feat: add planning visualization contracts
This commit is contained in:
梁薄云
+101
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using System;
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using System.Collections.Generic;
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namespace TrajectoryPlanningVisualization;
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public sealed class PlanningVisualizationStaticSnapshot
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{
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public PlanningVisualizationStaticSnapshot(string sessionNameChinese, VisualizationBounds worldBounds,
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VisualizationOccupancyGrid occupancyGrid, IReadOnlyList<VisualizationPolyline> staticPolylines,
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IReadOnlyList<VisualizationMarker> staticMarkers,
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IReadOnlyList<VisualizationDirectionSegment> directionSegments,
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IReadOnlyList<VisualizationConfigurationGroup> configurationGroups)
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{
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SessionNameChinese = VisualizationContract.RequireText(sessionNameChinese, nameof(sessionNameChinese));
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WorldBounds = worldBounds ?? throw new ArgumentNullException(nameof(worldBounds));
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OccupancyGrid = occupancyGrid;
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StaticPolylines = VisualizationContract.Copy(staticPolylines, nameof(staticPolylines));
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StaticMarkers = VisualizationContract.Copy(staticMarkers, nameof(staticMarkers));
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DirectionSegments = VisualizationContract.Copy(directionSegments, nameof(directionSegments));
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ConfigurationGroups = VisualizationContract.Copy(configurationGroups, nameof(configurationGroups));
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}
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public string SessionNameChinese { get; }
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public VisualizationBounds WorldBounds { get; }
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public VisualizationOccupancyGrid OccupancyGrid { get; }
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public IReadOnlyList<VisualizationPolyline> StaticPolylines { get; }
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public IReadOnlyList<VisualizationMarker> StaticMarkers { get; }
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public IReadOnlyList<VisualizationDirectionSegment> DirectionSegments { get; }
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public IReadOnlyList<VisualizationConfigurationGroup> ConfigurationGroups { get; }
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}
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public sealed class PlanningVisualizationDynamicSnapshot
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{
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public PlanningVisualizationDynamicSnapshot(long sequence, DateTimeOffset observedAtUtc,
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string sessionStateChinese, int activeSegmentIndex, string activeDirection,
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VisualizationPose vehiclePose, IReadOnlyList<VisualizationPolyline> dynamicPolylines,
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IReadOnlyList<VisualizationMarker> dynamicMarkers, IReadOnlyList<VisualizationChart> charts,
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IReadOnlyList<VisualizationValue> statusValues, VisualizationCycleSummary cycleSummary)
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{
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Sequence = sequence;
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ObservedAtUtc = observedAtUtc;
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SessionStateChinese = VisualizationContract.RequireText(sessionStateChinese, nameof(sessionStateChinese));
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ActiveSegmentIndex = activeSegmentIndex;
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ActiveDirection = VisualizationContract.RequireText(activeDirection, nameof(activeDirection));
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VehiclePose = vehiclePose ?? throw new ArgumentNullException(nameof(vehiclePose));
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DynamicPolylines = VisualizationContract.Copy(dynamicPolylines, nameof(dynamicPolylines));
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DynamicMarkers = VisualizationContract.Copy(dynamicMarkers, nameof(dynamicMarkers));
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Charts = VisualizationContract.Copy(charts, nameof(charts));
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StatusValues = VisualizationContract.Copy(statusValues, nameof(statusValues));
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CycleSummary = cycleSummary ?? throw new ArgumentNullException(nameof(cycleSummary));
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}
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public long Sequence { get; }
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public DateTimeOffset ObservedAtUtc { get; }
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public string SessionStateChinese { get; }
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public int ActiveSegmentIndex { get; }
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public string ActiveDirection { get; }
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public VisualizationPose VehiclePose { get; }
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public IReadOnlyList<VisualizationPolyline> DynamicPolylines { get; }
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public IReadOnlyList<VisualizationMarker> DynamicMarkers { get; }
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public IReadOnlyList<VisualizationChart> Charts { get; }
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public IReadOnlyList<VisualizationValue> StatusValues { get; }
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public VisualizationCycleSummary CycleSummary { get; }
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}
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public sealed class VisualizationCycleSummary
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{
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public VisualizationCycleSummary(long cycleVersion, DateTimeOffset occurredAtUtc, string status, bool published,
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double planningElapsedMilliseconds, int segmentIndex, string direction, string longitudinalMode,
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string terminalType, double? terminalVelocity, double? terminalAcceleration, string failureReason)
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{
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VisualizationContract.RequireFinite(planningElapsedMilliseconds, nameof(planningElapsedMilliseconds));
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VisualizationContract.RequireFinite(terminalVelocity, nameof(terminalVelocity));
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VisualizationContract.RequireFinite(terminalAcceleration, nameof(terminalAcceleration));
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CycleVersion = cycleVersion;
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OccurredAtUtc = occurredAtUtc;
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Status = VisualizationContract.RequireText(status, nameof(status));
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Published = published;
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PlanningElapsedMilliseconds = planningElapsedMilliseconds;
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SegmentIndex = segmentIndex;
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Direction = VisualizationContract.RequireText(direction, nameof(direction));
