IAgvPathService.cs
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using Rcs.Application.Services.PathFind.Models;
namespace Rcs.Application.Services.PathFind;
/// <summary>
/// AGV寻路服务接口（统一锁模式）
/// @author zzy
/// </summary>
public interface IAgvPathService
{
/// <summary>
/// 计算路径
/// </summary>
Task<PathResult> CalculatePathAsync(PathRequest request, CancellationToken ct = default);
/// <summary>
/// 重新规划路径(障碍物/死锁/任务变更触发)
/// </summary>
/// <param name="request">路径请求</param>
/// <param name="mapCode">地图编码（用于释放统一锁）</param>
/// <param name="reason">重规划原因</param>
/// <param name="ct">取消令牌</param>
Task<PathResult> ReplanPathAsync(PathRequest request, string mapCode, string reason, CancellationToken ct = default);
/// <summary>
/// 锁定路径段（跨地图统一锁模式）
/// 使用 MapCode:NodeCode/EdgeCode 作为Key进行跨厂家地图的统一锁管理
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="mapCode">地图编码（同一物理环境的所有厂家地图使用相同的MapCode）</param>
/// <param name="segments">路径段列表（需包含NodeCode和EdgeCode）</param>
/// <param name="lockTimeMs">锁定时间（毫秒）</param>
/// <returns>锁定结果</returns>
Task<LockRequestResult> LockPathSegmentsAsync(Guid robotId, string mapCode, List<PathSegmentWithCode> segments, int lockTimeMs = 10000);
/// <summary>
/// 释放路径段（跨地图统一锁模式）
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="mapCode">地图编码</param>
/// <param name="segments">路径段列表</param>
/// <returns>释放的锁数量</returns>
Task<int> ReleasePathSegmentsAsync(string mapCode,
IEnumerable<string> nodeCodes,
IEnumerable<string> edgeCodes,
Guid robotId);
/// <summary>
/// 释放机器人的所有锁（可选保留当前位置节点相关锁）
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="currentMapCode">当前位置地图编码（可选）</param>
/// <param name="currentNodeCode">当前位置节点编码（可选）</param>
/// <returns>释放的锁数量</returns>
Task<int> ReleaseAllLocksAsync(Guid robotId, string? currentMapCode = null, string? currentNodeCode = null);
/// <summary>
/// 续期机器人的所有锁
/// </summary>
/// <param name="robotId">机器人ID</param>
/// <param name="ttlSeconds">续期时长（秒）</param>
/// <returns>续期的锁数量</returns>
Task<int> RenewAllLocksAsync(Guid robotId, int ttlSeconds = 30);
/// <summary>
/// 尝试锁定下一段路径并判断是否存在逆向占用
/// </summary>
/// <param name="mapCode">地图编码</param>
/// <param name="segments">路径段列表（包含节点和边编码）</param>
/// <param name="robotId">机器人ID</param>
/// <param name="ttlSeconds">锁过期时间（秒）</param>
/// <returns>下一段路径锁定结果</returns>
Task<NextSegmentLockResult> TryAcquireNextSegmentLockAsync(
string mapCode,
IEnumerable<PathSegmentWithCode> segments,
Guid robotId,
int ttlSeconds = 30);
/// <summary>
/// 严格 binding 加锁前冲突预检。
/// </summary>
Task<BindingLockPreCheckResult> ValidateBindingConflictsBeforeLockAsync(
string mapCode,
Guid robotId,
IEnumerable<BindingLockRequest> bindings);
Task<SweptConflictCheckResult> CheckSweptGeometryConflictAsync(SweptConflictCheckRequest request);
Task RegisterPlannedSweepAsync(SweptConflictCheckRequest request, int ttlSeconds = 30);
Task ReleasePlannedSweepAsync(string mapCode, Guid robotId, string bindingId);
Task RenewPlannedSweepAsync(string mapCode, Guid robotId, string bindingId, int ttlSeconds = 30);
/// <summary>
/// 按严格 binding 模型加锁。
/// </summary>
Task<BindingLockRequestResult> TryAcquireBindingsAsync(
string mapCode,
Guid robotId,
IEnumerable<BindingLockRequest> bindings,
int ttlSeconds = 30);
/// <summary>
/// 按 bindingId 精确释放锁引用。
/// </summary>
Task<int> ReleaseBindingsAsync(
string mapCode,
Guid robotId,
IEnumerable<string> bindingIds);
/// <summary>
/// 回滚一批已加成功的 binding。
/// </summary>
Task<int> RollbackBindingsAsync(
string mapCode,
Guid robotId,
IEnumerable<string> bindingIds);
/// <summary>
/// 检测路径冲突（跨地图）
/// </summary>
Task<PathConflictResult> CheckPathConflictAsync(Guid robotId, string mapCode, List<PathSegmentWithCode> segments);
/// <summary>
/// 使指定地图的图缓存失效
/// </summary>
void InvalidateGraphCache(Guid mapId);
/// <summary>
/// 清空所有图缓存
/// </summary>
void ClearAllGraphCache();
/// <summary>
/// 更新机器人状态
/// </summary>
void UpdateRobotState(RobotRuntimeState state);
/// <summary>
/// 获取或构建寻路图
/// @author zzy
/// </summary>
Task<PathGraph?> GetOrBuildGraphAsync(Guid mapId);
/// <summary>
/// 热构建指定地图（重新加载地图数据并重建图缓存）
/// @author zzy
/// </summary>
/// <param name="mapId">地图ID</param>
/// <returns>重建后的寻路图</returns>
Task<PathGraph?> HotBuildGraphAsync(Guid mapId);
/// <summary>
/// 构建全局路径上下文
/// @author zzy
/// </summary>
GlobalPathContext BuildGlobalPathContext(Guid excludeRobotId);
/// <summary>
/// 使用地图图结构补全路径段的NodeCode信息
/// @author zzy
/// </summary>
List<PathSegmentWithCode> EnrichSegmentsWithCode(List<PathSegment> segments, PathGraph graph);
}