zengzy / hhrcs_service · Files

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

namespace Rcs.Domain.Models.VDA5050
{
    /// <summary>
    /// AGV状态消息（核心实体）
    /// </summary>
    [ProtocolInfo("Default", "2.0.0", nameof(State))]
    public class State : VDA5050_Header
    {
        /// <summary>
        /// 车载地图列表  
        /// </summary>
        [JsonPropertyName("maps")]
        public List<Map>? Maps { get; set; }

        /// <summary>
        /// 当前订单ID（无订单时为空字符串）
        /// </summary>
        [JsonPropertyName("orderId")]
        public string OrderId { get; set; }

        /// <summary>
        /// 订单更新ID（无更新时为0）
        /// </summary>
        [JsonPropertyName("orderUpdateId")]
        public uint OrderUpdateId { get; set; }

        /// <summary>
        /// 当前使用的区域集ID（可选）
        /// </summary>
        [JsonPropertyName("zoneSetId")]
        public string? ZoneSetId { get; set; }

        /// <summary>
        /// 最后到达节点ID（无节点时为空字符串）
        /// </summary>
        [JsonPropertyName("lastNodeId")]
        public string LastNodeId { get; set; }

        /// <summary>
        /// 最后到达节点的序列ID（无节点时为0）
        /// </summary>
        [JsonPropertyName("lastNodeSequenceId")]
        public uint LastNodeSequenceId { get; set; }

        /// <summary>
        /// 待处理节点状态列表
        /// </summary>
        [JsonPropertyName("nodeStates")]
        public List<NodeState> NodeStates { get; set; }

        /// <summary>
        /// 待处理边缘状态列表
        /// </summary>
        [JsonPropertyName("edgeStates")]
        public List<EdgeState> EdgeStates { get; set; }

        /// <summary>
        /// AGV当前位置信息（线导AGV可选）
        /// </summary>
        [JsonPropertyName("agvPosition")]
        public AgvPosition? AgvPosition { get; set; }

        /// <summary>
        /// AGV速度矢量（车辆坐标系）
        /// </summary>
        [JsonPropertyName("velocity")]
        public Velocity? Velocity { get; set; }

        /// <summary>
        /// 当前负载列表（无负载时为空数组）
        /// </summary>
        [JsonPropertyName("loads")]
        public List<Load>? Loads { get; set; }

        /// <summary>
        /// 行驶状态（true=移动/旋转中）
        /// </summary>
        [JsonPropertyName("driving")]
        public bool Driving { get; set; }

        /// <summary>
        /// 暂停状态（true=被物理按钮或即时动作暂停）
        /// </summary>
        [JsonPropertyName("paused")]
        public bool? Paused { get; set; }

        /// <summary>
        /// 新基础路径请求（true=即将到达路径末端需减速）
        /// </summary>
        [JsonPropertyName("newBaseRequest")]
        public bool? NewBaseRequest { get; set; }

        /// <summary>
        /// 距上一节点距离（米，线导AGV使用）
        /// </summary>
        [JsonPropertyName("distanceSinceLastNode")]
        public double? DistanceSinceLastNode { get; set; }

        /// <summary>
        /// 动作状态列表（包含订单和即时动作）
        /// </summary>
        [JsonPropertyName("actionStates")]
        public List<ActionState> ActionStates { get; set; } = new();

        /// <summary>
        /// 电池状态信息
        /// </summary>
        [JsonPropertyName("batteryState")]
        public BatteryState BatteryState { get; set; } = new();

        /// <summary>
        /// 运行模式
        /// AUTOMATIC-自动
        /// SEMIAUTOMATIC-半自动
        /// MANUAL-手动
        /// SERVICE-检修
        /// TEACHIN-示教
        /// </summary>
        [JsonPropertyName("operatingMode")]
        public string OperatingMode { get; set; }

        /// <summary>
        /// 错误列表（无错误时为空数组）
        /// </summary>
        [JsonPropertyName("errors")]
        public List<Error> Errors { get; set; } = new();

        /// <summary>
        /// 信息列表（仅用于可视化/调试）
        /// </summary>
        [JsonPropertyName("information")]
        public List<Information>? Information { get; set; }

        /// <summary>
        /// 安全状态信息
        /// </summary>
        [JsonPropertyName("safetyState")]
        public SafetyState SafetyState { get; set; } = new();
    }


