init commit
This commit is contained in:
zhaowei.huang
@@ -0,0 +1,31 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace StandardScene.Model
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{
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public class ChargingSetting
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{
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// 充电电量下限，表示设备充电时最低的电量限制
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public int CarMinBattery { get; set; }
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// 充电电量上限，表示设备充电时最高的电量限制
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public int CarMaxBattery { get; set; }
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// 充电安全电量，表示设备充电时的安全电量阈值，低于此值可能会影响设备的正常使用
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public int CarIdleChargeBattery { get; set; }
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// 充电电量时长，表示设备充电所需的时间长度
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public int CarIdleSecond { get; set; }
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// 允许任务打断的充电电量下限，表示在执行某些任务时，设备可以容忍的最低电量限制
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public int TaskAvailableBattery { get; set; }
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// 闲时充电，表示设备在空闲状态下是否进行充电
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public bool IsChargingDuringIdleTime { get; set; }
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}
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}
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@@ -0,0 +1,15 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace StandardScene.Model
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{
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public class EnvelopeSetting
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{
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public string Name { get; set; }
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public string Description { get; set; }
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public string Value { get; set; }
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}
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}
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@@ -0,0 +1,76 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace StandardScene.Model
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{
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/// <summary>
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/// 任务类别
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/// </summary>
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public enum TaskKind
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{
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Loop,
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BranchPoint,
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JoinPoint
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}
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/// <summary>
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/// 任务启动类型：API/PLC/按钮盒/自动循环
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/// </summary>
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public enum TaskStartType
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{
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Api,
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Plc,
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ButtonBox,
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AutoLoop,
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Charge
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}
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public class LoopTask
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{
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/// <summary>
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/// 任务唯一标识ID（自增）
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/// </summary>
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public int Id { get; set; } = 0;
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/// <summary>
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/// 任务类别（枚举：循环/分流点/汇合点）
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/// </summary>
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public TaskKind Kind { get; set; } = TaskKind.Loop;
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/// <summary>
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/// 当前点 ID（整数）
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/// </summary>
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public int CurrentStationId { get; set; } = -1;
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/// <summary>
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/// 目标点 ID（整数）
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/// </summary>
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public int TargetStationId { get; set; } = -1;
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/// <summary>
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/// 流量控制（整数，可代表信号级别或策略编号）
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/// </summary>
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public int TrafficControl { get; set; } = 0;
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/// <summary>
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/// 优先级（整数）
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/// </summary>
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public int Priority { get; set; } = 1;
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/// <summary>
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/// 是否为途径点（布尔）
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/// </summary>
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public bool IsViaPoint { get; set; } = false;
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/// <summary>
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/// 启动类型（枚举：Api/Plc/ButtonBox/AutoLoop）
