zengzy / hhrcs_service · Files

using System;
using System.Collections.Generic;
using Rcs.Application.Services;
using Rcs.Domain.Entities;
using Rcs.Domain.Enums;

namespace Rcs.Application.Services.PathFind.Models
{
    /// <summary>
    /// 寻路请求
    /// @author zzy
    /// </summary>
    public class PathRequest
    {
        /// <summary>
        /// 请求机器人ID
        /// </summary>
        public Guid RobotId { get; set; }

        /// <summary>
        /// 地图ID
        /// </summary>
        public Guid MapId { get; set; }

        /// <summary>
        /// 起始节点ID
        /// </summary>
        public Guid StartNodeId { get; set; }

        /// <summary>
        /// 目标节点ID
        /// </summary>
        public Guid EndNodeId { get; set; }

        /// <summary>
        /// 当前航向角(弧度)
        /// </summary>
        public double CurrentTheta { get; set; }

        /// <summary>
        /// 是否载货
        /// </summary>
        public bool IsLoaded { get; set; }

        /// <summary>
        /// 任务优先级(数值越大优先级越高)
        /// </summary>
        public int Priority { get; set; }

        /// <summary>
        /// 电池电量(0-100)
        /// </summary>
        public int BatteryLevel { get; set; }

        /// <summary>
        /// 最大等待时间(秒)
        /// </summary>
        public int MaxWaitTime { get; set; } = 30;

        /// <summary>
        /// 车辆支持的行驶方向角度列表(弧度)，如[0, π]表示支持正向和倒车
        /// @author zzy
        /// </summary>
        public List<double> VehicleOrientationAngles { get; set; } = new() { 0, Math.PI };

        /// <summary>
        /// 默认构造函数，设置默认值为弧度
        /// @author zzy
        /// </summary>

        /// <summary>
        /// 取货与车头方向的夹角(弧度)，0表示货叉在车头方向，π表示货叉在车尾方向,为空则表示任意方向
        /// @author zzy
        /// </summary>
        public List<double>? ForkRadOffsets{ get; set; }

        /// <summary>
        /// 终点要求的朝向(弧度)，用于取货/放货时的车头方向约束
        /// 为null时不约束终点朝向
        /// @author zzy
        /// </summary>
        public double? RequiredEndRad { get; set; }
    }

    /// <summary>
    /// 寻路结果
    /// @author zzy
    /// </summary>
    public class PathResult
    {
        /// <summary>
        /// 是否成功
        /// </summary>
        public bool Success { get; set; }

        /// <summary>
        /// 错误信息
        /// </summary>
        public string? ErrorMessage { get; set; }

        /// <summary>
        /// 路径节点列表
        /// </summary>
        public List<PathSegment> Segments { get; set; } = new();

        /// <summary>
        /// 总路径长度
        /// </summary>
        public double TotalLength { get; set; }

        /// <summary>
        /// 总代价
        /// </summary>
        public double TotalCost { get; set; }

        /// <summary>
        /// 计算耗时(毫秒)
        /// </summary>
        public long ComputeTimeMs { get; set; }

        /// <summary>
        /// 是否需要等待
        /// </summary>
        public bool NeedWait { get; set; }

        /// <summary>
        /// 等待节点ID
        /// </summary>
        public Guid? WaitNodeId { get; set; }

        /// <summary>
        /// 建议等待时间(秒)
        /// </summary>
        public int SuggestedWaitTime { get; set; }
    }

    /// <summary>
    /// 路径段
    /// @author zzy
    /// </summary>
    public class PathSegment
    {
        /// <summary>
        /// 边ID
        /// </summary>
        public Guid EdgeId { get; set; }

        /// <summary>
        /// 起始节点ID
        /// </summary>
        public Guid FromNodeId { get; set; }

        /// <summary>
        /// 目标节点ID
        /// </summary>
        public Guid ToNodeId { get; set; }

        /// <summary>
        /// 车头和路径方向的夹角(弧度)
        /// @author zzy
        /// </summary>
        public double Angle { get; set; }

        /// <summary>
        /// 段长度
        /// </summary>
        public double Length { get; set; }

        /// <summary>
        /// 最大速度限制
        /// </summary>
        public double? MaxSpeed { get; set; }

        /// <summary>
        /// 进入该段需要的航向角
        /// </summary>
        public double RequiredAngle { get; set; }
    }

    /// <summary>
    /// 带Code的路径段（用于统一锁管理）
    /// @author zzy
    /// 2026-02-06 更新：添加网络动作类型映射
    /// </summary>
    public class PathSegmentWithCode : PathSegment
    {
        /// <summary>
        /// 边编码
        /// </summary>
        public string EdgeCode { get; set; } = string.Empty;

