46 lines
2.0 KiB
C#
46 lines
2.0 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 MultiWheelC.TrajectoryPlanning.Mapping;
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namespace MultiWheelC.TrajectoryPlanning.CoarsePath.Facade;
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/// <summary>
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/// 一次粗路径业务编排的不可变结果。
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/// 始终同时保留地图构建结果和规划结果；调试旁路消息只用于诊断，不会修改地图或规划内容。
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/// </summary>
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public sealed class CoarsePathPlanningJobResult
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{
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/// <summary>
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/// 创建业务编排结果。
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/// 参数：mapResult 和 planningResult 均不能为空；debugDiagnostics 可为 null，返回时会转换为只读字符串集合。
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/// </summary>
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public CoarsePathPlanningJobResult(PlanningMapBuildResult mapResult, PlanningResult planningResult,
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IReadOnlyList<string> debugDiagnostics = null)
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{
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MapResult = mapResult ?? throw new ArgumentNullException(nameof(mapResult));
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PlanningResult = planningResult ?? throw new ArgumentNullException(nameof(planningResult));
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DebugDiagnostics = CopyDiagnostics(debugDiagnostics);
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}
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/// <summary>本次调用的地图创建结果；失败时读取 <see cref="PlanningMapBuildResult.FailureReason"/>。</summary>
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public PlanningMapBuildResult MapResult { get; }
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/// <summary>本次调用的粗路径结果；地图创建失败时为无路径的失败状态。</summary>
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public PlanningResult PlanningResult { get; }
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/// <summary>调试旁路的非致命诊断信息；为空时表示未启用、未发生异常或无额外调试消息。</summary>
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public IReadOnlyList<string> DebugDiagnostics { get; }
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private static IReadOnlyList<string> CopyDiagnostics(IReadOnlyList<string> source)
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{
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if (source == null || source.Count == 0)
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return new ReadOnlyCollection<string>(new List<string>());
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var copy = new List<string>(source.Count);
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for (int index = 0; index < source.Count; index++)
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copy.Add(source[index] ?? string.Empty);
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return new ReadOnlyCollection<string>(copy);
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}
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}
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