贯通车队运行链并支持轨迹自动推导β
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using System;
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using System.Collections.Generic;
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using MyParking.Shared;
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namespace MultiWheelC.Fleet
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{
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// 主车已经接收并接受的一辆成员车安全状态。
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public readonly struct FleetMemberSafetyStatus
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{
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public FleetMemberSafetyStatus(
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int vehicleId,
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long planId,
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bool isStateAvailable,
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bool isFaulted,
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int failureCode,
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double lastAcceptedReportTimeSeconds)
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{
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if (vehicleId <= 0)
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{
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throw new ArgumentOutOfRangeException(
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nameof(vehicleId),
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"成员车编号必须大于零。");
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}
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if (planId < 0)
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{
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throw new ArgumentOutOfRangeException(
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nameof(planId),
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"任务编号不能为负数。");
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}
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NumericGuard.EnsureFiniteNonNegative(
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lastAcceptedReportTimeSeconds,
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nameof(lastAcceptedReportTimeSeconds));
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VehicleId = vehicleId;
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PlanId = planId;
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IsStateAvailable = isStateAvailable;
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IsFaulted = isFaulted;
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FailureCode = failureCode;
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LastAcceptedReportTimeSeconds =
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lastAcceptedReportTimeSeconds;
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}
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public int VehicleId { get; }
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public long PlanId { get; }
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public bool IsStateAvailable { get; }
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public bool IsFaulted { get; }
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// 零表示成员车没有报告结构化故障。
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public int FailureCode { get; }
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// 使用主车本地单调时钟，不能直接填写从车上传的时间戳。
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public double LastAcceptedReportTimeSeconds { get; }
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}
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// 一次安全检查的结果；ShouldStop可直接作为是否停车的判断标识。
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public readonly struct FleetSafetyDecision
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{
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internal FleetSafetyDecision(
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bool shouldStop,
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int sourceVehicleId,
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string reason)
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{
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ShouldStop = shouldStop;
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SourceVehicleId = sourceVehicleId;
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Reason = reason ?? string.Empty;
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}
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public bool ShouldStop { get; }
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// 零表示原因属于整个车队，而不是某一辆成员车。
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public int SourceVehicleId { get; }
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public string Reason { get; }
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}
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// 检查成员通信和健康状态，并锁存需要整队停车的首个原因。
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public sealed class FleetSafetySupervisor
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{
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private readonly double _communicationTimeoutSeconds;
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private long _activePlanId;
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private FleetSafetyDecision _latchedDecision;
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public FleetSafetySupervisor(
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double communicationTimeoutSeconds)
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{
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NumericGuard.EnsureFinitePositive(
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communicationTimeoutSeconds,
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nameof(communicationTimeoutSeconds));
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_communicationTimeoutSeconds =
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communicationTimeoutSeconds;
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Reset();
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}
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public double CommunicationTimeoutSeconds =>
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_communicationTimeoutSeconds;
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public long ActivePlanId => _activePlanId;
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public bool IsActive => _activePlanId > 0;
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public bool IsStopLatched =>
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_latchedDecision.ShouldStop;
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public FleetSafetyDecision LastDecision =>
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_latchedDecision;
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// 开始一次新任务，同时清除上一任务留下的停车锁存。
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public void Start(long planId)
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{
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if (planId <= 0)
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{
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throw new ArgumentOutOfRangeException(
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nameof(planId),
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"活动任务编号必须大于零。");
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}
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_activePlanId = planId;
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_latchedDecision = CreateContinueDecision();
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}
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// 返回ShouldStop；本类只负责判定，实际停车由后续运行入口执行。
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public FleetSafetyDecision Evaluate(
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FleetLayout layout,
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IReadOnlyList<FleetMemberSafetyStatus> memberStatuses,
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double currentTimeSeconds)
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{
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if (layout == null)
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{
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throw new ArgumentNullException(nameof(layout));
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}
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if (memberStatuses == null)
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{
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throw new ArgumentNullException(
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nameof(memberStatuses));
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}
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NumericGuard.EnsureFiniteNonNegative(
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currentTimeSeconds,
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nameof(currentTimeSeconds));
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if (!IsActive)
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{
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return new FleetSafetyDecision(
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true,
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0,
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"车队安全监督器尚未启动活动任务。");
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}
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if (IsStopLatched)
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{
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return _latchedDecision;
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}
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var statusesByVehicleId =
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new Dictionary<int, FleetMemberSafetyStatus>();
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for (var index = 0;
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index < memberStatuses.Count;
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index++)
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{
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var status = memberStatuses[index];
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// 非当前编队成员的状态不参与本次任务安全判定。
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if (!layout.TryGetVehicle(
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status.VehicleId,
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out _))
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{
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continue;
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}
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if (statusesByVehicleId.ContainsKey(
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status.VehicleId))
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{
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return LatchStop(
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status.VehicleId,
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$"成员车{status.VehicleId}存在重复状态报告。");
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}
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statusesByVehicleId.Add(
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status.VehicleId,
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status);
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}
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for (var index = 0;
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index < layout.Vehicles.Count;
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index++)
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{
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var vehicleId =
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layout.Vehicles[index].VehicleId;
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if (!statusesByVehicleId.TryGetValue(
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vehicleId,
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out var status))
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{
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return LatchStop(
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vehicleId,
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$"未收到成员车{vehicleId}的状态报告。");
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}
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if (status.PlanId != _activePlanId)
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{
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return LatchStop(
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vehicleId,
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$"成员车{vehicleId}报告的任务编号" +
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$"{status.PlanId}与当前任务" +
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$"{_activePlanId}不一致。");
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}
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if (status.LastAcceptedReportTimeSeconds >
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currentTimeSeconds)
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{
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return LatchStop(
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vehicleId,
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$"成员车{vehicleId}的主车接收时间晚于当前时间。");
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}
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var reportAgeSeconds =
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currentTimeSeconds -
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status.LastAcceptedReportTimeSeconds;
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if (reportAgeSeconds >
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_communicationTimeoutSeconds)
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{
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return LatchStop(
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vehicleId,
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$"成员车{vehicleId}通信超时，" +
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$"最近有效报告距今" +
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$"{reportAgeSeconds:F3}s。");
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}
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if (status.IsFaulted ||
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status.FailureCode != 0)
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{
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return LatchStop(
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vehicleId,
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$"成员车{vehicleId}报告故障，" +
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$"故障码为{status.FailureCode}。");
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}
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if (!status.IsStateAvailable)
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{
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return LatchStop(
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vehicleId,
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$"成员车{vehicleId}状态不可用。");
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}
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}
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_latchedDecision = CreateContinueDecision();
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return _latchedDecision;
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}
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// 结束当前任务并清除锁存；未开始新任务前Evaluate仍会要求停车。
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public void Reset()
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{
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_activePlanId = 0;
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_latchedDecision = CreateContinueDecision();
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}
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private FleetSafetyDecision LatchStop(
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int sourceVehicleId,
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string reason)
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{
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_latchedDecision = new FleetSafetyDecision(
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true,
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sourceVehicleId,
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reason);
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return _latchedDecision;
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}
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private static FleetSafetyDecision
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CreateContinueDecision()
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{
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return new FleetSafetyDecision(
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false,
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0,
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string.Empty);
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}
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}
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}
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