443 lines
18 KiB
C#
443 lines
18 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Threading;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Validation;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Algorithms;
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/// <summary>在有限强度计划内运行单一算法，并以共享分析和安全复核决定是否接受候选。</summary>
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internal sealed class SmoothingAlgorithmRunner
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{
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private static readonly double[] RetryStrengthScales = { 1d, 0.75d, 0.50d, 0.25d };
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private readonly PathGeometryAnalyzer _analyzer;
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private readonly SmoothedPathValidator _validator;
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internal SmoothingAlgorithmRunner()
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: this(new PathGeometryAnalyzer(), new SmoothedPathValidator())
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{
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}
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internal SmoothingAlgorithmRunner(PathGeometryAnalyzer analyzer, SmoothedPathValidator validator)
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{
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_analyzer = analyzer ?? throw new ArgumentNullException(nameof(analyzer));
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_validator = validator ?? throw new ArgumentNullException(nameof(validator));
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}
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/// <summary>
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/// 依次尝试配置的有限强度比例。取消直接向上传播，由门面转换为最终状态；
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/// 只有算法明确标记为可重试的不可行性才会使用较低强度；终止失败和统一复核失败均不重试。
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/// </summary>
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internal AlgorithmRunResult Run(
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IPathSmoother smoother,
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SmoothingAlgorithmInput input,
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PathSmoothingConfiguration configuration,
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CancellationToken cancellationToken)
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{
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var attemptedStrengths = new List<double>();
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var failureReasons = new List<string>();
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if (smoother == null || input == null || input.Options == null || configuration == null)
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return AlgorithmRunResult.Failed("平滑算法、输入或配置无效。", attemptedStrengths, failureReasons);
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foreach (double scale in RetryStrengthScales)
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{
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cancellationToken.ThrowIfCancellationRequested();
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double effectiveStrength = configuration.SmoothingStrength * scale;
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if (!IsPositiveFinite(effectiveStrength))
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return AlgorithmRunResult.Failed("平滑强度或重试比例无效。", attemptedStrengths, failureReasons);
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attemptedStrengths.Add(effectiveStrength);
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SmoothingCandidate candidate = smoother.Smooth(input, effectiveStrength, cancellationToken);
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if (candidate == null)
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return AlgorithmRunResult.Failed("平滑算法未返回候选。", attemptedStrengths, failureReasons);
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if (candidate.Status == SmoothingCandidateStatus.RetryableInfeasible)
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{
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failureReasons.Add(candidate.Reason);
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continue;
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}
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if (candidate.Status == SmoothingCandidateStatus.Failed)
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{
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failureReasons.Add(candidate.Reason);
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return AlgorithmRunResult.Failed(candidate.Reason, attemptedStrengths, failureReasons);
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}
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if (candidate.Status != SmoothingCandidateStatus.Success)
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{
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const string unknownStatusReason = "平滑算法返回未知候选状态。";
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failureReasons.Add(unknownStatusReason);
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return AlgorithmRunResult.Failed(unknownStatusReason, attemptedStrengths, failureReasons);
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}
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if (!_analyzer.TryAnalyze(candidate.Segments, configuration.OutputSpacingMeters,
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out PathGeometryAnalysis analysis, out string reason))
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{
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failureReasons.Add(reason);
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return AlgorithmRunResult.Failed(reason, attemptedStrengths, failureReasons);
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}
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if (_validator.TryValidate(analysis.Path, analysis.Segments, input.OriginalPath, input.Map, input.Vehicle,
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input.MaximumCollisionCheckStepMeters, out IReadOnlyList<SmoothedPathPoint> safePath,
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out double minimumClearanceMeters, out reason))
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{
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return AlgorithmRunResult.Success(safePath, analysis.Segments,
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CreateMetrics(analysis, minimumClearanceMeters), effectiveStrength,
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attemptedStrengths, failureReasons);
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}
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failureReasons.Add(reason);
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return AlgorithmRunResult.Failed(reason, attemptedStrengths, failureReasons);
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}
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return AlgorithmRunResult.Infeasible(null, attemptedStrengths, failureReasons);
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}
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private static PathQualityMetrics CreateMetrics(PathGeometryAnalysis analysis, double minimumClearanceMeters)
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{
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return new PathQualityMetrics(
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true,
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analysis.PathLengthMeters,
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analysis.MaximumAbsoluteVehicleCurvaturePerMeter,
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analysis.RootMeanSquareVehicleCurvaturePerMeter,
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analysis.TotalAbsoluteCurvatureVariationPerMeter,
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analysis.CurvatureVariationEnergy,
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minimumClearanceMeters,
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0d,
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0d,
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0d,
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0d);
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}
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private static bool IsPositiveFinite(double value)
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{
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return !double.IsNaN(value) && !double.IsInfinity(value) && value > 0d;
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}
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/// <summary>
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/// Reflection-only deterministic coverage seam. It is nested in an internal runner and intentionally
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/// does not construct or register a production smoothing method.
