zengzy / hhrcs_service · Files

using System.Text.Json.Serialization;
using Rcs.Domain.Extensions;

namespace Rcs.Domain.Models.VDA5050 {
    /// <summary>
    /// AGV 事实表消息（核心实体）
    /// 提供 AGV 类型系列的基本信息，用于系统规划、集成和仿真
    /// </summary>
    [ProtocolInfo("Default", "2.0.0", nameof(FactSheet))]
    public class FactSheet : VDA5050_Header
    {
        /// <summary>
        /// 类型规范（AGV类别和能力）
        /// </summary>
        [JsonPropertyName("typeSpecification")]
        public TypeSpecification TypeSpecification { get; set; } = new();

        /// <summary>
        /// 物理参数（基本物理属性）
        /// </summary>
        [JsonPropertyName("physicalParameters")]
        public PhysicalParameters PhysicalParameters { get; set; } = new();

        /// <summary>
        /// 协议限制（MQTT通信限制）
        /// </summary>
        [JsonPropertyName("protocolLimits")]
        public ProtocolLimits ProtocolLimits { get; set; } = new();

        /// <summary>
        /// 协议特性（支持的VDA5050特性）
        /// </summary>
        [JsonPropertyName("protocolFeatures")]
        public ProtocolFeatures ProtocolFeatures { get; set; } = new();

        /// <summary>
        /// AGV几何结构（轮廓和车轮定义）
        /// </summary>
        [JsonPropertyName("agvGeometry")]
        public AgvGeometry AgvGeometry { get; set; } = new();

        /// <summary>
        /// 负载规范（负载处理能力）
        /// </summary>
        [JsonPropertyName("loadSpecification")]
        public LoadSpecification LoadSpecification { get; set; } = new();

        /// <summary>
        /// 车辆配置（软硬件版本和网络信息）
        /// </summary>
        [JsonPropertyName("vehicleConfig")]
        public VehicleConfig? VehicleConfig { get; set; }
    }

    // ==== 嵌套类型定义 ==== //

    /// <summary>
    /// 类型规范（AGV类别和能力）
    /// </summary>
    public class TypeSpecification
    {
        /// <summary>
        /// 系列名称
        /// </summary>
        [JsonPropertyName("seriesName")]
        public string SeriesName { get; set; }

        /// <summary>
        /// 系列描述
        /// </summary>
        [JsonPropertyName("seriesDescription")]
        public string? SeriesDescription { get; set; }

        /// <summary>
        /// AGV运动学类型 [DIFF, OMNI, THREEWHEEL]
        /// DIFF=差速驱动, OMNI=全向车, THREEWHEEL=三轮驱动
        /// </summary>
        [JsonPropertyName("agvKinematic")]
        public string AgvKinematic { get; set; }

        /// <summary>
        /// AGV类别 [FORKLIFT, CONVEYOR, TUGGER, CARRIER]
        /// FORKLIFT=叉车, CONVEYOR=输送式, TUGGER=牵引式, CARRIER=载具式
        /// </summary>
        [JsonPropertyName("agvClass")]
        public string AgvClass { get; set; }

        /// <summary>
        /// 最大负载质量（kg）
        /// </summary>
        [JsonPropertyName("maxLoadMass")]
        public double MaxLoadMass { get; set; }

        /// <summary>
        /// 定位类型列表 [NATURAL, REFLECTOR, RFID, ...]
        /// </summary>
        [JsonPropertyName("localizationTypes")]
        public List<string> LocalizationTypes { get; set; } = new();

        /// <summary>
        /// 导航类型列表（按优先级排序）[PHYSICAL_LINE_GUIDED, VIRTUAL_LINE_GUIDED, AUTONOMOUS]
        /// </summary>
        [JsonPropertyName("navigationTypes")]
        public List<string> NavigationTypes { get; set; } = new();
    }

    /// <summary>
    /// 物理参数（基本物理属性）
    /// </summary>
    public class PhysicalParameters
    {
        /// <summary>
        /// 最小可控速度（m/s）
        /// </summary>
        [JsonPropertyName("speedMin")]
        public double SpeedMin { get; set; }

