引入最短舵角行驶的CommonUsage并更新项目引用

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-07-28 18:38:12 +08:00
parent 8e8af847db
commit 583a7d00ca
78 changed files with 5585 additions and 12 deletions
@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class action
+    {
+
+        public string actionId { get; set; }
+
+        public string actionType { get; set; }
+        public string actionDescription { get; set; }
+
+        public string blockingType { get; set; }
+
+    }
+}
@@ -0,0 +1,45 @@
+using Newtonsoft.Json.Converters;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class actionState
+    {
+        public actionState(action action,ActionStateEnum state)
+        {
+            actionId = action.actionId;
+            actionDescription = action.actionDescription;
+            actionType = action.actionType;
+            actionStatus = state;
+        }
+
+        public actionState()
+        {
+        }
+
+        public string actionId { get; set; }
+
+        public string actionType { get; set; }
+        public string actionDescription { get; set; }
+
+        [JsonConverter(typeof(StringEnumConverter))]
+        public ActionStateEnum actionStatus { get; set; }
+
+        public string resultDescription { get; set; }
+
+        public enum ActionStateEnum
+        {
+            WAITING,
+            INITIALIZING,
+            RUNNING,
+            PAUSED,
+            FINISHED,
+            FAILED
+        }
+
+    }
+
+}
@@ -0,0 +1,63 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using static CommonUsage.Protocols.VDA5050.Objects.agvGeometry;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class agvGeometry
+    {
+        // Wheel Definitions
+        public List<wheelDefinition> wheelDefinitions { get; set; } = new List<wheelDefinition>();
+
+        // 2D Envelopes
+        public List<envelope2D> envelopes2D { get; set; } = new List<envelope2D>();
+
+        // 3D Envelopes
+        public List<envelope3D> envelopes3D { get; set; } = new List<envelope3D>();
+
+        public class wheelDefinition
+        {
+            public enum WheelType { DRIVE, CASTER, FIXED, MECANUM }
+
+            public WheelType type { get; set; }
+            public bool isActiveDriven { get; set; }
+            public bool isActiveSteered { get; set; }
+
+            // Wheel Position
+            public double positionX { get; set; }
+            public double positionY { get; set; }
+            public double positionTheta { get; set; }  // Required for fixed wheels
+
+            // Wheel Properties
+            public double diameter { get; set; }
+            public double width { get; set; }
+            public double centerDisplacement { get; set; } = 0;  // Default to 0 if not defined
+            public string constraints { get; set; }
+        }
+
+        public class envelope2D
+        {
+            public string set { get; set; }
+            public List<polygonPoint> polygonPoints { get; set; } = new List<polygonPoint>();
+            public string description { get; set; }
+
+            public class polygonPoint
+            {
+                public double x { get; set; }
+                public double y { get; set; }
+            }
+        }
+
+        public class envelope3D
+        {
+            public string set { get; set; }
+            public string format { get; set; }
+            public object data { get; set; }  // JSON object for 3D envelope data
+            public string url { get; set; }
+            public string description { get; set; }
+        }
+    }
+
+}
+
@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class agvPosition
+    {
+        public bool positionInitialized;
+
+        public double x;
+
+        public double y;
+
+        public double theta;
+        public double localizationScore;
+        public double deviationRange;
+        public string mapId = "";
+        public string mapDescription = "";
+    }
+}
@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class batteryState
+    {
+        public double batteryCharge;
+        public double batteryVoltage;
+        public double batteryHealth;
+        public bool charging;
+        public int reach;
+    }
+}
@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class boundingBoxReference
+    {
+        public double X { get; set; } // Reference point X in AGV coordinate system
+        public double Y { get; set; } // Reference point Y in AGV coordinate system
+        public double Z { get; set; } // Reference point Z in AGV coordinate system
+        public double Theta { get; set; } // Orientation of the load bounding box
+    }
+}
@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class controlPoint
+    {
+        public float x;
+
+        public float y;
+
+        public float weight;
+        public controlPoint(float x, float y, float weight)
+        {
+            this.x = x;
+            this.y = y;
+            this.weight = weight;
+        }
+    }
+}
@@ -0,0 +1,31 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class edge : sequenceItem
+    {
+        public string edgeId;
+
+        public string edgeDescription;
+
+        public string startNodeId;
+
+        public string endNodeId;
+
+        public double maxSpeed;
+
+        public double orientation;
+
+        public trajectory? trajectory;
+
+        public float[] trackTypeInfo;
+        // public List<Vector2> controlPoints;
+        //
+        // public List<float> weights;
+
+        public action[] action = [];
+    }
+}
@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class edgeState : sequenceItem
+    {
+        public string edgeId;
+
+        public string edgeDescription;
+
+        public trajectory trajectory;
+    }
+}
@@ -0,0 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class errorReference
+    {
+        public string referenceKey { get; set; } // Type of reference (e.g., nodeId, edgeId, actionId)
+        public string referenceValue { get; set; } // Value corresponding to the referenceKey
+    }
+}
@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class errorState
+    {
+        public List<errorReference> errorReferences { get; set; } = new List<errorReference>(); // Array of references
+        public string errorType { get; set; } // Required: Type/name of the error
+        public string errorDescription { get; set; } // Verbose description of the error
+        public string errorHint { get; set; } // Hint for resolving the error
+        public string errorLevel { get; set; } // Required: WARNING or FATAL
+    }
+}
@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class info
+    {
+        public string infoType { get; set; } // Type/name of the information
+        public List<infoReference> infoReferences { get; set; } = new List<infoReference>(); // List of references
+        public string infoDescription { get; set; } // Description of the information
+        public infoLevelEnum infoLevel { get; set; } // Debugging or visualization level
+
+        public class infoReference
+        {
+            public string ReferenceKey { get; set; } // Reference type (e.g., headerId, orderId)
+            public string ReferenceValue { get; set; } // The actual referenced field value
+        }
+
+        public enum infoLevelEnum
+        {
+            DEBUG, // Used for debugging
+            INFO   // Used for visualization
+        }
+    }
+}
@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class load
+    {
+        public string loadId { get; set; } // Unique ID (barcode, RFID, etc.)