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/// </summary>
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public TaskStartType StartType { get; set; } = TaskStartType.AutoLoop;
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public string[] tags = Array.Empty<string>();
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}
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}
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@@ -0,0 +1,241 @@
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using SimpleCore.PropType;
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using SimpleCore;
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using System.Collections.Generic;
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using System.Dynamic;
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using SimpleLite.CADTools;
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using SimpleLite.Props;
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using SimpleLite.UI;
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using System.Numerics;
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using System.Drawing;
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using System;
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using System.Drawing.Imaging;
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using System.IO;
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using System.Linq;
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using System.Net.Http;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using Newtonsoft.Json;
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using SimpleLite.RCS;
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using SimpleLite.RCS.CarTypes;
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namespace StandardScene.Model
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{
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public class Map
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{
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public List<ExpandoObject> Sites { get; set; }
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public List<ExpandoObject> Tracks { get; set; }
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public List<ExpandoObject> CircularArcTracks { get; set; }
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public List<ExpandoObject> BezierTracks { get; set; }
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public static Map GetMap()
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{
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var map = new Map
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{
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Sites = new List<ExpandoObject>()
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};
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Site[] allSites = SimpleLib.GetAllSites();
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foreach (var site in allSites)
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{
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dynamic theSite = new ExpandoObject();
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theSite.Id = ((Prop)site).id;
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theSite.Name = ((Prop)site).name;
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theSite.X = site.x;
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theSite.Y = site.y;
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theSite.Fields = new Dictionary<string, string>();
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foreach (var kv in site.fields)
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{
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theSite.Fields.Add(kv.Key, kv.Value);
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}
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theSite.Type = theSite.Fields.ContainsKey("Standby") ? "standby" : theSite.Fields.ContainsKey("Charge") ? "charge" : theSite.Fields.ContainsKey("Shelf") ? "shelf" : "default";
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map.Sites.Add(theSite);
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}
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map.Tracks = new List<ExpandoObject>();
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map.CircularArcTracks = new List<ExpandoObject>();
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map.BezierTracks = new List<ExpandoObject>();
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var allTracks = SimpleLib.GetAllTracks();
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foreach (var track in allTracks)
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{
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switch (track)
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{
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case UITrack uiTrack:
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{
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dynamic theTrack = new ExpandoObject();
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theTrack.Id = uiTrack.id;
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theTrack.A = uiTrack.siteA;
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theTrack.B = uiTrack.siteB;
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theTrack.Fields = new Dictionary<string, string>();
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foreach (KeyValuePair<string, string> kv in uiTrack.fields)
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{
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theTrack.Fields.Add(kv.Key, kv.Value);
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}
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theTrack.Direction = uiTrack.direction switch
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{
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1 => "a2b",
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2 => "b2a",
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_ => "both"