        /// <summary>
        /// 最大速度（m/s）
        /// </summary>
        [JsonPropertyName("speedMax")]
        public double SpeedMax { get; set; }

        /// <summary>
        /// 最小旋转速度（rad/s）
        /// </summary>
        [JsonPropertyName("angularSpeedMin")]
        public double? AngularSpeedMin { get; set; }

        /// <summary>
        /// 最大旋转速度（rad/s）
        /// </summary>
        [JsonPropertyName("angularSpeedMax")]
        public double? AngularSpeedMax { get; set; }

        /// <summary>
        /// 最大加速度（m/s²，满载时）
        /// </summary>
        [JsonPropertyName("accelerationMax")]
        public double AccelerationMax { get; set; }

        /// <summary>
        /// 最大减速度（m/s²，满载时）
        /// </summary>
        [JsonPropertyName("decelerationMax")]
        public double DecelerationMax { get; set; }

        /// <summary>
        /// AGV最小高度（m）
        /// </summary>
        [JsonPropertyName("heightMin")]
        public double HeightMin { get; set; }

        /// <summary>
        /// AGV最大高度（m）
        /// </summary>
        [JsonPropertyName("heightMax")]
        public double HeightMax { get; set; }

        /// <summary>
        /// AGV宽度（m）
        /// </summary>
        [JsonPropertyName("width")]
        public double Width { get; set; }

        /// <summary>
        /// AGV长度（m）
        /// </summary>
        [JsonPropertyName("length")]
        public double Length { get; set; }
    }

    /// <summary>
    /// 协议限制（通信约束）
    /// </summary>
    public class ProtocolLimits
    {
        /// <summary>
        /// 字符串长度限制
        /// </summary>
        [JsonPropertyName("maxStringLens")]
        public StringLengthLimits MaxStringLens { get; set; }

        /// <summary>
        /// 数组长度限制
        /// </summary>
        [JsonPropertyName("maxArraySizes")]
        public ArraySizeLimits MaxArraySizes { get; set; }

        /// <summary>
        /// 时间间隔限制
        /// </summary>
        [JsonPropertyName("timing")]
        public TimingLimits Timing { get; set; }
    }

    /// <summary>
    /// 字符串长度限制
    /// </summary>
    public class StringLengthLimits
    {
        /// <summary>
        /// MQTT消息最大长度（字节）
        /// </summary>
        [JsonPropertyName("msgLen")]
        public uint? MsgLen { get; set; }

        /// <summary>
        /// MQTT主题序列号部分最大长度
        /// </summary>
        [JsonPropertyName("topicSerialLen")]
        public uint? TopicSerialLen { get; set; }

        /// <summary>
        /// MQTT主题其他部分最大长度
        /// </summary>
        [JsonPropertyName("topicElemLen")]
        public uint? TopicElemLen { get; set; }

        /// <summary>
        /// ID字符串最大长度
        /// </summary>
        [JsonPropertyName("idLen")]
        public uint? IdLen { get; set; }

        /// <summary>
        /// ID是否仅含数字
        /// </summary>
        [JsonPropertyName("idNumericalOnly")]
        public bool IdNumericalOnly { get; set; }

        /// <summary>
        /// 枚举值最大长度
        /// </summary>
        [JsonPropertyName("enumLen")]
        public uint? EnumLen { get; set; }

        /// <summary>
        /// 负载ID最大长度
        /// </summary>
        [JsonPropertyName("loadIdLen")]
        public uint? LoadIdLen { get; set; }
    }

    /// <summary>
    /// 数组长度限制
    /// </summary>
    public class ArraySizeLimits
    {
        /// <summary>
        /// 订单中最大节点数
        /// </summary>
        [JsonPropertyName("order.nodes")]
        public uint? OrderNodes { get; set; }

        /// <summary>
        /// 订单中最大边数
        /// </summary>
        [JsonPropertyName("order.edges")]
        public uint? OrderEdges { get; set; }

        /// <summary>
        /// 节点中最大动作数
        /// </summary>
        [JsonPropertyName("node.actions")]
        public uint? NodeActions { get; set; }

