新增1.0和2.0两种协议车型车型

2026-07-17 13:36:01 +08:00
parent a0dc1e6cd0
commit a28bc68e23
62 changed files with 12638 additions and 203 deletions
@@ -0,0 +1,171 @@
+using System;
+
+namespace StandardScene.Fass2Simulator
+{
+    public sealed class Fass2SimVehicle
+    {
+        private readonly object _syncRoot = new object();
+
+        public Fass2SimVehicle(Fass2SimConfig config)
+        {
+            Car = config.VehicleCode;
+            Length = config.CarLength;
+            Width = config.CarWidth;
+            BatteryCharge = config.BatteryCharge;
+            BatteryHealth = 100;
+            BatteryVoltage = 480;
+            State = config.InitialState;
+            Node = config.InitialNode;
+            Speed = 500;
+        }
+
+        public ushort Car { get; }
+        public ushort Length { get; set; }
+        public ushort Width { get; set; }
+        public byte BatteryCharge { get; set; }
+        public byte BatteryHealth { get; set; }
+        public ushort BatteryCurrent { get; set; }
+        public ushort BatteryVoltage { get; set; }
+        public ushort HeadingAngle { get; set; }
+        public byte State { get; set; }
+        public ulong Alarm { get; set; }
+        public ulong Task { get; set; }
+        public byte LastCommand { get; set; }
+
+        public ushort Node { get; set; }
+        public ushort Distance { get; set; }
+        public byte StartStop { get; set; }
+        public byte Direction { get; set; }
+        public byte Orientation { get; set; }
+        public byte Byroad { get; set; }
+        public ushort Speed { get; set; }
+        public byte Obstacle { get; set; }
+        public byte Audio { get; set; }
+        public byte Light { get; set; }
+        public byte Charge { get; set; }
+        public byte Rest { get; set; }
+        public byte Lift { get; set; }
+        public byte Clamp { get; set; }
+        public byte Tray { get; set; }
+        public byte Roll { get; set; }
+        public byte Shutdown { get; set; }
+
+        public long StateReportsSent { get; private set; }
+        public long CommandsReceived { get; private set; }
+        public long AckReceived { get; private set; }
+        public DateTime LastAckUtc { get; private set; } = DateTime.MinValue;
+
+        public void RecordStateReportSent()
+        {
+            lock (_syncRoot)
+            {
+                StateReportsSent++;
+            }
+        }
+
+        public void RecordCommandReceived()
+        {
+            lock (_syncRoot)
+            {
+                CommandsReceived++;
+            }
+        }
+
+        public void RecordAckReceived()
+        {
+            lock (_syncRoot)
+            {
+                AckReceived++;
+                LastAckUtc = DateTime.UtcNow;
+            }
+        }
+
+        public Fass2SimVehicleSnapshot Snapshot()
+        {
+            lock (_syncRoot)
+            {
+                return CopySnapshotUnsafe();
+            }
+        }
+
+        /// <summary>
+        /// 供已持有其它引擎锁的代码路径读取快照，避免与 UI 线程 Snapshot() 争用 _syncRoot 导致死锁。
+        /// </summary>
+        internal Fass2SimVehicleSnapshot CopySnapshotUnsafe()
+        {
+            return new Fass2SimVehicleSnapshot
+            {
+                Car = Car,
+                Length = Length,
+                Width = Width,
+                BatteryCharge = BatteryCharge,
+                BatteryHealth = BatteryHealth,
+                BatteryCurrent = BatteryCurrent,
+                BatteryVoltage = BatteryVoltage,
+                HeadingAngle = HeadingAngle,
+                State = State,
+                Alarm = Alarm,
+                Task = Task,
+                LastCommand = LastCommand,
+                Node = Node,
+                Distance = Distance,
+                StartStop = StartStop,
+                Direction = Direction,
+                Orientation = Orientation,
+                Byroad = Byroad,
+                Speed = Speed,
+                Obstacle = Obstacle,
+                Audio = Audio,
+                Light = Light,
+                Charge = Charge,
+                Rest = Rest,
+                Lift = Lift,
+                Clamp = Clamp,
+                Tray = Tray,
+                Roll = Roll,
+                Shutdown = Shutdown,
+                StateReportsSent = StateReportsSent,
+                CommandsReceived = CommandsReceived,
+                AckReceived = AckReceived,
+                LastAckUtc = LastAckUtc
+            };
+        }
+    }
+
+    public sealed class Fass2SimVehicleSnapshot
+    {
+        public ushort Car { get; set; }
+        public ushort Length { get; set; }
+        public ushort Width { get; set; }
+        public byte BatteryCharge { get; set; }
+        public byte BatteryHealth { get; set; }
+        public ushort BatteryCurrent { get; set; }
+        public ushort BatteryVoltage { get; set; }
+        public ushort HeadingAngle { get; set; }
+        public byte State { get; set; }
+        public ulong Alarm { get; set; }
+        public ulong Task { get; set; }
+        public byte LastCommand { get; set; }
+        public ushort Node { get; set; }
+        public ushort Distance { get; set; }
+        public byte StartStop { get; set; }
+        public byte Direction { get; set; }
+        public byte Orientation { get; set; }
+        public byte Byroad { get; set; }
+        public ushort Speed { get; set; }
+        public byte Obstacle { get; set; }
+        public byte Audio { get; set; }
+        public byte Light { get; set; }
+        public byte Charge { get; set; }
+        public byte Rest { get; set; }
+        public byte Lift { get; set; }
+        public byte Clamp { get; set; }
+        public byte Tray { get; set; }
+        public byte Roll { get; set; }
+        public byte Shutdown { get; set; }
+        public long StateReportsSent { get; set; }
+        public long CommandsReceived { get; set; }
+        public long AckReceived { get; set; }
+        public DateTime LastAckUtc { get; set; }
+    }
+}