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};
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theTrack.Type = 0;
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map.Tracks.Add(theTrack);
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break;
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}
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case UICircularArcTrack circularArcTrack:
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{
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dynamic theTrack = new ExpandoObject();
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theTrack.Id = circularArcTrack.id;
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theTrack.A = circularArcTrack.siteA;
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theTrack.B = circularArcTrack.siteB;
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theTrack.Fields = new Dictionary<string, string>();
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foreach (var kv in circularArcTrack.fields)
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{
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theTrack.Fields.Add(kv.Key, kv.Value);
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}
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theTrack.Direction = circularArcTrack.direction switch
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{
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1 => "a2b",
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2 => "b2a",
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_ => "both"
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};
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//添加原点坐标、半径、开始角度、结束角度
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theTrack.Type = 1;
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theTrack.CenterX = circularArcTrack.Arc.Center.X;
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theTrack.CenterY = circularArcTrack.Arc.Center.Y;
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theTrack.Radius = circularArcTrack.Arc.Radius;
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theTrack.AngleStart = circularArcTrack.Arc.AngleStart;
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theTrack.AngleEnd = circularArcTrack.Arc.AngleEnd;
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//获取圆弧的控制点
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var controlPoint = ArcHelper.CalculateControlPoint(
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circularArcTrack.Arc.PointStart.X, circularArcTrack.Arc.PointStart.Y,
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circularArcTrack.Arc.PointEnd.X, circularArcTrack.Arc.PointEnd.Y,
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circularArcTrack.Arc.Center.X, circularArcTrack.Arc.Center.Y,
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circularArcTrack.Arc.Radius,
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circularArcTrack.Arc.AngleStart, circularArcTrack.Arc.AngleEnd);
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theTrack.ControlPointsX = controlPoint.X;
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theTrack.ControlPointsY = controlPoint.Y;
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map.CircularArcTracks.Add(theTrack);
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break;
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}
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case UIBezierTrack bezierTrack:
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{
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dynamic theTrack = new ExpandoObject();
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theTrack.Id = bezierTrack.id;
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theTrack.A = bezierTrack.siteA;
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theTrack.B = bezierTrack.siteB;
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theTrack.Fields = new Dictionary<string, string>();
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foreach (var kv in bezierTrack.fields)
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{
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theTrack.Fields.Add(kv.Key, kv.Value);
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}
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theTrack.Direction = bezierTrack.direction switch
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{
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1 => "a2b",
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2 => "b2a",
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_ => "both"
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};
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//根据typeInfo获取控制点个数
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theTrack.Type = 2;
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var array = bezierTrack.typeInfo.Split(',');
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var num = int.Parse(array[1]);//获取控制点的个数(包括起点和终点)
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var list = new List<Vector2>();
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for (var i = 0; i < num; i++)
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{
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//只记录中间的控制点
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if (i <= 0 || i >= num - 1) continue;
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float x = float.Parse(array[2 + i * 2]);
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float y = float.Parse(array[3 + i * 2]);
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list.Add(new Vector2(x, y));
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}
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theTrack.controlPoints = list;
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map.BezierTracks.Add(theTrack);
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break;
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}
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default:
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break;