        /// <summary>
        /// 边中最大动作数
        /// </summary>
        [JsonPropertyName("edge.actions")]
        public uint? EdgeActions { get; set; }

        /// <summary>
        /// 动作中最大参数数
        /// </summary>
        [JsonPropertyName("actions.actionParameters")]
        public uint? ActionParameters { get; set; }

        /// <summary>
        /// 即时动作最大数量
        /// </summary>
        [JsonPropertyName("instantActions")]
        public uint? InstantActions { get; set; }

        /// <summary>
        /// 轨迹节点向量最大数量
        /// </summary>
        [JsonPropertyName("trajectory.knotVector")]
        public uint? TrajectoryKnotVector { get; set; }

        /// <summary>
        /// 轨迹控制点最大数量
        /// </summary>
        [JsonPropertyName("trajectory.controlPoints")]
        public uint? TrajectoryControlPoints { get; set; }

        /// <summary>
        /// 状态中节点状态最大数量
        /// </summary>
        [JsonPropertyName("state.nodeStates")]
        public uint? StateNodeStates { get; set; }

        /// <summary>
        /// 状态中边状态最大数量
        /// </summary>
        [JsonPropertyName("state.edgeStates")]
        public uint? StateEdgeStates { get; set; }

        /// <summary>
        /// 状态中负载对象最大数量
        /// </summary>
        [JsonPropertyName("state.loads")]
        public uint? StateLoads { get; set; }

        /// <summary>
        /// 状态中动作状态最大数量
        /// </summary>
        [JsonPropertyName("state.actionStates")]
        public uint StateActionStates { get; set; }

        /// <summary>
        /// 单条状态消息错误最大数量
        /// </summary>
        [JsonPropertyName("state.errors")]
        public uint? StateErrors { get; set; }

        /// <summary>
        /// 单条状态消息信息最大数量
        /// </summary>
        [JsonPropertyName("state.information")]
        public uint? StateInformation { get; set; }

        /// <summary>
        /// 错误引用最大数量
        /// </summary>
        [JsonPropertyName("error.errorReferences")]
        public uint? ErrorErrorReferences { get; set; }

        /// <summary>
        /// 信息引用最大数量
        /// </summary>
        [JsonPropertyName("information.infoReferences")]
        public uint? InformationInfoReferences { get; set; }
    }

    /// <summary>
    /// 时间间隔限制
    /// </summary>
    public class TimingLimits
    {
        /// <summary>
        /// 最小订单发送间隔（秒）
        /// </summary>
        [JsonPropertyName("minOrderInterval")]
        public float MinOrderInterval { get; set; }

        /// <summary>
        /// 最小状态发送间隔（秒）
        /// </summary>
        [JsonPropertyName("minStateInterval")]
        public float MinStateInterval { get; set; }

        /// <summary>
        /// 默认状态发送间隔（秒）
        /// </summary>
        [JsonPropertyName("defaultStateInterval")]
        public float? DefaultStateInterval { get; set; }

        /// <summary>
        /// 可视化消息默认间隔（秒）
        /// </summary>
        [JsonPropertyName("visualizationInterval")]
        public float? VisualizationInterval { get; set; }
    }

    /// <summary>
    /// 协议特性（支持的功能）
    /// </summary>
    public class ProtocolFeatures
    {
        /// <summary>
        /// 支持的选项参数列表
        /// </summary>
        [JsonPropertyName("optionalParameters")]
        public List<OptionalParameter> OptionalParameters { get; set; } = new List<OptionalParameter>();

        /// <summary>
        /// 支持的动作列表（标准+制造商特定）
        /// </summary>
        [JsonPropertyName("agvActions")]
        public List<AgvAction> AgvActions { get; set; } = new List<AgvAction>();
    }

    /// <summary>
    /// 可选参数支持说明
    /// </summary>
    public class OptionalParameter
    {
        /// <summary>
        /// 完整参数名（如"order.nodes.nodePosition.allowedDeviationTheta"）
        /// </summary>
        [JsonPropertyName("parameter")]
        public string Parameter { get; set; }

        /// <summary>
        /// 支持类型 [SUPPORTED, REQUIRED]
        /// </summary>
        [JsonPropertyName("support")]
        public string Support { get; set; }

