82 lines
3.0 KiB
C#
82 lines
3.0 KiB
C#
using System;
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using System.Diagnostics;
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using System.Threading;
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namespace MultiWheelC.TrajectoryPlanning.Utils;
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/// <summary>一次规划操作的中立停止原因；Map 与 CoarsePath 分别映射为自己的结果状态。</summary>
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internal enum PlanningOperationStopReason
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{
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/// <summary>预算仍可继续执行。</summary>
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None,
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/// <summary>调用方取消了本次操作。</summary>
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Cancelled,
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/// <summary>从预算创建起已经达到总超时。</summary>
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TimedOut,
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}
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/// <summary>
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/// 以单调时钟统一控制一次规划操作的取消和总超时。
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/// 本类不依赖 Map 或 CoarsePath，供两层在长循环检查同一个停止条件。
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/// </summary>
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internal sealed class PlanningOperationBudget
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{
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private const int CheckIntervalWorkItems = 256;
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private readonly CancellationToken _cancellationToken;
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private readonly Stopwatch _stopwatch;
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private readonly TimeSpan _timeout;
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private readonly bool _hasTimeout;
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/// <summary>
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/// 创建具有总超时的操作预算。
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/// 参数：cancellationToken 为调用方停止请求；timeout 必须非负，且从构造时开始计时。
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/// </summary>
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internal PlanningOperationBudget(CancellationToken cancellationToken, TimeSpan timeout)
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{
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if (timeout < TimeSpan.Zero) throw new ArgumentOutOfRangeException(nameof(timeout));
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_cancellationToken = cancellationToken;
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_timeout = timeout;
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_hasTimeout = true;
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_stopwatch = Stopwatch.StartNew();
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}
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private PlanningOperationBudget(CancellationToken cancellationToken)
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{
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_cancellationToken = cancellationToken;
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_timeout = TimeSpan.Zero;
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_hasTimeout = false;
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_stopwatch = Stopwatch.StartNew();
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}
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/// <summary>创建只响应取消、不限制总耗时的兼容预算。</summary>
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internal static PlanningOperationBudget Unlimited(CancellationToken cancellationToken)
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{
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return new PlanningOperationBudget(cancellationToken);
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}
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/// <summary>从预算创建到当前的单调经过时间。</summary>
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internal TimeSpan Elapsed { get { return _stopwatch.Elapsed; } }
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/// <summary>立即查询当前停止原因；取消优先于超时。</summary>
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internal PlanningOperationStopReason GetStopReason()
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{
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if (_cancellationToken.IsCancellationRequested) return PlanningOperationStopReason.Cancelled;
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return _hasTimeout && _stopwatch.Elapsed >= _timeout
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? PlanningOperationStopReason.TimedOut
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: PlanningOperationStopReason.None;
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}
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/// <summary>
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/// 在循环工作单元中按固定上限检查预算。
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/// 参数：workItemCount 为当前循环共享的已处理单元计数；首次及每 256 个单元检查一次。
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/// </summary>
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internal PlanningOperationStopReason CheckEvery(ref int workItemCount)
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{
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workItemCount++;
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return workItemCount == 1 || workItemCount % CheckIntervalWorkItems == 0
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? GetStopReason()
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: PlanningOperationStopReason.None;
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}
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}
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