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}
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}
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return map;
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}
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}
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public class ArcHelper
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{
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/// <summary>
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/// 获取圆弧控制点
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/// </summary>
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/// <returns></returns>
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public static PointF CalculateControlPoint(float pointStartX, float pointStartY, float pointEndX, float pointEndY, float centerX, float centerY, float radius, float angleStart, float angleEnd)
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{
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PointF center = new PointF(centerX, centerY);
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double startAngle = angleStart * 3.14159 / 180.0;
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double endAngel = angleEnd * 3.14159 / 180.0;
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if (angleStart > angleEnd)//如果起始角度小于结束角度就加上360度
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{
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endAngel += 2 * 3.14159;
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}
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PointF midPoint = new PointF(
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(float)(center.X + radius * Math.Cos((startAngle + endAngel) / 2)),
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(float)(center.Y + radius * Math.Sin((startAngle + endAngel) / 2)));
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return midPoint;
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}
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}
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public class LidarMap
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{
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public string LidarMapsBase64 { get; set; }
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public float DistanceX { get; set; }
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public float DistanceY { get; set; }
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public float Ratio { get; set; }
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private static readonly HttpClient hc = new HttpClient();
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public static async Task<LidarMap> GetLidarMap()
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{
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var par = JsonConvert.DeserializeAnonymousType(await hc.GetStringAsync($"http://127.0.0.1:4321/getMapParameters"),
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new { up = 0f, down = 0f, left = 0f, right = 0f, pt = 0 });
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var lengthWidthRatio =Math.Abs((par.right - par.left) / (par.up - par.down));
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var height = 1024;var width = 1024;
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if (lengthWidthRatio > 1)
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{
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height = (int)(1024 / lengthWidthRatio);
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}
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else
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{
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width = (int)(1024 * lengthWidthRatio);
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}
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var mapBmp= new Bitmap((await hc.GetStreamAsync($"http://127.0.0.1:4321/getMapPng?width={width}&height={height}")));
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for(int x =0;x<mapBmp.Width;x++)
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{
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for (int y = 0; y < mapBmp.Height; y++)
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{
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Color pixColor = mapBmp.GetPixel(x, y);
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if (pixColor.R != 255 || pixColor.G != 255 || pixColor.B != 255)
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{
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mapBmp.SetPixel(x, y, Color.FromArgb(0,pixColor));
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}
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else
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{
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mapBmp.SetPixel(x,y,Color.Black);
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}
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}
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}
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return new LidarMap
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{
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LidarMapsBase64 = "data:image/png;base64," + BitmapToBase64(mapBmp, ImageFormat.Png),
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DistanceX = par.left,
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DistanceY = par.up,
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Ratio = lengthWidthRatio > 1?Math.Abs(par.left-par.right)/1024: Math.Abs(par.up - par.down)/1024,
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};
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}
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static string BitmapToBase64(Bitmap bmp, ImageFormat format)
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{
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using MemoryStream ms = new MemoryStream();
