zengzy / hhrcs_service · Files

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

namespace Rcs.Domain.Models.VDA5050
{
    /// <summary>
    /// VDA 5050 Order消息 - 用于向AGV发送任务指令
    /// </summary>
    [ProtocolInfo("Default","2.0.0", nameof(Order))]
    public class Order : VDA5050_Header
    {
        public Order()
        {
            
        }
        /// <summary>
        /// 订单ID
        /// </summary>
        [JsonPropertyName("orderId")]
        public string OrderId { get; set; } = string.Empty;

        /// <summary>
        /// 订单更新ID
        /// </summary>
        [JsonPropertyName("orderUpdateId")]
        public int OrderUpdateId { get; set; }

        /// <summary>
        /// 区域编号
        /// </summary>
        [JsonPropertyName("zoneSetId")]
        public string? ZoneSetId { get; set; }

        /// <summary>
        /// 节点列表
        /// </summary>
        [JsonPropertyName("nodes")]
        public List<Node> Nodes { get; set; } = new();

        /// <summary>
        /// 边列表
        /// </summary>
        [JsonPropertyName("edges")]
        public List<Edge> Edges { get; set; } = new();
    }

    /// <summary>
    /// 节点信息
    /// </summary>
    public class Node
    {
        /// <summary>
        /// 节点ID
        /// </summary>
        [JsonPropertyName("nodeId")]
        public string NodeId { get; set; } = string.Empty;

        /// <summary>
        /// 序列ID
        /// </summary>
        [JsonPropertyName("sequenceId")]
        public int SequenceId { get; set; }

        /// <summary>
        /// 节点说明
        /// </summary>
        [JsonPropertyName("nodeDescription")]
        public string? NodeDescription { get; set; }

        /// <summary>
        /// 是否释放
        /// </summary>
        [JsonPropertyName("released")]
        public bool Released { get; set; } = false;

        /// <summary>
        /// 节点位置
        /// </summary>
        [JsonPropertyName("nodePosition")]
        public NodePosition? NodePosition { get; set; }

        /// <summary>
        /// 动作列表
        /// </summary>
        [JsonPropertyName("actions")]
        public List<Action>? Actions { get; set; }
    }

    /// <summary>
    /// 节点位置
    /// </summary>
    public class NodePosition
    {
        /// <summary>
        /// X坐标
        /// </summary>
        [JsonPropertyName("x")]
        public double X { get; set; }

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

        /// <summary>
        /// 角度 (弧度)
        /// </summary>
        [JsonPropertyName("theta")]
        public double? Theta { get; set; }
        /// <summary>
        /// 坐标偏差范围
        /// </summary>
        [JsonPropertyName("allowedDeviationXY")]
        public double AllowedDeviationXY { get; set; } = PositionConstants.AllowedDeviationPosition;
        /// <summary>
        /// 角度 (弧度)偏差范围 // 默认15度
        /// </summary>
        [JsonPropertyName("allowedDeviationTheta")]
        public double AllowedDeviationTheta { get; set; } = AngleConstants.AllowedDeviationTheta;

        /// <summary>
        /// 地图ID
        /// </summary>
        [JsonPropertyName("mapId")]
        public string MapId { get; set; } = string.Empty;
        /// <summary>
        /// 地图描述
        /// </summary>
        [JsonPropertyName("mapDescription")]
        public string? MapDesription { get; set; }
    }

    /// <summary>
    /// 边信息
    /// </summary>
    public class Edge
    {
        /// <summary>
        /// 边ID
        /// </summary>
        [JsonPropertyName("edgeId")]
        public string EdgeId { get; set; } = string.Empty;

        /// <summary>
        /// 序列ID
        /// </summary>
        [JsonPropertyName("sequenceId")]
        public int SequenceId { get; set; }

        /// <summary>
        /// 边描述
        /// </summary>
        [JsonPropertyName("edgeDescription")]
        public string? EdgeDescription { get; set; }

        /// <summary>
        /// 是否释放
        /// </summary>
        [JsonPropertyName("released")]
        public bool Released { get; set; } = false;
        /// <summary>
        /// 起始节点ID
        /// </summary>
        [JsonPropertyName("startNodeId")]
        public string StartNodeId { get; set; } = string.Empty;

        /// <summary>
        /// 结束节点ID
        /// </summary>
        [JsonPropertyName("endNodeId")]
        public string EndNodeId { get; set; } = string.Empty;

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

        /// <summary>
        /// 最大高度 m
        /// </summary>
        [JsonPropertyName("maxHeight")]
        public double? MaxHeight { get; set; }

        /// <summary>
        /// 最小高度 m
        /// </summary>
        [JsonPropertyName("minHeight")]
        public double? MinHeight { get; set; }

        /// <summary>
        /// 方向
        /// </summary>
        [JsonPropertyName("orientation")]
        public double? Orientation { get; set; }

        /// <summary>
        /// 方向类型
        /// GLOBAL-允许全局方向
        /// TANGENTIAL-与边相切
        /// </summary>
        [JsonPropertyName("orientationType")]
        public string OrientationType { get; set; } = "TANGENTIAL";
        