+        public string loadType { get; set; } // Type of load
+        public string loadPosition { get; set; } // Load handling position (e.g., "front", "back")
+        public boundingBoxReference boundingBoxReference { get; set; } = new boundingBoxReference();
+        public loadDimensions loadDimensions { get; set; } = new loadDimensions();
+        public double weight { get; set; } // Weight of load in kg (0.0 to ∞)  
+    }
+}
@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class loadDimensions
+    {
+        public double Length { get; set; } // Length of the bounding box
+        public double Width { get; set; } // Width of the bounding box
+        public double Height { get; set; } // Height of the bounding box (optional)
+    }
+}
@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class node : sequenceItem
+    {
+        public string nodeId;
+
+        public string nodeDescription;
+
+        public nodePosition nodePosition;
+
+        public action[] actions = [];
+    }
+}
@@ -0,0 +1,36 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    /// <summary>
+    /// Defines the position on a map in a global project-specific world coordinate system.
+    /// Each floor has its own map.
+    /// All maps shall use the same project-specific global origin.
+    /// </summary>
+    public class nodePosition
+    {
+        /// <summary>
+        /// X-position on the map in reference to the map coordinate system.
+        /// Precision is up to the specific implementation.
+        /// </summary>
+        public double x;
+
+        /// <summary>
+        /// Y-position on the map in reference to the map coordinate system.
+        /// Precision is up to the specific implementation.
+        /// </summary>
+        public double y;
+
+        /// <summary>
+        /// Range: [-Pi ... Pi]
+        /// Absolute orientation of the AGV on the node.
+        /// Optional: vehicle can plan the path by itself. If defined, the AGV has to assume the theta angle on this node.
+        /// If previous edge disallows rotation, the AGV shall rotate on the node.
+        /// If following edge has a differing orientation defined but disallows rotation,
+        /// the AGV is to rotate on the node to the edges desired rotation before entering the edge.
+        /// </summary>
+        public double theta;
+    }
+}
@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class nodeState : sequenceItem
+    {
+        /// <summary>
+        /// Unique node identification.
+        /// </summary>
+        public string nodeId;
+
+        /// <summary>
+        /// Additional information on the node.
+        /// </summary>
+        public string nodeDescription;
+
+        /// <summary>
+        /// Node position.
+        /// The object is defined in 6.6 Topic: "order" (from master control to AGV)
+        /// Optional: Master control has this information. Can be sent additionally, e.g., for debugging purposes.
+        /// </summary>
+        public nodePosition nodePosition;
+    }
+}
@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class physicalParameters
+    {
+        public double speedMin;
+        public double speedMax;
+        public double angularSpeedMin;
+        public double angularSpeedMax;
+        public double accelerationMax;
+        public double decelerationMax;
+        public double heightMin;
+        public double heightMax;
+        public double width;
+        public double length;
+    }
+}
@@ -0,0 +1,10 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class protocolFeatures
+    {
+    }
+}
@@ -0,0 +1,10 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class protocolLimits
+    {
+    }
+}
@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class safetyState
+    {
+        public eStopEnum eStop { get; set; } // Emergency stop status
+        public bool fieldViolation { get; set; } // "true" if a safety field is violated, "false" otherwise
+
+        public enum eStopEnum
+        {
+            AUTOACK, // Auto-acknowledged emergency stop (e.g., triggered by a bumper)
+            MANUAL,  // Manually confirmed emergency stop
+            REMOTE,  // Remote-confirmed emergency stop
+            NONE     // No emergency stop activated
+        }
+    }
+}
@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class sequenceItem
+    {
+        public uint sequenceId;
+
+        public bool released;
+    }
+}
@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class trajectory
+    {
+        public float degree;
+
+        public float[] knotVector;
+
+        public controlPoint[] controlPoints;
+    }
+}
@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class typeSpecification
+    {
+        public string agvKinemantic = "";
+        public string agvClass = "";
+        public double maxLoadMass;
+        public string[] localizationTypes; // Simplified description of localization type (e.g., NATURAL, REFLECTOR, RFID, DMC, GRID)
+        public string[] navigationTypes;  // Path planning types (e.g., 'AUTONOMOUS', 'VIRTUAL_LINE_GUIDED')
+    }
+}
@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class velocity
+    {
+        public double vx;
+
+        public double vy;
+
+        public double omega;
+    }
+}