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bmp.Save(ms, format); // 保存格式可以是Png, Jpeg等
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byte[] imageBytes = ms.ToArray();
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string base64String = Convert.ToBase64String(imageBytes);
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return base64String;
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}
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}
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}
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@@ -0,0 +1,226 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
|
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|
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namespace StandardScene.Model
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{
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public class MapStructure
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{
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public FassMap Map { get; set; }
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public List<FassNode> Nodes { get; set; }
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public List<Edge> Edges { get; set; }
|
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public List<object> Zones { get; set; }
|
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public List<object> Tags { get; set; }
|
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}
|
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|
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public class FassMap
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{
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public int Index { get; set; }
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public string Id { get; set; }
|
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public string Kind { get; set; }
|
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public string Type { get; set; }
|
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public Base Base { get; set; }
|
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public Image Image { get; set; }
|
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public List<object> Extends { get; set; }
|
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}
|
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|
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public class Base
|
||||
{
|
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public bool Visible { get; set; }
|
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public Size Size { get; set; }
|
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public double GlobalAlpha { get; set; }
|
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public int LineWidth { get; set; }
|
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public List<int> LineDash { get; set; }
|
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public string StrokeStyle { get; set; }
|
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public string FillStyle { get; set; }
|
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public Center Center { get; set; }
|
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}
|
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|
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public class Size
|
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{
|
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public double W { get; set; }
|
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public double H { get; set; }
|
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}
|
||||
|
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public class Center
|
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{
|
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public double X { get; set; }
|
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public double Y { get; set; }
|
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}
|
||||
|
||||
public class Image
|
||||
{
|
||||
public bool Visible { get; set; }
|
||||
public double GlobalAlpha { get; set; }
|
||||
public string Src { get; set; }
|
||||
public bool Origin { get; set; }
|
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public bool Manual { get; set; }
|
||||
public ManualPoint ManualPoint { get; set; }
|
||||
public ManualSize ManualSize { get; set; }
|
||||
}
|
||||
|
||||
public class ManualPoint
|
||||
{
|
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public double X { get; set; }
|
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public double Y { get; set; }
|
||||
}
|
||||
|
||||
public class ManualSize
|
||||
{
|
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public double W { get; set; }
|
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public double H { get; set; }
|
||||
}
|
||||
|
||||
public class FassNode
|
||||
{
|
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public int Index { get; set; }
|
||||
public string Id { get; set; }
|
||||
public string Kind { get; set; }
|
||||
public string Type { get; set; }
|
||||
public NodeBase Base { get; set; }
|
||||
public Code Code { get; set; }
|
||||
public Name Name { get; set; }
|
||||
public Image Image { get; set; }
|
||||
public Lock Lock { get; set; }
|
||||
public Data Data { get; set; }
|
||||
public List<object> Extends { get; set; }
|
||||
}
|
||||
|
||||
public class NodeBase
|
||||
{
|
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public bool Visible { get; set; }
|
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public Point Point { get; set; }
|
||||
public Size Size { get; set; }
|
||||
public double GlobalAlpha { get; set; }
|
||||
public int LineWidth { get; set; }
|
||||
public List<int> LineDash { get; set; }
|
||||
public string StrokeStyle { get; set; }
|
||||
public string FillStyle { get; set; }
|
||||
public Center Center { get; set; }
|
||||
}
|
||||
|
||||
public class Point
|
||||
{
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
}
|
||||
|
||||
public class Code
|
||||
{
|
||||