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/// </summary>
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public static class TestHooks
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{
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/// <summary>执行一个固定的内部假平滑器场景并返回可反射读取的快照。</summary>
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public static RunnerTestSnapshot Execute(string scenario)
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{
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if (string.IsNullOrWhiteSpace(scenario)) throw new ArgumentException("A scenario is required.", nameof(scenario));
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var cancellationSource = new CancellationTokenSource();
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var smoother = new DeterministicTestSmoother(ParseScenario(scenario), cancellationSource);
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var runner = new SmoothingAlgorithmRunner();
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SmoothingAlgorithmInput input = CreateTestInput();
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var configuration = new PathSmoothingConfiguration();
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try
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{
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AlgorithmRunResult result = runner.Run(smoother, input, configuration, cancellationSource.Token);
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return RunnerTestSnapshot.FromResult(result, false);
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}
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catch (OperationCanceledException)
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{
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return new RunnerTestSnapshot(
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"OperationCanceledException",
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smoother.AttemptedStrengths,
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0,
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0,
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0,
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true);
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}
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finally
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{
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cancellationSource.Dispose();
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}
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}
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/// <summary>供 PowerShell 断言使用的不可变执行摘要。</summary>
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public sealed class RunnerTestSnapshot
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{
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internal RunnerTestSnapshot(
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string status,
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IReadOnlyList<double> attemptedStrengths,
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int acceptedPathPointCount,
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int rejectedComparisonCandidatePointCount,
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int failureCount,
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bool cancellationPropagated)
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{
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Status = status ?? string.Empty;
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AttemptedStrengths = CopyReadOnly(attemptedStrengths);
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AcceptedPathPointCount = acceptedPathPointCount;
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RejectedComparisonCandidatePointCount = rejectedComparisonCandidatePointCount;
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FailureCount = failureCount;
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CancellationPropagated = cancellationPropagated;
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}
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public string Status { get; }
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public IReadOnlyList<double> AttemptedStrengths { get; }
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public int AcceptedPathPointCount { get; }
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public int RejectedComparisonCandidatePointCount { get; }
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public int FailureCount { get; }
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public bool CancellationPropagated { get; }
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internal static RunnerTestSnapshot FromResult(AlgorithmRunResult result, bool cancellationPropagated)
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{
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int rejectedPointCount = result.RejectedComparisonCandidate == null
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? 0
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: CountPoints(result.RejectedComparisonCandidate.Segments);
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return new RunnerTestSnapshot(
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result.Status.ToString(),
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result.AttemptedStrengths,
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result.Path.Count,
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rejectedPointCount,
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result.FailureReasons.Count,
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cancellationPropagated);
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}
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private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
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{
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var copy = new List<T>(source == null ? 0 : source.Count);
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if (source != null)
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{
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for (int index = 0; index < source.Count; index++) copy.Add(source[index]);
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}
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return new ReadOnlyCollection<T>(copy);
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}
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}
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private enum TestScenario
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{
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RetryableInfeasible,
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AcceptFirst,
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TerminalFailed,
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CancelBeforeNextAttempt,
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}
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private sealed class DeterministicTestSmoother : IPathSmoother
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{
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private readonly TestScenario _scenario;
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private readonly CancellationTokenSource _cancellationSource;
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internal DeterministicTestSmoother(TestScenario scenario, CancellationTokenSource cancellationSource)
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{
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_scenario = scenario;
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_cancellationSource = cancellationSource;
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AttemptedStrengths = new List<double>();
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}
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public SmoothingMethod Method => SmoothingMethod.CubicBSpline;
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internal List<double> AttemptedStrengths { get; }
