47 lines
2.3 KiB
C#
47 lines
2.3 KiB
C#
using System;
|
|
using System.Globalization;
|
|
using System.IO;
|
|
using System.Text;
|
|
|
|
namespace TrajectoryOutputDemo;
|
|
|
|
/// <summary>将完整控制轨迹以稳定字段顺序导出为 UTF-8 CSV；只在完整内容写完后替换目标文件。</summary>
|
|
public sealed class TrajectorySequenceExporter
|
|
{
|
|
/// <summary>控制模块 CSV 的固定表头；数值字段均按不受区域设置影响的点号格式写出。</summary>
|
|
public const string Header = "time_s,x_m,y_m,yaw_rad,signed_velocity_mps,yaw_rate_radps,curvature_per_m,direction,segment_index,path_s_m,boundary_type";
|
|
|
|
/// <summary>将完整序列原子写入目标路径，防止读方看到半写入的 CSV。</summary>
|
|
public string Export(ControlTrajectorySequence sequence, string outputPath)
|
|
{
|
|
if (sequence == null) throw new ArgumentNullException(nameof(sequence));
|
|
if (string.IsNullOrWhiteSpace(outputPath)) throw new ArgumentException("输出路径不能为空。", nameof(outputPath));
|
|
|
|
string fullPath = Path.GetFullPath(outputPath);
|
|
string? directory = Path.GetDirectoryName(fullPath);
|
|
if (!string.IsNullOrEmpty(directory)) Directory.CreateDirectory(directory);
|
|
string temporaryPath = fullPath + ".tmp";
|
|
|
|
using (var writer = new StreamWriter(temporaryPath, false, new UTF8Encoding(false)))
|
|
{
|
|
writer.WriteLine(Header);
|
|
for (int index = 0; index < sequence.Points.Count; index++)
|
|
{
|
|
ControlTrajectoryPoint point = sequence.Points[index];
|
|
writer.WriteLine(string.Join(",", new[]
|
|
{
|
|
Number(point.TimeFromStartSeconds), Number(point.XMeters), Number(point.YMeters), Number(point.YawRadians),
|
|
Number(point.SignedLongitudinalVelocityMetersPerSecond), Number(point.YawRateRadiansPerSecond),
|
|
Number(point.CurvaturePerMeter), point.Direction.ToString(), point.SegmentIndex.ToString(CultureInfo.InvariantCulture),
|
|
Number(point.PathSMeters), point.BoundaryType.ToString(),
|
|
}));
|
|
}
|
|
}
|
|
|
|
File.Move(temporaryPath, fullPath, true);
|
|
return fullPath;
|
|
}
|
|
|
|
private static string Number(double value) => value.ToString("G17", CultureInfo.InvariantCulture);
|
|
}
|