Third_Dev_Dept/StandardSence
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磁导航1.0内部交管和信号交互

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This commit is contained in:
ykkokluo
2026-08-24 14:55:35 +08:00
parent cacc5fea5c
commit 244b0af6c8
60 changed files with 6395 additions and 294 deletions
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StandardScene.Signal/Logic/JgControlHandler.cs
+24 -31
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@@ -30,11 +30,12 @@ namespace StandardScene.Signal.Logic
public static class JgControlHandler
{
/// <summary>停稳：可选限流 → RequestIn 或 Arrived。</summary>
public static void OnStopped(Car car, SignalStopSpec spec, Func<string, PlcStationRuntime> find, IDictionary<string, int> rateFlowLog)
public static void OnStopped(Car car, SignalStopSpec spec, Func<string, 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();
var jgName = spec.JgName;
var action = spec.Action;
var dockId = spec.DockId;
var rateFlow = spec.ExtraParams;
if (string.IsNullOrEmpty(jgName))
{
Diagnosis.Log($"AGV{car.id}停在地标{SignalCarAdapter.PositionId(car)}，读取配置机构名称为空", "JGControl", true);
@@ -48,29 +49,25 @@ namespace StandardScene.Signal.Logic
}
if (string.Equals(action, "RequestIn", StringComparison.OrdinalIgnoreCase))
RequestIn(jgName, car, find);
RequestIn(jgName, dockId, car, find);
else if (string.Equals(action, "Arrived", StringComparison.OrdinalIgnoreCase))
Arrived(jgName, car, find);
Arrived(jgName, dockId, car, find);
}
/// <summary>行驶中只做 RequestIn 安全闸：未允许进入且不是本车占用请求槽则停车。</summary>
public static void OnMoving(Car car, SignalStopSpec spec, Func<string, PlcStationRuntime> find)
public static void OnMoving(Car car, SignalStopSpec spec, Func<string, string, PlcStationRuntime> find)
{
var jgName = spec.Part(0).Trim();
var action = spec.Part(1).Trim();
var jgName = spec.JgName;
var action = spec.Action;
if (string.IsNullOrEmpty(jgName))
return;
if (string.Equals(action, "RequestIn", StringComparison.OrdinalIgnoreCase))
RequestInJudge(jgName, car, find);
RequestInJudge(jgName, spec.DockId, car, find);
}
/// <summary>
/// 请求进入。锁机构运行态，避免与 PLC Worker 同时改写字节 / 车号。
/// 后半段与 <see cref="RequestInJudge"/> 相同，覆盖「刚放行后又被调度层启动」的竞态。
/// </summary>
private static void RequestIn(string jgName, Car car, Func<string, PlcStationRuntime> find)
private static void RequestIn(string jgName, string dockId, Car car, Func<string, string, PlcStationRuntime> find)
{
var rt = find(jgName);
var rt = find(jgName, dockId);
if (rt == null)
{
Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
@@ -83,19 +80,19 @@ namespace StandardScene.Signal.Logic
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)
if (rt.Station.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);
var inside = SignalCarAdapter.CarsAt(rt.Dock.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}",
$"{rt.DisplayName} 机构内有AGV【{string.Join(",", inside.Select(x => x.id))}】暂不放行AGV{car.id}",
"JGControl", true);
return;
}
}
Diagnosis.Log($"{jgName} 机构允许进入，通知AGV{car.id}启动，通知机构AGV进入中", "JGControl", true);
Diagnosis.Log($"{rt.DisplayName} 机构允许进入，通知AGV{car.id}启动，通知机构AGV进入中", "JGControl", true);
rt.WriteSignal = SignalWriteValue.进入中;
rt.RequestInAgvNo = car.id;
SignalCarAdapter.StopCharge(car);
@@ -108,15 +105,14 @@ namespace StandardScene.Signal.Logic
SignalCarAdapter.IsMoving(car))
{
SignalCarAdapter.Stop(car);
Diagnosis.Log($"{jgName} 机构不允许进入，监控到AGV启动，暂停AGV{car.id}", "JGControl", true);
Diagnosis.Log($"{rt.DisplayName} 机构不允许进入，监控到AGV启动，暂停AGV{car.id}", "JGControl", true);
}
}
}
/// <summary>行驶中的 RequestIn 安全闸，条件与 RequestIn 后半段一致。</summary>
private static void RequestInJudge(string jgName, Car car, Func<string, PlcStationRuntime> find)
private static void RequestInJudge(string jgName, string dockId, Car car, Func<string, string, PlcStationRuntime> find)
{
var rt = find(jgName);
var rt = find(jgName, dockId);
if (rt == null)
{
Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
@@ -130,17 +126,14 @@ namespace StandardScene.Signal.Logic
SignalCarAdapter.IsMoving(car))
{
SignalCarAdapter.Stop(car);
Diagnosis.Log($"{jgName} 机构不允许进入，监控到AGV启动，暂停AGV{car.id}", "JGControl", true);
Diagnosis.Log($"{rt.DisplayName} 机构不允许进入，监控到AGV启动，暂停AGV{car.id}", "JGControl", true);
}
}
}
/// <summary>
/// 到位。InAgvNo 已是本车则认为已报到，避免每秒重复写「到位」把 WriteSuccess 清掉。
/// </summary>
private static void Arrived(string jgName, Car car, Func<string, PlcStationRuntime> find)
private static void Arrived(string jgName, string dockId, Car car, Func<string, string, PlcStationRuntime> find)
{
var rt = find(jgName);
var rt = find(jgName, dockId);
if (rt == null)
{
Diagnosis.Log($"{jgName} 未能找到机构", "JGControl", true);
@@ -151,7 +144,7 @@ namespace StandardScene.Signal.Logic
{
if (rt.InAgvNo == car.id)
return;
Diagnosis.Log($"AGV{car.id}已到达机构{jgName}", "JGControl", true);
Diagnosis.Log($"AGV{car.id}已到达机构{rt.DisplayName}", "JGControl", true);
rt.WriteSignal = SignalWriteValue.到位;
rt.InAgvNo = car.id;
rt.RequestInAgvNo = 0;