贯通车队运行链并支持轨迹自动推导β

2026-08-25 17:59:18 +08:00
parent 95c0b19a26
commit 17092c2766
37 changed files with 3632 additions and 37 deletions
@@ -0,0 +1,240 @@
+using System;
+using System.Collections.Generic;
+using MultiWheelC.Fleet;
+using MyParking.Shared;
+
+namespace MultiWheelC.Tests
+{
+    // 为同一测试进程中的各车辆端点提供共享FIFO消息队列。
+    internal sealed class InMemoryFleetTransportNetwork
+    {
+        private readonly SharedState _sharedState;
+        private readonly HashSet<int> _createdEndpointIds =
+            new HashSet<int>();
+
+        public InMemoryFleetTransportNetwork(
+            IReadOnlyList<int> vehicleIds,
+            int leaderVehicleId)
+        {
+            _sharedState = new SharedState(
+                vehicleIds,
+                leaderVehicleId);
+        }
+
+        public InMemoryFleetTransport CreateEndpoint(
+            int vehicleId)
+        {
+            lock (_sharedState.SyncRoot)
+            {
+                if (!_sharedState.CommandQueues.ContainsKey(
+                        vehicleId))
+                {
+                    throw new ArgumentOutOfRangeException(
+                        nameof(vehicleId),
+                        $"车辆{vehicleId}不属于当前内存车队网络。");
+                }
+
+                if (!_createdEndpointIds.Add(vehicleId))
+                {
+                    throw new InvalidOperationException(
+                        $"车辆{vehicleId}的内存通信端点已经创建。");
+                }
+            }
+
+            return new InMemoryFleetTransport(
+                _sharedState,
+                vehicleId);
+        }
+
+        internal sealed class SharedState
+        {
+            public SharedState(
+                IReadOnlyList<int> vehicleIds,
+                int leaderVehicleId)
+            {
+                if (vehicleIds == null)
+                {
+                    throw new ArgumentNullException(
+                        nameof(vehicleIds));
+                }
+
+                if (vehicleIds.Count == 0)
+                {
+                    throw new ArgumentException(
+                        "内存车队网络至少需要一辆车。",
+                        nameof(vehicleIds));
+                }
+
+                if (leaderVehicleId <= 0)
+                {
+                    throw new ArgumentOutOfRangeException(
+                        nameof(leaderVehicleId),
+                        "主车编号必须大于零。");
+                }
+
+                CommandQueues =
+                    new Dictionary<int, Queue<FleetCommand>>();
+
+                for (var index = 0;
+                     index < vehicleIds.Count;
+                     index++)
+                {
+                    var vehicleId = vehicleIds[index];
+                    if (vehicleId <= 0)
+                    {
+                        throw new ArgumentOutOfRangeException(
+                            nameof(vehicleIds),
+                            $"第{index}辆车的编号必须大于零。");
+                    }
+
+                    if (CommandQueues.ContainsKey(vehicleId))
+                    {
+                        throw new ArgumentException(
+                            $"内存车队网络包含重复车号{vehicleId}。",
+                            nameof(vehicleIds));
+                    }
+
+                    CommandQueues.Add(
+                        vehicleId,
+                        new Queue<FleetCommand>());
+                }
+
+                if (!CommandQueues.ContainsKey(
+                        leaderVehicleId))
+                {
+                    throw new ArgumentException(
+                        $"主车{leaderVehicleId}不在车辆列表中。",
+                        nameof(leaderVehicleId));
+                }
+
+                LeaderVehicleId = leaderVehicleId;
+            }
+
+            public object SyncRoot { get; } = new object();
+
+            public int LeaderVehicleId { get; }
+
+            public Dictionary<int, Queue<FleetCommand>>
+                CommandQueues { get; }
+
+            public Queue<FleetMemberReport> ReportQueue { get; } =
+                new Queue<FleetMemberReport>();
+        }
+    }
+
+    // 单辆模拟车辆持有的通信端点；只负责消息路由，不解释控制语义。
+    internal sealed class InMemoryFleetTransport : IFleetTransport
+    {
+        private readonly InMemoryFleetTransportNetwork.SharedState
+            _sharedState;
+        private readonly int _localVehicleId;
+
+        internal InMemoryFleetTransport(
+            InMemoryFleetTransportNetwork.SharedState sharedState,
+            int localVehicleId)
+        {
+            _sharedState = sharedState ??
+                throw new ArgumentNullException(
+                    nameof(sharedState));
+            _localVehicleId = localVehicleId;
+        }
+
+        public void SendCommand(FleetCommand command)
+        {
+            if (_localVehicleId !=
+                _sharedState.LeaderVehicleId)
+            {
+                throw new InvalidOperationException(
+                    "只有主车通信端点可以发送车队命令。");
+            }
+
+            lock (_sharedState.SyncRoot)
+            {
+                if (command.TargetVehicleId ==
+                    FleetProtocol.BroadcastVehicleId)
+                {
+                    foreach (var pair in
+                             _sharedState.CommandQueues)
+                    {
+                        // 主车本地命令由运行入口直接执行，不通过通信回环。
+                        if (pair.Key != _localVehicleId)
+                        {
+                            pair.Value.Enqueue(command);
+                        }
+                    }
+
+                    return;
+                }
+
+                if (!_sharedState.CommandQueues.TryGetValue(
+                        command.TargetVehicleId,
+                        out var queue))
+                {
+                    throw new ArgumentOutOfRangeException(
+                        nameof(command),
+                        $"目标车辆{command.TargetVehicleId}不存在。");
+                }
+
+                queue.Enqueue(command);
+            }
+        }
+
+        public void SendReport(FleetMemberReport report)
+        {
+            if (report.VehicleId != _localVehicleId)
+            {
+                throw new ArgumentException(
+                    $"车辆{_localVehicleId}不能发送属于车辆" +
+                    $"{report.VehicleId}的状态报告。",
+                    nameof(report));
+            }
+
+            lock (_sharedState.SyncRoot)
+            {
+                _sharedState.ReportQueue.Enqueue(report);
+            }
+        }
+
+        public bool TryReceiveCommand(
+            out FleetCommand command)
+        {
+            lock (_sharedState.SyncRoot)
+            {
+                var queue =
+                    _sharedState.CommandQueues[_localVehicleId];
+                if (queue.Count == 0)
+                {
+                    command = default;
+                    return false;
+                }
+
+                command = queue.Dequeue();
+                return true;
+            }
+        }
+
+        public bool TryReceiveReport(
+            out FleetMemberReport report)
+        {
+            if (_localVehicleId !=
+                _sharedState.LeaderVehicleId)
+            {
+                throw new InvalidOperationException(
+                    "只有主车通信端点可以接收成员状态报告。");
+            }
+
+            lock (_sharedState.SyncRoot)
+            {
+                if (_sharedState.ReportQueue.Count == 0)
+                {
+                    report = default;
+                    return false;
+                }
+
+                report =
+                    _sharedState.ReportQueue.Dequeue();
+                return true;
+            }
+        }
+    }
+}