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public SmoothingCandidate Smooth(
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SmoothingAlgorithmInput input,
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double effectiveStrength,
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CancellationToken cancellationToken)
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{
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AttemptedStrengths.Add(effectiveStrength);
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if (_scenario == TestScenario.TerminalFailed)
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return SmoothingCandidate.Failed("确定性数值退化。");
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if (_scenario == TestScenario.AcceptFirst)
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return CreateAcceptedCandidate();
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if (_scenario == TestScenario.CancelBeforeNextAttempt)
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_cancellationSource.Cancel();
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return SmoothingCandidate.RetryableInfeasible("确定性可重试不可行。" );
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}
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}
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private static TestScenario ParseScenario(string scenario)
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{
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if (string.Equals(scenario, nameof(TestScenario.RetryableInfeasible), StringComparison.Ordinal)) return TestScenario.RetryableInfeasible;
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if (string.Equals(scenario, nameof(TestScenario.AcceptFirst), StringComparison.Ordinal)) return TestScenario.AcceptFirst;
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if (string.Equals(scenario, nameof(TestScenario.TerminalFailed), StringComparison.Ordinal)) return TestScenario.TerminalFailed;
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if (string.Equals(scenario, nameof(TestScenario.CancelBeforeNextAttempt), StringComparison.Ordinal)) return TestScenario.CancelBeforeNextAttempt;
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throw new ArgumentOutOfRangeException(nameof(scenario));
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}
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private static SmoothingAlgorithmInput CreateTestInput()
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{
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var mapRequest = new PlanningMapRequest
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{
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Bounds = new MapBoundsMm(0f, 5000f, 0f, 5000f),
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ResolutionMm = 50f,
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AllowExplicitEmptyMap = true,
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};
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PlanningMapBuildResult mapResult = new PlanningMapFactory().Create(mapRequest);
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if (!mapResult.Succeeded || mapResult.Map == null)
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throw new InvalidOperationException("The runner test hook could not create its empty map.");
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var originalSegments = new List<PreparedDirectionSegment>
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{
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new PreparedDirectionSegment(
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0,
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TravelDirection.Forward,
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new List<SmoothingPoint2D>
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{
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CreatePoint(0.5d, 0.5d, 0d),
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CreatePoint(1.5d, 0.5d, 1d),
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},
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false,
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false),
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};
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var vehicle = new VehicleParameters
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{
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LengthMeters = 0.20d,
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WidthMeters = 0.20d,
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SafetyMarginMeters = 0d,
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MaximumCurvaturePerMeter = 100d,
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MinimumTurningRadiusMeters = 0.01d,
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};
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return new SmoothingAlgorithmInput(
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new PreparedPath(originalSegments),
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mapResult.Map,
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vehicle,
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0.05d,
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0.02d,
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new SmoothingOptionsSnapshot(new PathSmoothingConfiguration()));
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}
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private static SmoothingCandidate CreateAcceptedCandidate()
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{
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return SmoothingCandidate.Success(new List<PreparedDirectionSegment>
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{
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new PreparedDirectionSegment(
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0,
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TravelDirection.Forward,
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new List<SmoothingPoint2D>
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{
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CreatePoint(0.5d, 0.5d, 0d),
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CreatePoint(1.5d, 0.5d, 1d),
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},
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false,
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false),
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});
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}
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private static SmoothingPoint2D CreatePoint(double x, double y, double arcLength)
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{
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return new SmoothingPoint2D(
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x,
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y,
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arcLength,
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0d,
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0d,
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1d,
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false,
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SmoothedPathPointSource.Anchor);
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}
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private static int CountPoints(IReadOnlyList<PreparedDirectionSegment> segments)
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{
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int count = 0;
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for (int index = 0; index < segments.Count; index++) count += segments[index].Points.Count;
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return count;
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}
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}
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/// <summary>内部运行结果；只有成功路径可被正式门面发布，拒绝候选仅供比较诊断读取。</summary>
