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 +1,107 @@
+using System;
+using System.Collections.Generic;
+
+namespace TrajectoryPlanningVisualization;
+
+public sealed class VisualizationPolyline
+{
+    public VisualizationPolyline(string id, string legendChinese, string kind, VisualizationLineStyle lineStyle,
+        IReadOnlyList<VisualizationPoint> points)
+    {
+        Id = VisualizationContract.RequireText(id, nameof(id));
+        LegendChinese = VisualizationContract.RequireText(legendChinese, nameof(legendChinese));
+        Kind = VisualizationContract.RequireText(kind, nameof(kind));
+        LineStyle = lineStyle;
+        Points = VisualizationContract.Copy(points, nameof(points));
+    }
+
+    public string Id { get; }
+    public string LegendChinese { get; }
+    public string Kind { get; }
+    public VisualizationLineStyle LineStyle { get; }
+    public IReadOnlyList<VisualizationPoint> Points { get; }
+}
+
+public sealed class VisualizationMarker
+{
+    public VisualizationMarker(string id, string kind, string labelChinese, VisualizationPoint position)
+    {
+        Id = VisualizationContract.RequireText(id, nameof(id));
+        Kind = VisualizationContract.RequireText(kind, nameof(kind));
+        LabelChinese = VisualizationContract.RequireText(labelChinese, nameof(labelChinese));
+        Position = position ?? throw new ArgumentNullException(nameof(position));
+    }
+
+    public string Id { get; }
+    public string Kind { get; }
+    public string LabelChinese { get; }
+    public VisualizationPoint Position { get; }
+}
+
+public sealed class VisualizationDirectionSegment
+{
+    public VisualizationDirectionSegment(int segmentIndex, string direction, bool startsAtGearSwitch,
+        bool endsAtGearSwitch, IReadOnlyList<VisualizationPoint> points)
+    {
+        SegmentIndex = segmentIndex;
+        Direction = VisualizationContract.RequireText(direction, nameof(direction));
+        StartsAtGearSwitch = startsAtGearSwitch;
+        EndsAtGearSwitch = endsAtGearSwitch;
+        Points = VisualizationContract.Copy(points, nameof(points));
+    }
+
+    public int SegmentIndex { get; }
+    public string Direction { get; }
+    public bool StartsAtGearSwitch { get; }
+    public bool EndsAtGearSwitch { get; }
+    public IReadOnlyList<VisualizationPoint> Points { get; }
+}
+
+public sealed class VisualizationOccupancyGrid
+{
+    public VisualizationOccupancyGrid(VisualizationBounds bounds, double resolutionMeters, int rows, int columns,
+        byte[] occupancyBits)
+    {
+        Bounds = bounds ?? throw new ArgumentNullException(nameof(bounds));
+        VisualizationContract.RequireFinite(resolutionMeters, nameof(resolutionMeters));
+        if (resolutionMeters <= 0d)
+        {
+            throw new ArgumentOutOfRangeException(nameof(resolutionMeters));
+        }
+
+        if (rows <= 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(rows));
+        }
+
+        if (columns <= 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(columns));
+        }
+
+        if (occupancyBits == null)
+        {
+            throw new ArgumentNullException(nameof(occupancyBits));
+        }
+
+        long cellCount = (long)rows * columns;
+        long requiredByteCount = (cellCount + 7L) / 8L;
+        if (occupancyBits.Length != requiredByteCount)
+        {
+            throw new ArgumentException("Occupancy bit count does not match the grid dimensions.", nameof(occupancyBits));
+        }
+
+        var bitsCopy = new byte[occupancyBits.Length];
+        Buffer.BlockCopy(occupancyBits, 0, bitsCopy, 0, bitsCopy.Length);
+        ResolutionMeters = resolutionMeters;
+        Rows = rows;
+        Columns = columns;
+        OccupancyBitsBase64 = Convert.ToBase64String(bitsCopy);
+    }
+
+    public VisualizationBounds Bounds { get; }
+    public double ResolutionMeters { get; }
+    public int Rows { get; }
+    public int Columns { get; }
+    public string OccupancyBitsBase64 { get; }
+}