        /// <summary>
        /// 起始节点编码
        /// </summary>
        public string FromNodeCode { get; set; } = string.Empty;

        /// <summary>
        /// 目标节点编码
        /// </summary>
        public string ToNodeCode { get; set; } = string.Empty;

        /// <summary>
        /// 起始节点（FromNode）的动作ID列表
        /// @author zzy
        /// </summary>
        public List<StepAction> StartNodeActions { get; set; } = new();

        /// <summary>
        /// 起始节点（FromNode）的网络动作类型映射（Key: 网络动作ID, Value: 动作类型）
        /// @author zzy
        /// 2026-02-06 重构：使用字典替代List，Key即为网络动作ID
        /// </summary>
        public Dictionary<Guid, ActionType> StartNodeNetActionTypes { get; set; } = new();

        /// <summary>
        /// 终止节点（ToNode）的动作ID列表
        /// @author zzy
        /// </summary>
        public List<StepAction> EndNodeActions { get; set; } = new();

        /// <summary>
        /// 终止节点（ToNode）的网络动作类型映射（Key: 网络动作ID, Value: 动作类型）
        /// @author zzy
        /// 2026-02-06 重构：使用字典替代List，Key即为网络动作ID
        /// </summary>
        public Dictionary<Guid, ActionType> EndNodeNetActionTypes { get; set; } = new();

        /// <summary>
        /// 从 PathSegment 创建（需要额外提供Code信息）
        /// </summary>
        public static PathSegmentWithCode FromSegment(PathSegment segment, string edgeCode, string fromNodeCode, string toNodeCode)
        {
            return new PathSegmentWithCode
            {
                EdgeId = segment.EdgeId,
                FromNodeId = segment.FromNodeId,
                ToNodeId = segment.ToNodeId,
                Angle = segment.Angle,
                Length = segment.Length,
                MaxSpeed = segment.MaxSpeed,
                RequiredAngle = segment.RequiredAngle,
                EdgeCode = edgeCode,
                FromNodeCode = fromNodeCode,
                ToNodeCode = toNodeCode
            };
        }
    }

    /// <summary>
    /// 寻路用节点数据
    /// @author zzy
    /// </summary>
    public class PathNode
    {
        public Guid NodeId { get; set; }
        public string NodeCode { get; set; } = string.Empty;
        public double X { get; set; }
        public double Y { get; set; }

        /// <summary>
        /// 节点朝向(弧度)
        /// @author zzy
        /// </summary>
        public double? Theta { get; set; }

        public bool IsReverseParking { get; set; }
        public bool AllowRotate { get; set; }
        public bool Active { get; set; }
        public double? MaxCoordinateOffset { get; set; }

        /// <summary>
        /// 出边列表
        /// </summary>
        public List<PathEdge> OutEdges { get; set; } = new();

        /// <summary>
        /// 入边列表
        /// </summary>
        public List<PathEdge> InEdges { get; set; } = new();
    }

    /// <summary>
    /// 寻路用边数据
    /// @author zzy
    /// </summary>
    public class PathEdge
    {
        public Guid EdgeId { get; set; }
        public string EdgeCode { get; set; } = string.Empty;
        public Guid FromNodeId { get; set; }
        public Guid ToNodeId { get; set; }

        /// <summary>
        /// 起始节点Code（用于跨地图冲突检测）
        /// @author zzy
        /// </summary>
        public string FromNodeCode { get; set; } = string.Empty;

        /// <summary>
        /// 目标节点Code（用于跨地图冲突检测）
        /// @author zzy
        /// </summary>
        public string ToNodeCode { get; set; } = string.Empty;

        public double Length { get; set; }
        public double Cost { get; set; }
        public bool Active { get; set; }

        /// <summary>
        /// 允许的行驶夹角(弧度)
        /// @author zzy
        /// </summary>
        public List<double> OrientationRads { get; set; } = new();

        /// <summary>
        /// 最大速度
        /// </summary>
        public double? MaxSpeed { get; set; }

        /// <summary>
        /// 终点切线方向(弧度，全局坐标系)
        /// @author zzy
        /// </summary>
        public double DirectionRad { get; set; }

        /// <summary>
        /// 起点切线方向(弧度，全局坐标系)
        /// @author zzy
        /// </summary>
        public double StartTangentRad { get; set; }

        /// <summary>
        /// 最大角度偏差(弧度)，车辆航向角与边方向的允许偏差范围
        /// @author zzy
        /// </summary>
        public double? MaxRadDeviation { get; set; }
    }