    /// <summary>
    /// 地图信息
    /// </summary>
    public class Map
    {
        /// <summary>
        /// 地图ID
        /// </summary>
        [JsonPropertyName("mapId")]
        public string MapId { get; set; }
        /// <summary>
        /// 地图版本
        /// </summary>

        [JsonPropertyName("mapVersion")]
        public string MapVersion { get; set; }
        /// <summary>
        /// 地图描述
        /// </summary>

        [JsonPropertyName("mapDescription")]
        public string? MapDescription { get; set; }

        /// <summary>
        /// 地图状态（ENABLED/DISABLED）
        /// </summary>
        [JsonPropertyName("mapStatus")]
        public string MapStatus { get; set; }
    }

    /// <summary>
    /// 节点状态
    /// </summary>
    public class NodeState
    {
        [JsonPropertyName("nodeId")]
        public string NodeId { get; set; }

        [JsonPropertyName("sequenceId")]
        public uint SequenceId { get; set; }

        [JsonPropertyName("nodeDescription")]
        public string? NodeDescription { get; set; }

        /// <summary>
        /// 释放状态（true=基础路径部分）
        /// </summary>
        [JsonPropertyName("released")]
        public bool Released { get; set; }

        [JsonPropertyName("nodePosition")]
        public NodePosition? NodePosition { get; set; }
    }

    /// <summary>
    /// 边缘状态
    /// </summary>
    public class EdgeState
    {
        [JsonPropertyName("edgeId")]
        public string EdgeId { get; set; }

        [JsonPropertyName("sequenceId")]
        public uint SequenceId { get; set; }

        [JsonPropertyName("edgeDescription")]
        public string? EdgeDescription { get; set; }

        /// <summary>
        /// 释放状态（true=基础路径部分）
        /// </summary>
        [JsonPropertyName("released")]
        public bool Released { get; set; }

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

    /// <summary>
    /// AGV位置信息
    /// </summary>
    public class AgvPosition
    {
        /// <summary>
        /// 位置初始化状态
        /// </summary>
        [JsonPropertyName("positionInitialized")]
        public bool PositionInitialized { get; set; }

        /// <summary>
        /// 定位质量评分（0.0-1.0）
        /// </summary>
        [JsonPropertyName("localizationScore")]
        public double? LocalizationScore { get; set; }

        /// <summary>
        /// 位置偏差范围（米）
        /// </summary>
        [JsonPropertyName("deviationRange")]
        public double? DeviationRange { get; set; }

        [JsonPropertyName("x")]
        public double X { get; set; }

        [JsonPropertyName("y")]
        public double Y { get; set; }

        [JsonPropertyName("theta")]
        public double Theta { get; set; }

        [JsonPropertyName("mapId")]
        public string MapId { get; set; }

        [JsonPropertyName("mapDescription")]
        public string? MapDescription { get; set; }
    }

    /// <summary>
    /// 速度矢量
    /// </summary>
    public class Velocity
    {
        [JsonPropertyName("vx")]
        public double Vx { get; set; }  // X方向速度 (m/s)

        [JsonPropertyName("vy")]
        public double Vy { get; set; }  // Y方向速度 (m/s)

        [JsonPropertyName("omega")]
        public double? Omega { get; set; } // 绕Z轴旋转速度 (rad/s)
    }

    /// <summary>
    /// 负载信息
    /// </summary>
    public class Load
    {
        [JsonPropertyName("loadId")]
        public string? LoadId { get; set; }

        [JsonPropertyName("loadType")]
        public string? LoadType { get; set; }

        /// <summary>
        /// 负载位置标识（如"front"）
        /// </summary>
        [JsonPropertyName("loadPosition")]
        public string? LoadPosition { get; set; }

        [JsonPropertyName("boundingBoxReference")]
        public BoundingBoxReference? BoundingBoxReference { get; set; }

        [JsonPropertyName("loadDimensions")]
        public LoadDimensions? LoadDimensions { get; set; }

        [JsonPropertyName("weight")]
        public double? Weight { get; set; }  // 重量 (kg)
    }

    /// <summary>
    /// 边界框参考点
    /// </summary>
    public class BoundingBoxReference
    {
        [JsonPropertyName("x")]
        public double X { get; set; }

        [JsonPropertyName("y")]
        public double Y { get; set; }

        [JsonPropertyName("z")]
        public double Z { get; set; }

        [JsonPropertyName("theta")]
        public double? Theta { get; set; }  // 边界框方向
    }