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LongitudinalMode = VisualizationContract.RequireText(longitudinalMode, nameof(longitudinalMode));
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TerminalType = VisualizationContract.RequireText(terminalType, nameof(terminalType));
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TerminalVelocity = terminalVelocity;
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TerminalAcceleration = terminalAcceleration;
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FailureReason = VisualizationContract.RequireText(failureReason, nameof(failureReason));
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}
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public long CycleVersion { get; }
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public DateTimeOffset OccurredAtUtc { get; }
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public string Status { get; }
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public bool Published { get; }
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public double PlanningElapsedMilliseconds { get; }
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public int SegmentIndex { get; }
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public string Direction { get; }
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public string LongitudinalMode { get; }
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public string TerminalType { get; }
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public double? TerminalVelocity { get; }
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public double? TerminalAcceleration { get; }
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public string FailureReason { get; }
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}
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@@ -0,0 +1,48 @@
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using System.Collections.Generic;
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namespace TrajectoryPlanningVisualization;
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public enum VisualizationLineStyle
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{
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Solid,
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Dashed,
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Limit
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}
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public sealed class VisualizationSeries
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{
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public VisualizationSeries(string id, string legend, VisualizationLineStyle lineStyle,
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IReadOnlyList<VisualizationPoint> points)
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{
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Id = VisualizationContract.RequireText(id, nameof(id));
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Legend = VisualizationContract.RequireText(legend, nameof(legend));
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LineStyle = lineStyle;
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Points = VisualizationContract.Copy(points, nameof(points));
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}
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public string Id { get; }
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public string Legend { get; }
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public VisualizationLineStyle LineStyle { get; }
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public IReadOnlyList<VisualizationPoint> Points { get; }
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}
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public sealed class VisualizationChart
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{
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public VisualizationChart(string id, string chineseTitle, string xAxisLabel, string yAxisLabel,
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IReadOnlyList<VisualizationSeries> series, string noteChinese = "")
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{
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Id = VisualizationContract.RequireText(id, nameof(id));
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ChineseTitle = VisualizationContract.RequireText(chineseTitle, nameof(chineseTitle));
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XAxisLabel = VisualizationContract.RequireText(xAxisLabel, nameof(xAxisLabel));
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YAxisLabel = VisualizationContract.RequireText(yAxisLabel, nameof(yAxisLabel));
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Series = VisualizationContract.Copy(series, nameof(series));
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NoteChinese = VisualizationContract.RequireText(noteChinese, nameof(noteChinese));
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}
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public string Id { get; }
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public string ChineseTitle { get; }
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public string XAxisLabel { get; }
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public string YAxisLabel { get; }
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public IReadOnlyList<VisualizationSeries> Series { get; }
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public string NoteChinese { get; }
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}
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@@ -0,0 +1,107 @@
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using System;
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using System.Collections.Generic;
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namespace TrajectoryPlanningVisualization;
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public sealed class VisualizationPolyline
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{
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public VisualizationPolyline(string id, string legendChinese, string kind, VisualizationLineStyle lineStyle,
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IReadOnlyList<VisualizationPoint> points)
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{
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Id = VisualizationContract.RequireText(id, nameof(id));
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LegendChinese = VisualizationContract.RequireText(legendChinese, nameof(legendChinese));
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Kind = VisualizationContract.RequireText(kind, nameof(kind));
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LineStyle = lineStyle;
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Points = VisualizationContract.Copy(points, nameof(points));
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}
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public string Id { get; }
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public string LegendChinese { get; }
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public string Kind { get; }
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public VisualizationLineStyle LineStyle { get; }
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public IReadOnlyList<VisualizationPoint> Points { get; }
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}
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public sealed class VisualizationMarker
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{
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public VisualizationMarker(string id, string kind, string labelChinese, VisualizationPoint position)
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{
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Id = VisualizationContract.RequireText(id, nameof(id));
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Kind = VisualizationContract.RequireText(kind, nameof(kind));
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LabelChinese = VisualizationContract.RequireText(labelChinese, nameof(labelChinese));