    /// <summary>
    /// 寻路用资源区域数据
    /// @author zzy
    /// </summary>
    public class PathResource
    {
        public Guid ResourceId { get; set; }
        public string ResourceCode { get; set; } = string.Empty;
        public int Type { get; set; }
        public int Capacity { get; set; }
        public double MaxSpeed { get; set; }
        public bool CanRotate { get; set; }
        /// <summary>
        /// 区域内节点ID列表
        /// </summary>
        public List<Guid> NodeIds { get; set; } = new();

        /// <summary>
        /// 区域几何坐标点集合
        /// </summary>
        public List<PointCache>? LocationCoordinates { get; set; }

        /// <summary>
        /// 前置动作类型1（进入资源前）
        /// @author zzy
        /// </summary>
        public ActionType? PreAction1Type { get; set; }

        /// <summary>
        /// 前置网络动作集合1（进入资源前）
        /// @author zzy
        /// </summary>
        public List<Guid>? PreNetActions1 { get; set; }

        /// <summary>
        /// 后置动作类型1（进入资源后）
        /// @author zzy
        /// </summary>
        public ActionType? PostAction1Type { get; set; }

        /// <summary>
        /// 后置网络动作集合1（进入资源后）
        /// @author zzy
        /// </summary>
        public List<Guid>? PostNetActions1 { get; set; }

        /// <summary>
        /// 前置动作类型2（离开资源前）
        /// @author zzy
        /// </summary>
        public ActionType? PreAction2Type { get; set; }

        /// <summary>
        /// 前置网络动作集合2（离开资源前）
        /// @author zzy
        /// </summary>
        public List<Guid>? PreNetActions2 { get; set; }

        /// <summary>
        /// 后置动作类型2（离开资源后）
        /// @author zzy
        /// </summary>
        public ActionType? PostAction2Type { get; set; }

        /// <summary>
        /// 后置网络动作集合2（离开资源后）
        /// @author zzy
        /// </summary>
        public List<Guid>? PostNetActions2 { get; set; }
    }

    /// <summary>
    /// 机器人运行时状态(用于冲突检测)
    /// @author zzy
    /// </summary>
    public class RobotRuntimeState
    {
        public Guid RobotId { get; set; }
        public string RobotCode { get; set; } = string.Empty;
        public Guid? CurrentNodeId { get; set; }
        public double? X { get; set; }
        public double? Y { get; set; }

        /// <summary>
        /// 机器人当前航向角(弧度)
        /// @author zzy
        /// </summary>
        public double? Angle { get; set; }

        public bool IsLoaded { get; set; }
        public int Priority { get; set; }
        public int BatteryLevel { get; set; }
        public bool IsDriving { get; set; }

        /// <summary>
        /// 机器人使用的地图编码（用于跨地图冲突检测）
        /// @author zzy
        /// </summary>
        public string MapCode { get; set; } = string.Empty;

        /// <summary>
        /// 当前规划路径（节点ID列表）
        /// </summary>
        public List<Guid> PlannedPath { get; set; } = new();

        /// <summary>
        /// 当前规划路径带节点Code信息（用于跨地图冲突检测）
        /// @author zzy
        /// </summary>
        public List<PlannedPathNode> PlannedPathWithCode { get; set; } = new();

        /// <summary>
        /// 已锁定的节点
        /// </summary>
        public HashSet<Guid> LockedNodes { get; set; } = new();

        /// <summary>
        /// 已锁定的边
        /// </summary>
        public HashSet<Guid> LockedEdges { get; set; } = new();

        /// <summary>
        /// 平均行驶速度（米/秒），用于预估到达时间
        /// @author zzy
        /// </summary>
        public double AverageSpeed { get; set; } = 1.0;

        /// <summary>
        /// 当前行驶速度（米/秒）
        /// @author zzy
        /// </summary>
        public double CurrentSpeed { get; set; }

        /// <summary>
        /// 是否被阻塞（遇到障碍物等）
        /// @author zzy
        /// </summary>
        public bool IsBlocked { get; set; }

        /// <summary>
        /// 当前边的行驶进度（米），0表示还未进入边
        /// @author zzy
        /// </summary>
        public double CurrentEdgeTraveledDistance { get; set; }
    }

    /// <summary>
    /// 规划路径节点（带Code）
    /// @author zzy
    /// </summary>
    public class PlannedPathNode
    {
        public Guid NodeId { get; set; }
        public string NodeCode { get; set; } = string.Empty;

        /// <summary>
        /// 预估到达时间（秒，相对于路径开始时间）
        /// </summary>
        public double EstimatedArrivalTime { get; set; }
    }
}