        /// <summary>
        /// 参数描述（自由文本）
        /// </summary>
        [JsonPropertyName("description")]
        public string? Description { get; set; }
    }

    /// <summary>
    /// AGV支持的动作
    /// </summary>
    public class AgvAction
    {
        /// <summary>
        /// 动作类型（对应action.actionType）
        /// </summary>
        [JsonPropertyName("actionType")]
        public string ActionType { get; set; }

        /// <summary>
        /// 动作描述（自由文本）
        /// </summary>
        [JsonPropertyName("actionDescription")]
        public string? ActionDescription { get; set; }

        /// <summary>
        /// 允许的使用范围 [INSTANT, NODE, EDGE]
        /// </summary>
        [JsonPropertyName("actionScopes")]
        public List<string> ActionScopes { get; set; } = new List<string>();

        /// <summary>
        /// 动作参数列表
        /// </summary>
        [JsonPropertyName("actionParameters")]
        public List<ActionParameterDefinition> ActionParameters { get; set; } = new List<ActionParameterDefinition>();

        /// <summary>
        /// 结果描述（自由文本）
        /// </summary>
        [JsonPropertyName("resultDescription")]
        public string? ResultDescription { get; set; }

        /// <summary>
        /// 可能的阻塞类型 [NONE, SOFT, HARD]
        /// </summary>
        [JsonPropertyName("blockingTypes")]
        public List<string>? BlockingTypes { get; set; }
    }

    /// <summary>
    /// 动作参数定义
    /// </summary>
    public class ActionParameterDefinition
    {
        /// <summary>
        /// 参数键名
        /// </summary>
        [JsonPropertyName("key")]
        public string Key { get; set; }

        /// <summary>
        /// 值数据类型 [BOOL, NUMBER, INTEGER, FLOAT, STRING, OBJECT, ARRAY]
        /// </summary>
        [JsonPropertyName("valueDataType")]
        public string ValueDataType { get; set; }

        /// <summary>
        /// 参数描述（自由文本）
        /// </summary>
        [JsonPropertyName("description")]
        public string? Description { get; set; }

        /// <summary>
        /// 是否为可选参数
        /// </summary>
        [JsonPropertyName("isOptional")]
        public bool IsOptional { get; set; }
    }

    /// <summary>
    /// AGV几何结构
    /// </summary>
    public class AgvGeometry
    {
        /// <summary>
        /// 车轮定义列表
        /// </summary>
        [JsonPropertyName("wheelDefinitions")]
        public List<WheelDefinition>? WheelDefinitions { get; set; }

        /// <summary>
        /// 2D轮廓曲线列表
        /// </summary>
        [JsonPropertyName("envelopes2d")]
        public List<Envelope2d>? Envelopes2d { get; set; }

        /// <summary>
        /// 3D轮廓曲线列表
        /// </summary>
        [JsonPropertyName("envelopes3d")]
        public List<Envelope3d>? Envelopes3d { get; set; }
    }

    /// <summary>
    /// 车轮定义
    /// </summary>
    public class WheelDefinition
    {
        /// <summary>
        /// 车轮类型 [DRIVE, CASTER, FIXED, MECANUM]
        /// </summary>
        [JsonPropertyName("type")]
        public string Type { get; set; }

        /// <summary>
        /// 是否为主动驱动
        /// </summary>
        [JsonPropertyName("isActiveDriven")]
        public bool IsActiveDriven { get; set; }

        /// <summary>
        /// 是否为主动转向
        /// </summary>
        [JsonPropertyName("isActiveSteered")]
        public bool IsActiveSteered { get; set; }

        /// <summary>
        /// 车轮位置（AGV坐标系）
        /// </summary>
        [JsonPropertyName("position")]
        public WheelPosition Position { get; set; }

        /// <summary>
        /// 车轮直径（米）
        /// </summary>
        [JsonPropertyName("diameter")]
        public double Diameter { get; set; }

        /// <summary>
        /// 车轮宽度（米）
        /// </summary>
        [JsonPropertyName("width")]
        public double Width { get; set; }