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Position = position ?? throw new ArgumentNullException(nameof(position));
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}
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public string Id { get; }
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public string Kind { get; }
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public string LabelChinese { get; }
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public VisualizationPoint Position { get; }
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}
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public sealed class VisualizationDirectionSegment
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{
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public VisualizationDirectionSegment(int segmentIndex, string direction, bool startsAtGearSwitch,
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bool endsAtGearSwitch, IReadOnlyList<VisualizationPoint> points)
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{
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SegmentIndex = segmentIndex;
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Direction = VisualizationContract.RequireText(direction, nameof(direction));
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StartsAtGearSwitch = startsAtGearSwitch;
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EndsAtGearSwitch = endsAtGearSwitch;
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Points = VisualizationContract.Copy(points, nameof(points));
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}
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public int SegmentIndex { get; }
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public string Direction { get; }
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public bool StartsAtGearSwitch { get; }
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public bool EndsAtGearSwitch { get; }
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public IReadOnlyList<VisualizationPoint> Points { get; }
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}
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public sealed class VisualizationOccupancyGrid
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{
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public VisualizationOccupancyGrid(VisualizationBounds bounds, double resolutionMeters, int rows, int columns,
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byte[] occupancyBits)
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{
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Bounds = bounds ?? throw new ArgumentNullException(nameof(bounds));
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VisualizationContract.RequireFinite(resolutionMeters, nameof(resolutionMeters));
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if (resolutionMeters <= 0d)
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{
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throw new ArgumentOutOfRangeException(nameof(resolutionMeters));
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}
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if (rows <= 0)
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{
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throw new ArgumentOutOfRangeException(nameof(rows));
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}
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if (columns <= 0)
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{
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throw new ArgumentOutOfRangeException(nameof(columns));
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}
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if (occupancyBits == null)
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{
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throw new ArgumentNullException(nameof(occupancyBits));
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}
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long cellCount = (long)rows * columns;
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long requiredByteCount = (cellCount + 7L) / 8L;
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if (occupancyBits.Length != requiredByteCount)
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{
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throw new ArgumentException("Occupancy bit count does not match the grid dimensions.", nameof(occupancyBits));
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}
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var bitsCopy = new byte[occupancyBits.Length];
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Buffer.BlockCopy(occupancyBits, 0, bitsCopy, 0, bitsCopy.Length);
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ResolutionMeters = resolutionMeters;
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Rows = rows;
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Columns = columns;
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OccupancyBitsBase64 = Convert.ToBase64String(bitsCopy);
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}
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public VisualizationBounds Bounds { get; }
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public double ResolutionMeters { get; }
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public int Rows { get; }
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public int Columns { get; }
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public string OccupancyBitsBase64 { get; }
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}
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@@ -0,0 +1,147 @@
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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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namespace TrajectoryPlanningVisualization;
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public sealed class VisualizationPoint
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{
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public VisualizationPoint(double x, double y)
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{
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VisualizationContract.RequireFinite(x, nameof(x));
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VisualizationContract.RequireFinite(y, nameof(y));
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X = x;
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Y = y;
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}
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public double X { get; }
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public double Y { get; }
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}
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public sealed class VisualizationPose
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{
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public VisualizationPose(double x, double y, double headingRadians)
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{
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VisualizationContract.RequireFinite(x, nameof(x));
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VisualizationContract.RequireFinite(y, nameof(y));
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VisualizationContract.RequireFinite(headingRadians, nameof(headingRadians));
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X = x;
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Y = y;
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HeadingRadians = headingRadians;
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}
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public double X { get; }
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public double Y { get; }
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public double HeadingRadians { get; }
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}
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public sealed class VisualizationBounds
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{
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public VisualizationBounds(double xMin, double xMax, double yMin, double yMax)