    /// <summary>
    /// 负载尺寸
    /// </summary>
    public class LoadDimensions
    {
        [JsonPropertyName("length")]
        public double Length { get; set; }  // 长 (m)

        [JsonPropertyName("width")]
        public double Width { get; set; }   // 宽 (m)

        [JsonPropertyName("height")]
        public double? Height { get; set; }  // 高 (m)
    }

    /// <summary>
    /// 动作状态
    /// </summary>
    public class ActionState
    {
        [JsonPropertyName("actionId")]
        public string ActionId { get; set; }

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

        [JsonPropertyName("actionDescription")]
        public string? ActionDescription { get; set; }

        /// <summary>
        /// 动作状态
        /// WAITING-等待中
        /// INITIALIZING-初始化
        /// RUNNING-执行中
        /// PAUSED-暂停
        /// FINISHED-结束
        /// FAILED-失败
        /// </summary>
        [JsonPropertyName("actionStatus")]
        public string ActionStatus { get; set; }

        [JsonPropertyName("resultDescription")]
        public string? ResultDescription { get; set; }
    }

    /// <summary>
    /// 电池状态
    /// </summary>
    public class BatteryState
    {
        /// <summary>
        /// 电量百分比
        /// </summary>
        [JsonPropertyName("batteryCharge")]
        public double BatteryCharge { get; set; }
        /// <summary>
        /// 电压
        /// </summary>

        [JsonPropertyName("batteryVoltage")]
        public double? BatteryVoltage { get; set; }

        /// <summary>
        /// 电池健康度（0-100%）
        /// </summary>
        [JsonPropertyName("batteryHealth")]
        public int? BatteryHealth { get; set; }

        /// <summary>
        /// 充电状态
        /// </summary>
        [JsonPropertyName("charging")]
        public bool Charging { get; set; }

        /// <summary>
        /// 预估续航（米）
        /// </summary>
        [JsonPropertyName("reach")]
        public uint? Reach { get; set; }
    }

    /// <summary>
    /// 错误信息
    /// </summary>
    public class Error
    {
        [JsonPropertyName("errorType")]
        public string ErrorType { get; set; }

        /// <summary>
        /// 错误关联引用列表
        /// </summary>
        [JsonPropertyName("errorReferences")]
        public List<ErrorReference>? ErrorReferences { get; set; }

        [JsonPropertyName("errorDescription")]
        public string? ErrorDescription { get; set; }

        [JsonPropertyName("errorHint")]
        public string? ErrorHint { get; set; }

        /// <summary>
        /// 错误级别（WARNING/FATAL）
        /// </summary>
        [JsonPropertyName("errorLevel")]
        public string ErrorLevel { get; set; }
    }

    /// <summary>
    /// 错误引用
    /// </summary>
    public class ErrorReference
    {
        /// <summary>
        /// 引用键（如"nodeId"）
        /// </summary>
        [JsonPropertyName("referenceKey")]
        public string ReferenceKey { get; set; }

        /// <summary>
        /// 引用值（如具体节点ID）
        /// </summary>
        [JsonPropertyName("referenceValue")]
        public string ReferenceValue { get; set; }
    }

    /// <summary>
    /// 信息对象（调试用）
    /// </summary>
    public class Information
    {
        [JsonPropertyName("infoType")]
        public string InfoType { get; set; }

        [JsonPropertyName("infoReferences")]
        public List<InfoReference>? InfoReferences { get; set; }

        [JsonPropertyName("infoDescription")]
        public string? InfoDescription { get; set; }

        /// <summary>
        /// 信息级别（DEBUG/INFO）
        /// </summary>
        [JsonPropertyName("infoLevel")]
        public string InfoLevel { get; set; }
    }

    /// <summary>
    /// 信息引用
    /// </summary>
    public class InfoReference
    {
        [JsonPropertyName("referenceKey")]
        public string ReferenceKey { get; set; }

        [JsonPropertyName("referenceValue")]
        public string ReferenceValue { get; set; }
    }

    /// <summary>
    /// 安全状态
    /// </summary>
    public class SafetyState
    {
        /// <summary>
        /// 急停状态枚举（AUTOACK/MANUAL/REMOTE/NONE）
        /// </summary>
        [JsonPropertyName("eStop")]
        public string EStop { get; set; }

        /// <summary>
        /// 安全区域违规状态
        /// </summary>
        [JsonPropertyName("fieldViolation")]
        public bool FieldViolation { get; set; }
    }
}