        /// <summary>
        /// 中心偏移量（米，脚轮专用）
        /// </summary>
        [JsonPropertyName("centerDisplacement")]
        public double? CenterDisplacement { get; set; }

        /// <summary>
        /// 约束说明（自由文本）
        /// </summary>
        [JsonPropertyName("constraints")]
        public string? Constraints { get; set; }
    }

    /// <summary>
    /// 车轮位置
    /// </summary>
    public class WheelPosition
    {
        /// <summary>
        /// X坐标（米）
        /// </summary>
        [JsonPropertyName("x")]
        public double X { get; set; }

        /// <summary>
        /// Y坐标（米）
        /// </summary>
        [JsonPropertyName("y")]
        public double Y { get; set; }

        /// <summary>
        /// 方向角（弧度）
        /// </summary>
        [JsonPropertyName("theta")]
        public double? Theta { get; set; }
    }

    /// <summary>
    /// 2D轮廓曲线
    /// </summary>
    public class Envelope2d
    {
        /// <summary>
        /// 轮廓集名称
        /// </summary>
        [JsonPropertyName("set")]
        public string Set { get; set; }

        /// <summary>
        /// 多边形点列表
        /// </summary>
        [JsonPropertyName("polygonPoints")]
        public List<PolygonPoint> PolygonPoints { get; set; } = new List<PolygonPoint>();

        /// <summary>
        /// 轮廓集描述
        /// </summary>
        [JsonPropertyName("description")]
        public string? Description { get; set; }
    }

    /// <summary>
    /// 多边形点
    /// </summary>
    public class PolygonPoint
    {
        /// <summary>
        /// X坐标（米）
        /// </summary>
        [JsonPropertyName("x")]
        public double X { get; set; }

        /// <summary>
        /// Y坐标（米）
        /// </summary>
        [JsonPropertyName("y")]
        public double Y { get; set; }
    }

    /// <summary>
    /// 3D轮廓曲线
    /// </summary>
    public class Envelope3d
    {
        /// <summary>
        /// 轮廓集名称
        /// </summary>
        [JsonPropertyName("set")]
        public string Set { get; set; }

        /// <summary>
        /// 数据格式（如DXF）
        /// </summary>
        [JsonPropertyName("format")]
        public string Format { get; set; }

        /// <summary>
        /// 3D轮廓数据（JSON对象）
        /// </summary>
        [JsonPropertyName("data")]
        public object? Data { get; set; }

        /// <summary>
        /// 下载URL（如ftp://...）
        /// </summary>
        [JsonPropertyName("url")]
        public string? Url { get; set; }

        /// <summary>
        /// 轮廓集描述
        /// </summary>
        [JsonPropertyName("description")]
        public string? Description { get; set; }
    }

    /// <summary>
    /// 负载规范
    /// </summary>
    public class LoadSpecification
    {
        /// <summary>
        /// 负载位置列表（有效值）
        /// </summary>
        [JsonPropertyName("loadPositions")]
        public List<string>? LoadPositions { get; set; }

        /// <summary>
        /// 负载集列表
        /// </summary>
        [JsonPropertyName("loadSets")]
        public List<LoadSet>? LoadSets { get; set; }
    }

    /// <summary>
    /// 负载集
    /// </summary>
    public class LoadSet
    {
        /// <summary>
        /// 负载集名称（如DEFAULT）
        /// </summary>
        [JsonPropertyName("setName")]
        public string SetName { get; set; }

        /// <summary>
        /// 负载类型（如EPAL, XLT1200）
        /// </summary>
        [JsonPropertyName("loadType")]
        public string LoadType { get; set; }

        /// <summary>
        /// 适用的负载位置列表
        /// </summary>
        [JsonPropertyName("loadPositions")]
        public List<string>? LoadPositions { get; set; }

        /// <summary>
        /// 边界框参考点
        /// </summary>
        [JsonPropertyName("boundingBoxReference")]
        public BoundingBoxReference? BoundingBoxReference { get; set; }

        /// <summary>
        /// 负载尺寸
        /// </summary>
        [JsonPropertyName("loadDimensions")]
        public LoadDimensions? LoadDimensions { get; set; }