public bool Visible { get; set; }
|
||||
public double GlobalAlpha { get; set; }
|
||||
public string Font { get; set; }
|
||||
public string FillStyle { get; set; }
|
||||
public string Text { get; set; }
|
||||
}
|
||||
|
||||
public class Name
|
||||
{
|
||||
public bool Visible { get; set; }
|
||||
public double GlobalAlpha { get; set; }
|
||||
public string Font { get; set; }
|
||||
public string FillStyle { get; set; }
|
||||
public string Text { get; set; }
|
||||
}
|
||||
|
||||
public class Lock
|
||||
{
|
||||
public bool Enable { get; set; }
|
||||
}
|
||||
|
||||
public class Data
|
||||
{
|
||||
public string NodeId { get; set; }
|
||||
public int SequenceId { get; set; }
|
||||
public string NodeDescription { get; set; }
|
||||
public bool Released { get; set; }
|
||||
public NodePosition NodePosition { get; set; }
|
||||
public List<FassAction> Actions { get; set; }
|
||||
}
|
||||
|
||||
public class NodePosition
|
||||
{
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
public string MapId { get; set; }
|
||||
}
|
||||
|
||||
public class FassAction
|
||||
{
|
||||
public bool Action0 { get; set; }
|
||||
public string ActionId { get; set; }
|
||||
public List<FassActionParameter> ActionParameters { get; set; }
|
||||
public string ActionType { get; set; }
|
||||
public string BlockingType { get; set; }
|
||||
public int SortNumber { get; set; }
|
||||
}
|
||||
|
||||
public class FassActionParameter
|
||||
{
|
||||
public bool Parameter0 { get; set; }
|
||||
public string Key { get; set; }
|
||||
public string Value { get; set; }
|
||||
}
|
||||
|
||||
public class Edge
|
||||
{
|
||||
public int Index { get; set; }
|
||||
public string Id { get; set; }
|
||||
public string Kind { get; set; }
|
||||
public string Type { get; set; }
|
||||
public EdgeBase Base { get; set; }
|
||||
public Code Code { get; set; }
|
||||
public Name Name { get; set; }
|
||||
public Lock Lock { get; set; }
|
||||
public EdgeData Data { get; set; }
|
||||
public List<object> Extends { get; set; }
|
||||
}
|
||||
|
||||
public class EdgeBase
|
||||
{
|
||||
public bool Visible { get; set; }
|
||||
public Point Point { get; set; }
|
||||
public Size Size { get; set; }
|
||||
public double GlobalAlpha { get; set; }
|
||||
public int LineWidth { get; set; }
|
||||
public List<int> LineDash { get; set; }
|
||||
public string StrokeStyle { get; set; }
|
||||
public string FillStyle { get; set; }
|
||||
public Center Center { get; set; }
|
||||
public bool IsOneway { get; set; }
|
||||
public double Width { get; set; }
|
||||
public Node StartNode { get; set; }
|
||||
public Node EndNode { get; set; }
|
||||
}
|
||||
|
||||
public class EdgeData
|
||||
{
|
||||
public string EdgeId { get; set; }
|
||||
public int SequenceId { get; set; }
|
||||
public string EdgeDescription { get; set; }
|
||||
public bool Released { get; set; }
|
||||
public string StartNodeId { get; set; }
|
||||
public string EndNodeId { get; set; }
|
||||
public double MaxSpeed { get; set; }
|
||||
public double MaxHeight { get; set; }
|
||||
public double MinHeight { get; set; }
|
||||
public double Orientation { get; set; }
|
||||
public string OrientationType { get; set; }
|
||||
public string Direction { get; set; }
|
||||
public bool RotationAllowed { get; set; }
|
||||
public double MaxRotationSpeed { get; set; }
|
||||
public double Length { get; set; }
|
||||
public Trajectory Trajectory { get; set; }
|
||||
public List<object> Actions { get; set; }
|
||||
}
|
||||
|
||||
public class Trajectory
|
||||
{
|
||||
public double Degree { get; set; }
|
||||
public List<int> KnotVector { get; set; }
|
||||
public List<object> ControlPoints { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,48 @@
|
||||
|
||||
using System;
|
||||
|
||||
namespace StandardScene.Model
|
||||
{
|
||||
public class MissionState
|
||||
{
|
||||
public string MissionId { get; set; }
|
||||
public string CarCode {get; set; }
|
||||
|
||||
public DateTime TriggerTime { get; set; }
|
||||
|
||||
public enum MissionStateEnum
|
||||
{
|
||||
/// <summary>
|
||||
/// 创建任务。
|
||||
/// </summary>
|
||||
Created = 1,
|
||||
|
||||
/// <summary>
|
||||
/// 子任务启动。
|
||||
/// </summary>
|
||||
Started = 2,
|
||||
|
||||
/// <summary>
|
||||
/// 子任务完成。
|
||||
/// </summary>
|
||||
Finished = 3,
|
||||
|
||||
/// <summary>
|
||||
/// 子任务失败。
|
||||
/// </summary>
|
||||
Failed = 4,
|
||||
|
||||
/// <summary>
|
||||
/// 子任务的取货完成，发生在Started之后。
|
||||
/// </summary>
|
||||
Fetched = 5,
|
||||
|
||||
/// <summary>
|
||||
/// 子任务的放货完成，发生在Started之后。
|
||||
/// </summary>
|
||||
Put = 6
|
||||
}
|
||||
|
||||
public MissionStateEnum State { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace StandardScene.Model
|
||||
{
|
||||
public class PlanRulesSetting
|
||||
{
|
||||
public string Name { get; set; }
|
||||
public string Description { get; set; }
|
||||
public string Value { get; set; }
|
||||
|
||||
public string NodeId { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace StandardScene.Model
|
||||
{
|
||||
public class SimpleConfig
|
||||
{
|
||||
public string Autoload { get; set; }
|
||||
public int Port { get; set; }
|
||||
public string Ip { get; set; }
|
||||
public bool AllowMultiple { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,124 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace StandardScene.Model
|
||||
{
|
||||
public class Configuration
|
||||
{
|
||||
public Conf conf { get; set; }
|
||||
public Dictionary<string, SimpleMission> Missions { get; set; }
|
||||
public Dictionary<string, SimpleMap> Maps { get; set; }
|
||||
public Dictionary<string, SimpleSite> Sites { get; set; }
|
||||
public Dictionary<string, Track> Tracks { get; set; }
|
||||
public Dictionary<string, object> Cars { get; set; } // Assuming Cars is an empty object
|
||||
public Dictionary<string, object> PrologScripts { get; set; } // Assuming PrologScripts is an empty object
|
||||
|
||||
public Configuration()
|
||||
{
|
||||
// Initialize Conf with default values
|
||||
conf = new Conf
|
||||
{
|
||||
PRICE_RANGE = 10000.0,
|
||||
fields = new Dictionary<string, object>(),
|
||||
Car_UpdateInterval = 300,
