37 lines
1.7 KiB
C#
37 lines
1.7 KiB
C#
using System;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>一次滚动周期的调用方冻结请求、身份和时钟值；构造后不读取外部状态。</summary>
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public sealed class PlanningCycleInput
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{
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/// <summary>从一次 EM 规划请求和调用方时刻创建周期输入。</summary>
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/// <param name="request">已冻结的 EM 请求；用于派生地图、路径、状态、上一轨迹和方向段身份。</param>
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/// <param name="now">调用方提供的当前 <see cref="DateTimeOffset"/>；用于周期调度，不由协调器替换。</param>
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public PlanningCycleInput(EmPlanningRequest request, DateTimeOffset now)
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{
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Request = request ?? throw new ArgumentNullException(nameof(request));
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Identity = PlanningCycleIdentity.FromRequest(request);
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Now = now;
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ReplanPeriodSeconds = ReadReplanPeriod(request.Configuration);
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}
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/// <summary>本周期消费的不可变 EM 规划请求快照。</summary>
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public EmPlanningRequest Request { get; }
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/// <summary>从 <see cref="Request"/> 派生的完整版本身份，用于拒绝过期发布。</summary>
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public PlanningCycleIdentity Identity { get; }
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/// <summary>调用方冻结的周期开始时刻。</summary>
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public DateTimeOffset Now { get; }
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/// <summary>从请求配置读取的重规划周期，单位 s；无效配置回退为 0.20 s。</summary>
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public double ReplanPeriodSeconds { get; }
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private static double ReadReplanPeriod(EmPlannerConfiguration configuration)
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{
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double configured = configuration?.Scheduling?.ReplanPeriodSeconds ?? 0.20d;
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return !double.IsNaN(configured) && !double.IsInfinity(configured) && configured > 0d ? configured : 0.20d;
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}
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}
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