        /// <summary>
        /// 最大重量（kg）
        /// </summary>
        [JsonPropertyName("maxWeight")]
        public double? MaxWeight { get; set; }

        /// <summary>
        /// 最小处理高度（m）
        /// </summary>
        [JsonPropertyName("minLoadhandlingHeight")]
        public double? MinLoadhandlingHeight { get; set; }

        /// <summary>
        /// 最大处理高度（m）
        /// </summary>
        [JsonPropertyName("maxLoadhandlingHeight")]
        public double? MaxLoadhandlingHeight { get; set; }

        /// <summary>
        /// 最小处理深度（m）
        /// </summary>
        [JsonPropertyName("minLoadhandlingDepth")]
        public double? MinLoadhandlingDepth { get; set; }

        /// <summary>
        /// 最大处理深度（m）
        /// </summary>
        [JsonPropertyName("maxLoadhandlingDepth")]
        public double? MaxLoadhandlingDepth { get; set; }

        /// <summary>
        /// 最小倾斜角（rad）
        /// </summary>
        [JsonPropertyName("minLoadhandlingTilt")]
        public double? MinLoadhandlingTilt { get; set; }

        /// <summary>
        /// 最大倾斜角（rad）
        /// </summary>
        [JsonPropertyName("maxLoadhandlingTilt")]
        public double? MaxLoadhandlingTilt { get; set; }

        /// <summary>
        /// AGV速度限制（m/s）
        /// </summary>
        [JsonPropertyName("agvSpeedLimit")]
        public double? AgvSpeedLimit { get; set; }

        /// <summary>
        /// AGV加速度限制（m/s²）
        /// </summary>
        [JsonPropertyName("agvAccelerationLimit")]
        public double? AgvAccelerationLimit { get; set; }

        /// <summary>
        /// AGV减速度限制（m/s²）
        /// </summary>
        [JsonPropertyName("agvDecelerationLimit")]
        public double? AgvDecelerationLimit { get; set; }

        /// <summary>
        /// 拾取时间（秒）
        /// </summary>
        [JsonPropertyName("pickTime")]
        public double? PickTime { get; set; }

        /// <summary>
        /// 放置时间（秒）
        /// </summary>
        [JsonPropertyName("dropTime")]
        public double? DropTime { get; set; }

        /// <summary>
        /// 负载集描述
        /// </summary>
        [JsonPropertyName("description")]
        public string? Description { get; set; }
    }

    /// <summary>
    /// 车辆配置
    /// </summary>
    public class VehicleConfig
    {
        /// <summary>
        /// 版本信息列表
        /// </summary>
        [JsonPropertyName("versions")]
        public List<VersionInfo>? Versions { get; set; }

        /// <summary>
        /// 网络信息
        /// </summary>
        [JsonPropertyName("network")]
        public NetworkInfo? Network { get; set; }
    }

    /// <summary>
    /// 版本信息
    /// </summary>
    public class VersionInfo
    {
        /// <summary>
        /// 键名（如softwareVersion）
        /// </summary>
        [JsonPropertyName("key")]
        public string Key { get; set; }

        /// <summary>
        /// 值（如v1.12.4-beta）
        /// </summary>
        [JsonPropertyName("value")]
        public string Value { get; set; }
    }

    /// <summary>
    /// 网络信息
    /// </summary>
    public class NetworkInfo
    {
        /// <summary>
        /// DNS服务器列表
        /// </summary>
        [JsonPropertyName("dnsServers")]
        public List<string>? DnsServers { get; set; }

        /// <summary>
        /// NTP服务器列表
        /// </summary>
        [JsonPropertyName("ntpServers")]
        public List<string>? NtpServers { get; set; }

        /// <summary>
        /// 本地IP地址（不可运行时修改）
        /// </summary>
        [JsonPropertyName("localIpAddress")]
        public string? LocalIpAddress { get; set; }

        /// <summary>
        /// 子网掩码
        /// </summary>
        [JsonPropertyName("netmask")]
        public string? Netmask { get; set; }

        /// <summary>
        /// 默认网关
        /// </summary>
        [JsonPropertyName("defaultGateway")]
        public string? DefaultGateway { get; set; }
    }
}