121 lines
4.7 KiB
C#
121 lines
4.7 KiB
C#
using System;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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/// <summary>
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/// 轨迹发布身份、来源版本、有效时间、方向段和终端边界的不可变元数据。
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/// </summary>
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public sealed class EmTrajectoryMetadata
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{
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/// <summary>
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/// 创建轨迹的发布和来源元数据。验证标识、序列号、索引和枚举值；<paramref name="previousTrajectoryId"/> 可为 null 并会规范化为空字符串，两个 UTC 时刻的先后关系不在此处验证。
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/// </summary>
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public EmTrajectoryMetadata(
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string trajectoryId,
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DateTimeOffset generatedAtUtc,
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DateTimeOffset effectiveAtUtc,
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long mapSnapshotId,
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string referencePathId,
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long vehicleStateSequenceId,
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string previousTrajectoryId,
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int segmentIndex,
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TravelDirection direction,
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EmTerminalType terminalType,
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EmLongitudinalMode longitudinalMode,
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EmPlanningScope planningScope)
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{
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if (string.IsNullOrWhiteSpace(trajectoryId))
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throw new ArgumentException("A trajectory ID is required.", nameof(trajectoryId));
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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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if (!Enum.IsDefined(typeof(TravelDirection), direction))
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throw new ArgumentOutOfRangeException(nameof(direction));
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if (!Enum.IsDefined(typeof(EmTerminalType), terminalType))
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throw new ArgumentOutOfRangeException(nameof(terminalType));
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if (!Enum.IsDefined(typeof(EmLongitudinalMode), longitudinalMode))
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throw new ArgumentOutOfRangeException(nameof(longitudinalMode));
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if (!Enum.IsDefined(typeof(EmPlanningScope), planningScope))
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throw new ArgumentOutOfRangeException(nameof(planningScope));
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TrajectoryId = trajectoryId;
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GeneratedAtUtc = generatedAtUtc;
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EffectiveAtUtc = effectiveAtUtc;
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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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Direction = direction;
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TerminalType = terminalType;
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LongitudinalMode = longitudinalMode;
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PlanningScope = planningScope;
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}
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/// <summary>
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/// 非空白的本次发布轨迹标识，由消费者用于去重、替换和追踪。
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/// </summary>
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public string TrajectoryId { get; }
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/// <summary>
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/// 生成此元数据的 UTC 时刻；值原样保存，构造器不与生效时刻比较。
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/// </summary>
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public DateTimeOffset GeneratedAtUtc { get; }
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/// <summary>
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/// 轨迹计划开始生效的 UTC 时刻；执行消费者负责按其调度策略解释。
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/// </summary>
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public DateTimeOffset EffectiveAtUtc { get; }
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/// <summary>
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/// 地图快照的非负版本标识；用于确认轨迹依赖的环境版本。
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/// </summary>
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public long MapSnapshotId { get; }
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/// <summary>
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/// 非空白的输入参考路径标识；用于关联轨迹的几何来源。
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/// </summary>
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public string ReferencePathId { get; }
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/// <summary>
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/// 车辆状态的非负序列版本；用于判断轨迹是否基于当前状态快照。
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/// </summary>
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public long VehicleStateSequenceId { get; }
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/// <summary>
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/// 前一轨迹的可选标识；null 输入已规范化为空字符串，空字符串表示没有可关联的前轨迹标识。
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/// </summary>
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public string PreviousTrajectoryId { get; }
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/// <summary>
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/// 参考路径中此轨迹所属的非负方向段索引。
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/// </summary>
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public int SegmentIndex { get; }
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/// <summary>
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/// 所属方向段的已验证行驶方向。
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/// </summary>
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public TravelDirection Direction { get; }
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/// <summary>
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/// 轨迹最后一个终端的已验证业务类型。
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/// </summary>
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public EmTerminalType TerminalType { get; }
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/// <summary>
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/// 生成轨迹时采用的已验证纵向终端速度语义。
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/// </summary>
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public EmLongitudinalMode LongitudinalMode { get; }
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/// <summary>
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/// 生成轨迹时采用的已验证规划覆盖范围。
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/// </summary>
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public EmPlanningScope PlanningScope { get; }
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}
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