|
||||
Search_AllowDestOnRoute = false,
|
||||
Search_RouteOnDestClearance = 0,
|
||||
Search_MaxVisitPerSite = 1,
|
||||
Search_MaxDupVisit = 1,
|
||||
Search_MaxKeepResult = 16,
|
||||
Traffic_MaxHoldingLocks = 3,
|
||||
Traffic_DeadLockSearchDepth = 0,
|
||||
DebugTypes = "S",
|
||||
Auto_Reprogram = false
|
||||
};
|
||||
|
||||
Missions = new Dictionary<string, SimpleMission>();
|
||||
Maps = new Dictionary<string, SimpleMap>();
|
||||
Sites = new Dictionary<string, SimpleSite>();
|
||||
Tracks = new Dictionary<string, Track>();
|
||||
Cars = new Dictionary<string, object>();
|
||||
PrologScripts = new Dictionary<string, object>();
|
||||
}
|
||||
}
|
||||
|
||||
public class Conf
|
||||
{
|
||||
public double PRICE_RANGE { get; set; }
|
||||
public Dictionary<string, object> fields { get; set; } // Assuming fields is an empty object
|
||||
public int Car_UpdateInterval { get; set; }
|
||||
public bool Search_AllowDestOnRoute { get; set; }
|
||||
public int Search_RouteOnDestClearance { get; set; }
|
||||
public int Search_MaxVisitPerSite { get; set; }
|
||||
public int Search_MaxDupVisit { get; set; }
|
||||
public int Search_MaxKeepResult { get; set; }
|
||||
public int Traffic_MaxHoldingLocks { get; set; }
|
||||
public int Traffic_DeadLockSearchDepth { get; set; }
|
||||
public string DebugTypes { get; set; }
|
||||
public bool Auto_Reprogram { get; set; }
|
||||
}
|
||||
|
||||
public class SimpleMission
|
||||
{
|
||||
public string type { get; set; }
|
||||
public MissionOptions options { get; set; }
|
||||
}
|
||||
|
||||
public class MissionOptions
|
||||
{
|
||||
public bool autoStart { get; set; }
|
||||
public int id { get; set; }
|
||||
public string layerName { get; set; }
|
||||
public string name { get; set; }
|
||||
public Dictionary<string, object> fields { get; set; } // Assuming fields is an empty object
|
||||
}
|
||||
|
||||
public class SimpleMap
|
||||
{
|
||||
public string type { get; set; }
|
||||
public MapOptions options { get; set; }
|
||||
}
|
||||
|
||||
public class MapOptions
|
||||
{
|
||||
public string filename { get; set; }
|
||||
public int id { get; set; }
|
||||
public string layerName { get; set; }
|
||||
public string name { get; set; }
|
||||
public Dictionary<string, object> fields { get; set; } // Assuming fields is an empty object
|
||||
}
|
||||
|
||||
public class SimpleSite
|
||||
{
|
||||
public string color { get; set; }
|
||||
public string displaySetting { get; set; }
|
||||
public double x { get; set; }
|
||||
public double y { get; set; }
|
||||
public int id { get; set; }
|
||||
public string layerName { get; set; }
|
||||
public string name { get; set; }
|
||||
public Dictionary<string, string> fields { get; set; }
|
||||
public List<object> mustFree { get; set; } // Assuming mustFree is an empty array
|
||||
|
||||
|
||||
}
|
||||
|
||||
public class Track
|
||||
{
|
||||
public string displaySetting { get; set; }
|
||||
public int siteA { get; set; }
|
||||
public int siteB { get; set; }
|
||||
public int direction { get; set; }
|
||||
public int id { get; set; }
|
||||
public string layerName { get; set; }
|
||||
public string name { get; set; }
|
||||
public Dictionary<string, string> fields { get; set; }
|
||||
public int _siteA { get; set; }
|
||||
public int _siteB { get; set; }
|
||||
|
||||
public string typeInfo { get; set; }
|
||||
// public Dictionary<string, object> fields { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,262 @@
|
||||
using SimpleLite.RCS;
|
||||
using SimpleLite.RCS.CarTypes;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
|
||||
namespace StandardScene.Model
|
||||
{
|
||||
public class TaskRequest
|
||||
{
|
||||
public string CarCode { get; set; }
|
||||
public string CarType { get; set; }
|
||||
public string TaskCode { get; set; }
|
||||
public string MissionType { get; set; }
|
||||
public string TaskType { get; set; }
|
||||
public string Material { get; set; }
|
||||
public ContainerSize ContainerSize { get; set; }
|
||||
public List<Node> Nodes { get; set; }
|
||||
public int priority { get; set; }
|
||||
}
|
||||
|
||||
public class ContainerSize
|
||||
{
|
||||
public double Length { get; set; }
|
||||
public double Width { get; set; }
|
||||
public double Height { get; set; }
|
||||
}
|
||||
|
||||
public class Node
|
||||
{
|
||||
public int Code { get; set; }
|
||||
//public List<Action> Actions { get; set; }
|
||||
}
|
||||
|
||||
public class Action
|
||||
{
|
||||
public string Code { get; set; }
|
||||
public string ActionType { get; set; }
|
||||
public string BlockingType { get; set; }
|
||||
public List<ActionParameter> Parameters { get; set; }
|
||||
}
|
||||
|
||||
public class ActionParameter
|
||||
{
|
||||
public string Key { get; set; }
|
||||
public string Value { get; set; }
|
||||
}
|
||||
|
||||
public class BaseRespose<T>
|
||||
{
|
||||
public bool Success { get; set; }
|
||||
public int Code { get; set; } = 200;
|
||||
public string Message { get; set; }
|
||||
public T Data { get; set; }
|
||||
}
|
||||
|
||||
public class BaseRespose
|
||||
{
|
||||
public bool Success { get; set; } = true;
|
||||
public int Code { get; set; } = 200;
|
||||
public string Message { get; set; }
|
||||
}
|
||||
public class CarInfo
|
||||
{
|
||||
|
||||
|
||||
public string Code { get; set; }
|
||||
public string Name { get; set; }
|
||||
public double Voltage { get; set; }
|
||||
|
||||
public string Address { get; set; }
|
||||
|
||||
public string Speed { get; set; }
|
||||
|
||||
public int siteId { get; set; }
|
||||
|
||||
}
|
||||
public class CarStateInfo
|
||||
{
|
||||
public string Code { get; set; }
|
||||
public string Name { get; set; }
|
||||
public string CurrState { get; set; }
|
||||
public bool IsOnline { get; set; } = false;
|
||||
public double Battery { get; set; }
|
||||
public double ElectricCurrent { get; set; }
|
||||
public double Voltage { get; set; }
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
public double Theta { get; set; }
|
||||
public double Speed { get; set; }
|
||||
public int Load { get; set; }
|
||||
public string CurrNodeCode { get; set; }
|
||||
