feat: add planning visualization contracts

2026-08-06 09:26:06 +08:00
parent fa4938b3fc
commit 55d8e1eebf
10 changed files with 581 additions and 0 deletions
@@ -0,0 +1,101 @@
+using System;
+using System.Collections.Generic;
+
+namespace TrajectoryPlanningVisualization;
+
+public sealed class PlanningVisualizationStaticSnapshot
+{
+    public PlanningVisualizationStaticSnapshot(string sessionNameChinese, VisualizationBounds worldBounds,
+        VisualizationOccupancyGrid occupancyGrid, IReadOnlyList<VisualizationPolyline> staticPolylines,
+        IReadOnlyList<VisualizationMarker> staticMarkers,
+        IReadOnlyList<VisualizationDirectionSegment> directionSegments,
+        IReadOnlyList<VisualizationConfigurationGroup> configurationGroups)
+    {
+        SessionNameChinese = VisualizationContract.RequireText(sessionNameChinese, nameof(sessionNameChinese));
+        WorldBounds = worldBounds ?? throw new ArgumentNullException(nameof(worldBounds));
+        OccupancyGrid = occupancyGrid;
+        StaticPolylines = VisualizationContract.Copy(staticPolylines, nameof(staticPolylines));
+        StaticMarkers = VisualizationContract.Copy(staticMarkers, nameof(staticMarkers));
+        DirectionSegments = VisualizationContract.Copy(directionSegments, nameof(directionSegments));
+        ConfigurationGroups = VisualizationContract.Copy(configurationGroups, nameof(configurationGroups));
+    }
+
+    public string SessionNameChinese { get; }
+    public VisualizationBounds WorldBounds { get; }
+    public VisualizationOccupancyGrid OccupancyGrid { get; }
+    public IReadOnlyList<VisualizationPolyline> StaticPolylines { get; }
+    public IReadOnlyList<VisualizationMarker> StaticMarkers { get; }
+    public IReadOnlyList<VisualizationDirectionSegment> DirectionSegments { get; }
+    public IReadOnlyList<VisualizationConfigurationGroup> ConfigurationGroups { get; }
+}
+
+public sealed class PlanningVisualizationDynamicSnapshot
+{
+    public PlanningVisualizationDynamicSnapshot(long sequence, DateTimeOffset observedAtUtc,
+        string sessionStateChinese, int activeSegmentIndex, string activeDirection,
+        VisualizationPose vehiclePose, IReadOnlyList<VisualizationPolyline> dynamicPolylines,
+        IReadOnlyList<VisualizationMarker> dynamicMarkers, IReadOnlyList<VisualizationChart> charts,
+        IReadOnlyList<VisualizationValue> statusValues, VisualizationCycleSummary cycleSummary)
+    {
+        Sequence = sequence;
+        ObservedAtUtc = observedAtUtc;
+        SessionStateChinese = VisualizationContract.RequireText(sessionStateChinese, nameof(sessionStateChinese));
+        ActiveSegmentIndex = activeSegmentIndex;
+        ActiveDirection = VisualizationContract.RequireText(activeDirection, nameof(activeDirection));
+        VehiclePose = vehiclePose ?? throw new ArgumentNullException(nameof(vehiclePose));
+        DynamicPolylines = VisualizationContract.Copy(dynamicPolylines, nameof(dynamicPolylines));
+        DynamicMarkers = VisualizationContract.Copy(dynamicMarkers, nameof(dynamicMarkers));
+        Charts = VisualizationContract.Copy(charts, nameof(charts));
+        StatusValues = VisualizationContract.Copy(statusValues, nameof(statusValues));
+        CycleSummary = cycleSummary ?? throw new ArgumentNullException(nameof(cycleSummary));
+    }
+
+    public long Sequence { get; }
+    public DateTimeOffset ObservedAtUtc { get; }
+    public string SessionStateChinese { get; }
+    public int ActiveSegmentIndex { get; }
+    public string ActiveDirection { get; }
+    public VisualizationPose VehiclePose { get; }
+    public IReadOnlyList<VisualizationPolyline> DynamicPolylines { get; }
+    public IReadOnlyList<VisualizationMarker> DynamicMarkers { get; }
+    public IReadOnlyList<VisualizationChart> Charts { get; }
+    public IReadOnlyList<VisualizationValue> StatusValues { get; }
+    public VisualizationCycleSummary CycleSummary { get; }
+}
+
+public sealed class VisualizationCycleSummary
+{
+    public VisualizationCycleSummary(long cycleVersion, DateTimeOffset occurredAtUtc, string status, bool published,
+        double planningElapsedMilliseconds, int segmentIndex, string direction, string longitudinalMode,
+        string terminalType, double? terminalVelocity, double? terminalAcceleration, string failureReason)
+    {
+        VisualizationContract.RequireFinite(planningElapsedMilliseconds, nameof(planningElapsedMilliseconds));
+        VisualizationContract.RequireFinite(terminalVelocity, nameof(terminalVelocity));
+        VisualizationContract.RequireFinite(terminalAcceleration, nameof(terminalAcceleration));
+        CycleVersion = cycleVersion;
+        OccurredAtUtc = occurredAtUtc;
+        Status = VisualizationContract.RequireText(status, nameof(status));
+        Published = published;
+        PlanningElapsedMilliseconds = planningElapsedMilliseconds;
+        SegmentIndex = segmentIndex;
+        Direction = VisualizationContract.RequireText(direction, nameof(direction));
+        LongitudinalMode = VisualizationContract.RequireText(longitudinalMode, nameof(longitudinalMode));
+        TerminalType = VisualizationContract.RequireText(terminalType, nameof(terminalType));
+        TerminalVelocity = terminalVelocity;
+        TerminalAcceleration = terminalAcceleration;
+        FailureReason = VisualizationContract.RequireText(failureReason, nameof(failureReason));
+    }
+
+    public long CycleVersion { get; }
+    public DateTimeOffset OccurredAtUtc { get; }
+    public string Status { get; }
+    public bool Published { get; }
+    public double PlanningElapsedMilliseconds { get; }
+    public int SegmentIndex { get; }
+    public string Direction { get; }
+    public string LongitudinalMode { get; }
+    public string TerminalType { get; }
+    public double? TerminalVelocity { get; }
+    public double? TerminalAcceleration { get; }
+    public string FailureReason { get; }
+}