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{
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VisualizationContract.RequireFinite(xMin, nameof(xMin));
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VisualizationContract.RequireFinite(xMax, nameof(xMax));
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VisualizationContract.RequireFinite(yMin, nameof(yMin));
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VisualizationContract.RequireFinite(yMax, nameof(yMax));
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if (xMax < xMin || yMax < yMin)
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{
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throw new ArgumentOutOfRangeException(nameof(xMax), "Bounds maxima must not precede minima.");
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}
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XMin = xMin;
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XMax = xMax;
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YMin = yMin;
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YMax = yMax;
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}
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public double XMin { get; }
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public double XMax { get; }
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public double YMin { get; }
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public double YMax { get; }
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}
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public sealed class VisualizationValue
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{
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public VisualizationValue(string chineseName, string rawName, string value, string unit, string severity)
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{
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ChineseName = VisualizationContract.RequireText(chineseName, nameof(chineseName));
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RawName = VisualizationContract.RequireText(rawName, nameof(rawName));
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Value = VisualizationContract.RequireText(value, nameof(value));
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Unit = VisualizationContract.RequireText(unit, nameof(unit));
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if (severity != "normal" && severity != "notice" && severity != "failure")
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{
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throw new ArgumentOutOfRangeException(nameof(severity), "Severity must be normal, notice, or failure.");
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}
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Severity = severity;
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}
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public string ChineseName { get; }
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public string RawName { get; }
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public string Value { get; }
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public string Unit { get; }
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public string Severity { get; }
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}
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public sealed class VisualizationConfigurationGroup
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{
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public VisualizationConfigurationGroup(string chineseTitle, IReadOnlyList<VisualizationValue> entries)
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{
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ChineseTitle = VisualizationContract.RequireText(chineseTitle, nameof(chineseTitle));
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Entries = VisualizationContract.Copy(entries, nameof(entries));
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}
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public string ChineseTitle { get; }
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public IReadOnlyList<VisualizationValue> Entries { get; }
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}
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internal static class VisualizationContract
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{
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public static string RequireText(string value, string parameterName)
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{
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if (value == null)
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{
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throw new ArgumentNullException(parameterName);
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}
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return value;
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}
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public static void RequireFinite(double value, string parameterName)
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{
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if (double.IsNaN(value) || double.IsInfinity(value))
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{
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throw new ArgumentOutOfRangeException(parameterName, "Value must be finite.");
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}
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}
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public static void RequireFinite(double? value, string parameterName)
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{
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if (value.HasValue)
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{
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RequireFinite(value.Value, parameterName);
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}
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}
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public static IReadOnlyList<T> Copy<T>(IReadOnlyList<T> values, string parameterName)
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{
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if (values == null)
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{
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throw new ArgumentNullException(parameterName);
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}
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var copy = new List<T>(values.Count);
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for (var index = 0; index < values.Count; index++)
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{
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T value = values[index];
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if (value is null)
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{
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throw new ArgumentException("Collections cannot contain null elements.", parameterName);
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}
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copy.Add(value);
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}
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return new ReadOnlyCollection<T>(copy);
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}
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}
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@@ -0,0 +1,9 @@
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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>netstandard2.0</TargetFramework>
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<LangVersion>10</LangVersion>
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</PropertyGroup>
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<ItemGroup>
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<PackageReference Include="Newtonsoft.Json" Version="13.0.4" />
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</ItemGroup>
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</Project>
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Block a user