磁导航1.0内部交管和信号交互

2026-08-24 14:55:35 +08:00
parent cacc5fea5c
commit 244b0af6c8
60 changed files with 6395 additions and 294 deletions
@@ -0,0 +1,114 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using Newtonsoft.Json;
+
+namespace StandardScene.MagCarSimulator
+{
+    public sealed class MagCarSimVehicleConfig
+    {
+        public string Name { get; set; } = "AGV";
+        public ushort VehicleCode { get; set; } = 1;
+        public int ListenPort { get; set; } = 5001;
+        public int StartSiteId { get; set; } = 1;
+        public int EndSiteId { get; set; } = 2;
+        public int IntervalMs { get; set; } = 2000;
+
+        /// <summary>显式环线站点序列（不含回到起点的重复点）。有值时优先于起点/终点寻路。</summary>
+        public List<int> LoopSiteIds { get; set; }
+    }
+
+    public sealed class MagCarSimConfig
+    {
+        public string MapPath { get; set; } = "";
+        public bool UseTagValueAsNode { get; set; }
+        public string ListenAddress { get; set; } = "0.0.0.0";
+        public bool LogRawFrames { get; set; }
+        public bool LogQueries { get; set; }
+
+        /// <summary>文件日志根目录（相对 exe 或绝对路径），默认 log。</summary>
+        public string LogDirectory { get; set; } = "log";
+
+        /// <summary>是否写入 log 目录下的 magcar-sim_yyyyMMdd.log。</summary>
+        public bool EnableFileLog { get; set; } = true;
+
+        public int DefaultIntervalMs { get; set; } = 2000;
+
+        /// <summary>同一环线后车相对前车的发车间隔。≤0 时用该车 IntervalMs。</summary>
+        public int LaunchStaggerMs { get; set; }
+
+        /// <summary>磁条交管表。空则按地图目录推断 SimpleLite/config/Signal/mag-control-areas.json。</summary>
+        public string ControlAreasPath { get; set; }
+        public List<MagCarSimVehicleConfig> Vehicles { get; set; } = new List<MagCarSimVehicleConfig>();
+
+        public static string SettingsPath => Path.Combine(AppContext.BaseDirectory, "appsettings.json");
+
+        public static MagCarSimConfig Load(string path = null)
+        {
+            path ??= SettingsPath;
+            if (!File.Exists(path))
+            {
+                return CreateDefault();
+            }
+
+            var json = File.ReadAllText(path);
+            var config = JsonConvert.DeserializeObject<MagCarSimConfig>(json) ?? CreateDefault();
+            if (config.Vehicles == null || config.Vehicles.Count == 0)
+            {
+                config.Vehicles = CreateDefault().Vehicles;
+            }
+
+            if (config.DefaultIntervalMs <= 0)
+            {
+                config.DefaultIntervalMs = 2000;
+            }
+
+            foreach (var vehicle in config.Vehicles)
+            {
+                if (vehicle.IntervalMs <= 0)
+                {
+                    vehicle.IntervalMs = config.DefaultIntervalMs;
+                }
+
+                if (string.IsNullOrWhiteSpace(vehicle.Name))
+                {
+                    vehicle.Name = $"AGV-{vehicle.VehicleCode}";
+                }
+
+                if (vehicle.LoopSiteIds != null && vehicle.LoopSiteIds.Count > 0)
+                {
+                    vehicle.LoopSiteIds = MapPathFinder.NormalizeLoop(vehicle.LoopSiteIds);
+                }
+            }
+
+            return config;
+        }
+
+        public void Save(string path = null)
+        {
+            path ??= SettingsPath;
+            var json = JsonConvert.SerializeObject(this, Formatting.Indented);
+            File.WriteAllText(path, json);
+        }
+
+        public static MagCarSimConfig CreateDefault()
+        {
+            return new MagCarSimConfig
+            {
+                DefaultIntervalMs = 2000,
+                Vehicles =
+                {
+                    new MagCarSimVehicleConfig
+                    {
+                        Name = "AGV-1",
+                        VehicleCode = 1,
+                        ListenPort = 5001,
+                        StartSiteId = 1,
+                        EndSiteId = 6,
+                        IntervalMs = 2000
+                    }
+                }
+            };
+        }
+    }
+}