestIn(string jgName, Car car, Func<string, PlcStationRuntime> find)
+        {
+            var rt = find(jgName);
+            if (rt == null)
+            {
+                Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
+                return;
+            }
+
+            lock (rt.Sync)
+            {
+                if (rt.ReadSignal == SignalReadValue.允许进入 &&
+                    rt.RequestInAgvNo == 0 &&
+                    rt.ReadWriteSignal == SignalWriteValue.无状态)
+                {
+                    if (rt.Config.LineType is SignalLineType.单牵引下线机构 or SignalLineType.双牵引下线机构)
+                    {
+                        var inside = SignalCarAdapter.CarsAt(rt.Config.JgPointId);
+                        if (inside.Count > 0)
+                        {
+                            Diagnosis.Log(
+                                $"{jgName} 机构内有AGV【{string.Join(",", inside.Select(x => x.id))}】暂不放行AGV{car.id}",
+                                "JGControl", true);
+                            return;
+                        }
+                    }
+
+                    Diagnosis.Log($"{jgName} 机构允许进入，通知AGV{car.id}启动，通知机构AGV进入中", "JGControl", true);
+                    rt.WriteSignal = SignalWriteValue.进入中;
+                    rt.RequestInAgvNo = car.id;
+                    SignalCarAdapter.StopCharge(car);
+                    SignalCarAdapter.Start(car);
+                    return;
+                }
+
+                if (rt.ReadSignal != SignalReadValue.允许进入 &&
+                    rt.RequestInAgvNo != car.id &&
+                    SignalCarAdapter.IsMoving(car))
+                {
+                    SignalCarAdapter.Stop(car);
+                    Diagnosis.Log($"{jgName} 机构不允许进入，监控到AGV启动，暂停AGV{car.id}", "JGControl", true);
+                }
+            }
+        }
+
+        private static void RequestInJudge(string jgName, Car car, Func<string, PlcStationRuntime> find)
+        {
+            var rt = find(jgName);
+            if (rt == null)
+            {
+                Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
+                return;
+            }
+
+            lock (rt.Sync)
+            {
+                if (rt.ReadSignal != SignalReadValue.允许进入 &&
+                    rt.RequestInAgvNo != car.id &&
+                    SignalCarAdapter.IsMoving(car))
+                {
+                    SignalCarAdapter.Stop(car);
+                    Diagnosis.Log($"{jgName} 机构不允许进入，监控到AGV启动，暂停AGV{car.id}", "JGControl", true);
+                }
+            }
+        }
+
+        private static void Arrived(string jgName, Car car, Func<string, PlcStationRuntime> find)
+        {
+            var rt = find(jgName);
+            if (rt == null)
+            {
+                Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
+                return;
+            }
+
+            lock (rt.Sync)
+            {
+                if (rt.InAgvNo == car.id)
+                    return;
+                Diagnosis.Log($"AGV{car.id}已到达机构{jgName}", "JGControl", true);
+                rt.WriteSignal = SignalWriteValue.到位;
+                rt.InAgvNo = car.id;
+                rt.RequestInAgvNo = 0;
+            }
+        }
+    }
+}