        /// <summary>
        /// 为线导或线缆引导车辆设定交叉路口方向
        /// </summary>
        [JsonPropertyName("direction")]
        public string? Direction { get; set; }

        /// <summary>
        /// 是否允许旋转
        /// </summary>
        [JsonPropertyName("rotationAllowed")]
        public bool RotationAllowed { get; set; }

        /// <summary>
        /// 最大转速
        /// </summary>
        [JsonPropertyName("maxRotationSpeed")]
        public double? MaxRotationSpeed { get; set; }

        /// <summary>
        /// 轨迹
        /// </summary>
        [JsonPropertyName("trajectory")]
        public Trajectory? Trajectory { get; set; }

        /// <summary>
        /// 起点到终点的长度
        /// </summary>
        [JsonPropertyName("length")]
        public double? Length { get; set; }

        /// <summary>
        /// 通道参数
        /// </summary>
        [JsonPropertyName("corridor")]
        public Corridor? Corridor { get; set; }

        /// <summary>
        /// 动作列表
        /// </summary>
        [JsonPropertyName("actions")]
        public List<Action>? Actions { get; set; }
    }

    /// <summary>
    /// 动作信息
    /// </summary>
    public class Action
    {
        public Action() { }
        
        public Action(string actionType, List<(string, string?, bool?, object)> par, out string actionId, string blockingType = "HARD")
        {
            actionId = Guid.NewGuid().ToString();
            ActionId = actionId;
            ActionType = actionType;
            BlockingType = blockingType;
            if (par != null && par.Count > 0)
            {
                var actions = new List<ActionParameter>();
                //循环par添加到actions
                foreach (var kvp in par)
                {
                    actions.Add(new ActionParameter
                    {
                        Key = kvp.Item1,
                        ValueDataType = kvp.Item2,
                        IsOptional = kvp.Item3,
                        Value = kvp.Item4
                    });
                }
                ActionParameters = actions;
            }
            
        }
        /// <summary>
        /// 动作ID
        /// </summary>
        [JsonPropertyName("actionId")]
        public string ActionId { get; set; } = System.Guid.NewGuid().ToString();

        /// <summary>
        /// 动作类型
        /// </summary>
        [JsonPropertyName("actionType")]
        public string ActionType { get; set; } = string.Empty;

        /// <summary>
        /// 动作描述
        /// </summary>
        [JsonPropertyName("actionDescription")]
        public string ActionDescription { get; set; } = string.Empty;

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

        /// <summary>
        /// 是否阻塞
        /// NONE-允许移动和其他动作
        /// SOFT-不允许移动，允许其他动作
        /// HARD-不允许移动和其他动作
        /// </summary>
        [JsonPropertyName("blockingType")]
        public string BlockingType { get; set; } = "HARD";
    }
    public class ActionParameter
    {
        public ActionParameter() { }
        
        public ActionParameter(string key, object value)
        {
            Key = key;
            Value = value;
        }
        
        [JsonPropertyName("key")]
        public string Key { get; set; } = string.Empty;
        [JsonPropertyName("value")]
        public object Value { get; set; }
        [JsonPropertyName("valueDataType")]
        public string? ValueDataType { get; set; }
        [JsonPropertyName("isOptional")]
        public bool? IsOptional { get; set; }
    }
    public class Trajectory {
        /// <summary>
        /// 曲线的度数
        /// </summary>
        [JsonPropertyName("degree")]
        public double Degree { get; set; }
        /// <summary>
        /// 曲线的节点向量数组 范围0.0-1.0
        /// </summary>
        [JsonPropertyName("knotVector")]
        public List<double> KnotVector { get; set; } = new();
        /// <summary>
        /// 定义NURBS控制点的控点对象阵列，包括起始点和终点。
        /// </summary>
        [JsonPropertyName("controlPoints")]
        public List<ControlPoint> ControlPoints { get; set; } = new();
    }

    public class ControlPoint {
        /// <summary>
        /// X坐标
        /// </summary>
        [JsonPropertyName("x")]
        public double X { get; set; }
        /// <summary>
        /// Y坐标
        /// </summary>
        [JsonPropertyName("y")]
        public double Y { get; set; }
        /// <summary>
        /// 权重
        /// </summary>
        [JsonPropertyName("weight")]
        public double? Weight { get; set; }
    }

    public class Corridor
    {
        /// <summary>
        /// 左侧走廊宽度
        /// </summary>
        [JsonPropertyName("leftWidth")]
        public double LeftWidth { get; set; }
        /// <summary>
        /// 右侧走廊宽度
        /// </summary>
        [JsonPropertyName("rightWidth")]
        public double RightWidth { get; set; }

        /// <summary>
        /// 边界定义
        /// KINEMATICCENTER-车体轮廓
        /// CONTOUR-运动学中心
        /// </summary>
        [JsonPropertyName("corridorRefPoint")]
        public string? CorridorRefPoint { get; set; }
    }
}