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 +1,192 @@
+using StandardScene.Magnetic.Protocol;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace StandardScene.Magnetic.Tasking
+{
+    /// <summary>
+    /// 比对期望节点与上报节点，判定到站与动作是否完成（对齐 backend <c>CarResponseService</c>）。
+    /// </summary>
+    public static class Fass2ActionResolver
+    {
+        private static readonly (string Name, Func<Fass2NodeMessage, byte> Get, Action<Fass2NodeMessage, byte> Set)[] ActionFields =
+        {
+            ("StartStop", n => n.StartStop, (n, v) => n.StartStop = v),
+            ("Direction", n => n.Direction, (n, v) => n.Direction = v),
+            ("Orientation", n => n.Orientation, (n, v) => n.Orientation = v),
+            ("Byroad", n => n.Byroad, (n, v) => n.Byroad = v),
+            ("Obstacle", n => n.Obstacle, (n, v) => n.Obstacle = v),
+            ("Audio", n => n.Audio, (n, v) => n.Audio = v),
+            ("Light", n => n.Light, (n, v) => n.Light = v),
+            ("Charge", n => n.Charge, (n, v) => n.Charge = v),
+            ("Rest", n => n.Rest, (n, v) => n.Rest = v),
+            ("Lift", n => n.Lift, (n, v) => n.Lift = v),
+            ("Clamp", n => n.Clamp, (n, v) => n.Clamp = v),
+            ("Tray", n => n.Tray, (n, v) => n.Tray = v),
+            ("Roll", n => n.Roll, (n, v) => n.Roll = v),
+            ("Shutdown", n => n.Shutdown, (n, v) => n.Shutdown = v)
+        };
+
+        public static bool IsAtNode(Fass2StateReport report, ushort targetNode)
+        {
+            return report?.Node != null && report.Node.Node == targetNode;
+        }
+
+        public static bool IsVehicleMoving(byte vehicleState)
+        {
+            return vehicleState == 1;
+        }
+
+        public static bool RequiresActionWait(Fass2NodeMessage expected)
+        {
+            if (expected == null)
+            {
+                return false;
+            }
+
+            if (expected.StartStop is Fass2TaskBuilder.StartStopStop or Fass2TaskBuilder.StartStopPrecision)
+            {
+                return true;
+            }
+
+            foreach (var field in ActionFields)
+            {
+                if (field.Get(expected) != 0)
+                {
+                    return true;
+                }
+            }
+
+            return expected.Speed != 0;
+        }
+
+        public static bool IsStationActionComplete(Fass2NodeMessage expected, Fass2NodeMessage actual, byte vehicleState)
+        {
+            if (expected == null || actual == null)
+            {
+                return false;
+            }
+
+            if (actual.Node != expected.Node)
+            {
+                return false;
+            }
+
+            if (IsVehicleMoving(vehicleState))
+            {
+                return false;
+            }
+
+            if (!RequiresActionWait(expected))
+            {
+                return true;
+            }
+
+            // 过站(StartStop=1) 只要求到点且非运行态，不要求 Orientation 等轨迹字段到位。
+            if (expected.StartStop == Fass2TaskBuilder.StartStopPass)
+            {
+                return true;
+            }
+
+            return ListPendingFields(expected, actual).Count == 0;
+        }
+
+        public static IReadOnlyList<string> ListPendingFields(Fass2NodeMessage expected, Fass2NodeMessage actual)
+        {
+            var pending = new List<string>();
+            if (expected == null || actual == null)
+            {
+                return pending;
+            }
+
+            if (expected.StartStop != 0 && actual.StartStop != expected.StartStop)
+            {
+                pending.Add("StartStop");
+            }
+
+            if (expected.Speed != 0 && actual.Speed != expected.Speed)
+            {
+                pending.Add("Speed");
+            }
+
+            foreach (var field in ActionFields)
+            {
+                if (field.Name == "StartStop")
+                {
+                    continue;
+                }
+
+                var expectedValue = field.Get(expected);
+                if (expectedValue != 0 && field.Get(actual) != expectedValue)
+                {
+                    pending.Add(field.Name);
+                }
+            }
+
+            return pending;
+        }
+
+        public static Fass2NodeMessage BuildActionPatch(Fass2NodeMessage expected, Fass2NodeMessage actual)
+        {
+            if (expected == null)
+            {
+                return null;
+            }
+
+            var patch = new Fass2NodeMessage { Node = expected.Node };
+            var hasPatch = false;
+
+            if (expected.StartStop != 0 && (actual == null || actual.StartStop != expected.StartStop))
+            {
+                patch.StartStop = expected.StartStop;
+                hasPatch = true;
+            }
+
+            if (expected.Speed != 0 && (actual == null || actual.Speed != expected.Speed))
+            {
+                patch.Speed = expected.Speed;
+                hasPatch = true;
+            }
+
+            foreach (var field in ActionFields)
+            {
+                if (field.Name == "StartStop")
+                {
+                    continue;
+                }
+
+                var expectedValue = field.Get(expected);
+                if (expectedValue != 0 && (actual == null || field.Get(actual) != expectedValue))
+                {
+                    field.Set(patch, expectedValue);
+                    hasPatch = true;
+                }
+            }
+
+            return hasPatch ? patch : null;
+        }
+
+        public static string DescribePending(Fass2NodeMessage expected, Fass2NodeMessage actual)
+        {
+            var pending = ListPendingFields(expected, actual);
+            if (pending.Count == 0)
+            {
+                return string.Empty;
+            }
+
+            var builder = new StringBuilder();
+            for (var i = 0; i < pending.Count; i++)
+            {
+                if (i > 0)
+                {
+                    builder.Append(',');
+                }
+
+                builder.Append(pending[i]);
+            }
+
+            return builder.ToString();
+        }
+    }
+}