public string StartNodeCode { get; set; }
|
||||
public string EndNodeCode { get; set; }
|
||||
public string CurrEdgeCode { get; set; } = "";
|
||||
public string StartEdgeCode { get; set; } = "";
|
||||
public string EndEdgeCode { get; set; } = "";
|
||||
public List<int> HoldingLocks { get; set; }
|
||||
public List<int> PendingLocks { get; set; }
|
||||
public List<BlockedByItem> BlockedBy { get; set; }
|
||||
public string BlockingTime { get; set; } = "";
|
||||
public string TrafficMessage { get; set; } = "";
|
||||
public int AquiringLock { get; set; } = -1;
|
||||
public bool StopAccept { get; set; } = false;
|
||||
|
||||
public List<CarAlarm> Alarms { get; set; }
|
||||
|
||||
public List<TaskInfo> Tasks { get; set; }
|
||||
|
||||
public List<TaskAction> Actions { get; set; }
|
||||
|
||||
}
|
||||
|
||||
public class BlockedByItem
|
||||
{
|
||||
public string CarCode { get; set; }
|
||||
public int Type { get; set; }
|
||||
}
|
||||
|
||||
public class CarAlarm
|
||||
{
|
||||
public string Code { get; set; }
|
||||
public string Name { get; set; }
|
||||
}
|
||||
|
||||
public class TaskInfo
|
||||
{
|
||||
public string Code { get; set; }
|
||||
public string State { get; set; }
|
||||
public List<ResponseNode> Nodes { get; set; }
|
||||
}
|
||||
|
||||
public class TaskAction
|
||||
{
|
||||
public string Code { get; set; }
|
||||
public string ActionType { get; set; }
|
||||
public string BlockingType { get; set; }
|
||||
public string State { get; set; }
|
||||
}
|
||||
|
||||
public class ResponseNode
|
||||
{
|
||||
public string Code { get; set; }
|
||||
//public List<TaskAction> Actions { get; set; }
|
||||
}
|
||||
|
||||
public class TaskCancel
|
||||
{
|
||||
public string TaskCode { get; set; }
|
||||
public string MissionType { get; set; }
|
||||
public string TaskStatus { get; set; }
|
||||
}
|
||||
public class TaskRecord
|
||||
{
|
||||
public string TaskId { get; set; }
|
||||
public string Name { get; set; }
|
||||
public string CarId { get; set; }
|
||||
public string CarName { get; set; }
|
||||
public string SrcSiteId { get; set; }
|
||||
public string DestSiteId { get; set; }
|
||||
public int Priority { get; set; } = 0;
|
||||
public string State { get; set; }
|
||||
public DateTime? StartTime { get; set; }
|
||||
public DateTime? EndTime { get; set; }
|
||||
public DateTime Created { get; set; }
|
||||
|
||||
}
|
||||
|
||||
public class CarBaseInfo
|
||||
{
|
||||
public string Code { get; set; }
|
||||
public string Name { get; set; }
|
||||
public string CarType { get; set; }
|
||||
public double Length { get; set; }
|
||||
public double Width { get; set; }
|
||||
public string CurrNodeCode { get; set; }
|
||||
public string CurrState { get; set; }
|
||||
public double Battery { get; set; }
|
||||
public string Address { get; set; }
|
||||
public double Speed { get; set; }
|
||||
public double X { get; set; }
|
||||
public double Y { get; set; }
|
||||
public double Theta { get; set; }
|
||||
public double Voltage { get; set; }
|
||||
public double ElectricCurrent { get; set; }
|
||||
public bool IsOnline { get; set; } = false;
|
||||
public Dictionary<string, string> Additional { get; set; }
|
||||
|
||||
public CarBaseInfo()
|
||||
{
|
||||
Additional = new Dictionary<string, string>();
|
||||
}
|
||||
|
||||
public static CarBaseInfo FromCar(Car car)
|
||||
{
|
||||
var info = new CarBaseInfo()
|
||||
{
|
||||
Code = car.id.ToString(),
|
||||
Name = car.name,
|
||||
Address = car.address.Equals("/") ? "127.0.0.1" : car.address,
|
||||
CurrNodeCode = car.status.holdingLocks.FirstOrDefault().ToString(),
|
||||
X = car.x,
|
||||
Y = car.y,
|
||||
Theta = car.th,
|
||||
Speed = car.speed
|
||||
};
|
||||
//info.Length = car.latestShape.lx;
|
||||
//info.Width = car.latestShape.ly;
|
||||
info.CarType = car.fields.ContainsKey("CarType") ? car.fields["CarType"] : "Car";
|
||||
info.Battery = car.status.enums.ContainsKey("Soc") ? int.Parse(car.status.enums["Soc"]) : 100;
|
||||
info.Voltage = car.status.enums.ContainsKey("Voltage") ? double.Parse(car.status.enums["Voltage"]) : 0;
|
||||
info.ElectricCurrent = car.status.enums.ContainsKey("ElectricCurrent") ? double.Parse(car.status.enums["ElectricCurrent"]) : 0;
|
||||
var isOnline = false;
|
||||
string carState = SwitchCarState(car, ref isOnline);
|
||||
info.IsOnline = isOnline;
|
||||
info.CurrState = carState;
|
||||
return info;
|
||||
}
|
||||
|
||||
public static string SwitchCarState(Car car, ref bool isOnline)
|
||||
{
|
||||
string state = "Stopping";
|
||||
if (car.GetLastSite() == -1)
|
||||
{
|
||||
isOnline = false;
|
||||
return state;
|
||||
}
|
||||
if (Commons.GetVehicleStatus(car)!= VehicleStatus.Offline)
|
||||
{
|
||||
if (Commons.GetVehicleStatus(car) is VehicleStatus.Normal or VehicleStatus.NeedInit)
|
||||
state = "Stopping"; //Idle
|
||||
var lp = car.status.programs.latest;
|
||||
if (lp != null)
|
||||
{
|
||||
if (
|
||||
lp.status.state >= SimpleCore.Compiler.CarProgram.StatusEnum.Programming
|
||||
&& lp.status.state <= SimpleCore.Compiler.CarProgram.StatusEnum.Running
|
||||
)
|
||||
{
|
||||
state = "Running"; //Executing
|
||||
}
|
||||
}
|
||||
//存在报警信息
|
||||
if (car.status.enums.ContainsKey("AlarmInfo"))
|
||||
{
|
||||
if (!string.IsNullOrEmpty(car.status.enums["AlarmInfo"]))
|
||||
{
|
||||
state = "Faulting"; //Malfunction
|
||||
}
|
||||
}
|
||||
if (car.tags.Contains("charging"))
|
||||
state = "Charging";
|
||||
isOnline = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
isOnline = false;
|
||||
}
|
||||
return state;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,15 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace StandardScene.Model
|
||||
{
|
||||
public class TrafficControlSetting
|
||||
{
|
||||
public string Name { get; set; }
|
||||
public string Description { get; set; }
|
||||
public string Value { get; set; }
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace StandardScene.Model
|
||||
{
|
||||
public enum VehicleStatus
|
||||
{
|
||||
Unknown = 0,
|
||||
Normal = 1,
|
||||
NeedInit = 2,
|
||||
Offline = 3,
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user