86 lines
3.9 KiB
C#
86 lines
3.9 KiB
C#
using System;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>绑定一次滚动周期的不可变版本身份；所有字段必须同时匹配，旧结果才可发布。</summary>
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public sealed class PlanningCycleIdentity : IEquatable<PlanningCycleIdentity>
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{
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/// <summary>创建完整周期身份。</summary>
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/// <param name="mapSnapshotId">规划地图快照的非负版本 ID。</param>
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/// <param name="referencePathId">平滑参考路径的非空版本 ID。</param>
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/// <param name="vehicleStateSequenceId">调用方捕获的车辆状态非负序列号。</param>
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/// <param name="previousTrajectoryId">上一条轨迹 ID；没有时使用空字符串。</param>
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/// <param name="segmentIndex">当前前进或倒车方向段的非负索引。</param>
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public PlanningCycleIdentity(long mapSnapshotId, string referencePathId, long vehicleStateSequenceId,
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string previousTrajectoryId, int segmentIndex)
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{
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if (mapSnapshotId < 0)
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throw new ArgumentOutOfRangeException(nameof(mapSnapshotId));
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if (string.IsNullOrWhiteSpace(referencePathId))
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throw new ArgumentException("A reference path ID is required.", nameof(referencePathId));
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if (vehicleStateSequenceId < 0)
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throw new ArgumentOutOfRangeException(nameof(vehicleStateSequenceId));
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if (segmentIndex < 0)
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throw new ArgumentOutOfRangeException(nameof(segmentIndex));
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MapSnapshotId = mapSnapshotId;
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ReferencePathId = referencePathId;
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VehicleStateSequenceId = vehicleStateSequenceId;
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PreviousTrajectoryId = previousTrajectoryId ?? string.Empty;
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SegmentIndex = segmentIndex;
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}
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/// <summary>规划地图快照版本 ID。</summary>
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public long MapSnapshotId { get; }
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public string ReferencePathId { get; }
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public long VehicleStateSequenceId { get; }
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public string PreviousTrajectoryId { get; }
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public int SegmentIndex { get; }
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/// <summary>从已冻结的 EM 请求派生发布身份。</summary>
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/// <param name="request">必须携带地图和车辆状态快照的 EM 请求。</param>
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/// <returns>包含请求地图、路径、状态、上一轨迹和方向段字段的不可变身份。</returns>
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public static PlanningCycleIdentity FromRequest(EmPlanningRequest request)
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{
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if (request == null)
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throw new ArgumentNullException(nameof(request));
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if (request.Map == null)
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throw new ArgumentException("A planning map is required for a rolling cycle.", nameof(request));
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if (request.VehicleState == null)
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throw new ArgumentException("A vehicle state is required for a rolling cycle.", nameof(request));
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return new PlanningCycleIdentity(request.Map.SnapshotId, request.ReferencePathId,
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request.VehicleState.SequenceId, request.PreviousTrajectoryId, request.SegmentIndex);
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}
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public bool Equals(PlanningCycleIdentity other)
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{
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return other != null && MapSnapshotId == other.MapSnapshotId &&
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string.Equals(ReferencePathId, other.ReferencePathId, StringComparison.Ordinal) &&
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VehicleStateSequenceId == other.VehicleStateSequenceId &&
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string.Equals(PreviousTrajectoryId, other.PreviousTrajectoryId, StringComparison.Ordinal) &&
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SegmentIndex == other.SegmentIndex;
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}
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public override bool Equals(object obj)
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{
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return Equals(obj as PlanningCycleIdentity);
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}
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public override int GetHashCode()
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{
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unchecked
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{
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int hash = MapSnapshotId.GetHashCode();
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hash = (hash * 397) ^ StringComparer.Ordinal.GetHashCode(ReferencePathId);
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hash = (hash * 397) ^ VehicleStateSequenceId.GetHashCode();
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hash = (hash * 397) ^ StringComparer.Ordinal.GetHashCode(PreviousTrajectoryId);
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return (hash * 397) ^ SegmentIndex;
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}
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}
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}
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