68 lines
4.5 KiB
C#
68 lines
4.5 KiB
C#
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using System;
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using System.IO;
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namespace MultiWheelC.TrajectoryPlanning.Mapping;
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/// <summary>可选 PNG 导出器；它永远不参与地图构建、障碍物投影或缓存指纹计算。</summary>
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public static class PlanningMapImageExporter
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{
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/// <summary>每个规划栅格在输出图中占用的边长，单位为像素。</summary>
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public const int PixelsPerCell = 4;
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/// <summary>输出 PNG 单边允许的最大像素数，超过时拒绝导出。</summary>
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public const int MaximumImageEdgePixels = 4000;
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/// <summary>输出 PNG 允许的最大文件大小，单位为字节（50 MiB）。</summary>
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public const long MaximumFileSizeBytes = 50L * 1024L * 1024L;
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/// <summary>写入 PNG 的物理分辨率元数据，单位 DPI。</summary>
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public const float OutputDpi = 300f;
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private const int MaximumFilenameAttempts = 1024;
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/// <summary>
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/// 在开关开启时导出规划地图 PNG。
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///
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/// 参数：enabled 为导出开关；request 包含不可变地图和输出根目录。
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/// 返回：开关关闭时返回 Skipped；成功时返回 Saved、路径、字节数与像素尺寸；输入或尺寸不合法时返回失败信息。
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/// 注意：该方法仅用于调试，绝不会影响地图创建和缓存结果。
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/// </summary>
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public static PlanningMapImageExportResult ExportIfEnabled(bool enabled, PlanningMapImageExportRequest request)
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{
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if (!enabled) return new PlanningMapImageExportResult { Skipped = true, Message = "Planning map image export is disabled." };
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if (request == null || request.Map == null) return Rejected("Planning map image export requires a PlanningGridMap.");
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if (string.IsNullOrWhiteSpace(request.OutputRootDirectory)) return Rejected("Planning map image export requires an output root directory.");
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long width = (long)request.Map.Cols * PixelsPerCell, height = (long)request.Map.Rows * PixelsPerCell;
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if (width <= 0 || height <= 0 || width > MaximumImageEdgePixels || height > MaximumImageEdgePixels) return Rejected("Planning map image dimensions exceed the permitted edge.", width, height);
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string temporary = null;
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try
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{
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string directory = Path.Combine(request.OutputRootDirectory, "PlanningMapExports");
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Directory.CreateDirectory(directory);
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using (FileStream stream = CreateTemporaryFile(directory, out string finalPath, out temporary))
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{
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byte[] rgba = PlanningMapImageRenderer.Render(request.Map, PixelsPerCell, out int pixelWidth, out int pixelHeight);
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ValidatedPngWriter.Write(rgba, pixelWidth, pixelHeight, stream);
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}
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long length = new FileInfo(temporary).Length;
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if (length > MaximumFileSizeBytes) return Rejected("Planning map image PNG exceeds 50 MiB.", width, height);
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string completed = temporary.Substring(0, temporary.Length - 4);
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File.Move(temporary, completed); temporary = null;
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return new PlanningMapImageExportResult { Saved = true, FilePath = completed, FileSizeBytes = length, PixelWidth = (int)width, PixelHeight = (int)height, Message = "Planning map image export saved." };
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}
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catch (Exception exception) { return Rejected("Planning map image export failed: " + exception.Message, width, height); }
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finally { if (temporary != null && File.Exists(temporary)) File.Delete(temporary); }
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}
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private static PlanningMapImageExportResult Rejected(string message, long width = 0, long height = 0) { return new PlanningMapImageExportResult { Message = message, PixelWidth = width > int.MaxValue ? int.MaxValue : (int)width, PixelHeight = height > int.MaxValue ? int.MaxValue : (int)height }; }
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private static FileStream CreateTemporaryFile(string directory, out string finalPath, out string temporaryPath)
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{
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string timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss_fff");
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for (int index = 0; index < MaximumFilenameAttempts; index++)
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{
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string suffix = index == 0 ? string.Empty : "_" + index;
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finalPath = Path.Combine(directory, "PlanningMap_" + timestamp + suffix + ".png"); temporaryPath = finalPath + ".tmp";
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if (File.Exists(finalPath)) continue;
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try { return new FileStream(temporaryPath, FileMode.CreateNew, FileAccess.Write, FileShare.None); }
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catch (IOException) { }
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}
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finalPath = null; temporaryPath = null; throw new IOException("Could not reserve a unique PlanningMap PNG filename.");
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}
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}
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