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internal sealed class AlgorithmRunResult
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{
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private static readonly IReadOnlyList<SmoothedPathPoint> EmptyPath =
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new ReadOnlyCollection<SmoothedPathPoint>(new List<SmoothedPathPoint>());
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private static readonly IReadOnlyList<SmoothedPathSegment> EmptySegments =
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new ReadOnlyCollection<SmoothedPathSegment>(new List<SmoothedPathSegment>());
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private AlgorithmRunResult(
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PathSmoothingStatus status,
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments,
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PathQualityMetrics metrics,
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double acceptedStrength,
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SmoothingCandidate rejectedComparisonCandidate,
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IReadOnlyList<double> attemptedStrengths,
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IReadOnlyList<string> failureReasons,
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string reason)
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{
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Status = status;
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Path = path ?? EmptyPath;
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Segments = segments ?? EmptySegments;
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Metrics = metrics ?? new PathQualityMetrics();
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AcceptedStrength = acceptedStrength;
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RejectedComparisonCandidate = rejectedComparisonCandidate;
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AttemptedStrengths = CopyReadOnly(attemptedStrengths);
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FailureReasons = CopyReadOnly(failureReasons);
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Reason = reason ?? string.Empty;
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}
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internal PathSmoothingStatus Status { get; }
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internal IReadOnlyList<SmoothedPathPoint> Path { get; }
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internal IReadOnlyList<SmoothedPathSegment> Segments { get; }
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internal PathQualityMetrics Metrics { get; }
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internal double AcceptedStrength { get; }
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internal SmoothingCandidate RejectedComparisonCandidate { get; }
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internal IReadOnlyList<double> AttemptedStrengths { get; }
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internal IReadOnlyList<string> FailureReasons { get; }
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internal string Reason { get; }
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internal static AlgorithmRunResult Success(
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IReadOnlyList<SmoothedPathPoint> path,
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IReadOnlyList<SmoothedPathSegment> segments,
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PathQualityMetrics metrics,
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double acceptedStrength,
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IReadOnlyList<double> attemptedStrengths,
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IReadOnlyList<string> failureReasons)
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{
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return new AlgorithmRunResult(
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PathSmoothingStatus.Success,
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CopyReadOnly(path),
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CopyReadOnly(segments),
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metrics,
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acceptedStrength,
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null,
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attemptedStrengths,
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failureReasons,
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string.Empty);
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}
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internal static AlgorithmRunResult Infeasible(
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SmoothingCandidate rejectedComparisonCandidate,
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IReadOnlyList<double> attemptedStrengths,
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IReadOnlyList<string> failureReasons)
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{
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string reason = failureReasons == null || failureReasons.Count == 0
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? "所有有限平滑尝试均未通过复核。"
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: failureReasons[failureReasons.Count - 1];
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return new AlgorithmRunResult(
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PathSmoothingStatus.Infeasible,
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null,
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null,
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null,
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0d,
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rejectedComparisonCandidate,
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attemptedStrengths,
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failureReasons,
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reason);
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}
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internal static AlgorithmRunResult Failed(
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string reason,
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IReadOnlyList<double> attemptedStrengths,
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IReadOnlyList<string> failureReasons)
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{
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return new AlgorithmRunResult(
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PathSmoothingStatus.Failed,
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null,
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null,
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null,
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0d,
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null,
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attemptedStrengths,
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failureReasons,
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reason);
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}
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private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)
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{
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var copy = new List<T>(source == null ? 0 : source.Count);
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if (source != null)
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{
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for (int index = 0; index < source.Count; index++) copy.Add(source[index]);
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}
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return new ReadOnlyCollection<T>(copy);
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}
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}
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}
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