ParkingRobot/Shared/Fleet/FleetProtocol.cs

// 四舵轮共同搬运协议

namespace MyParking.Shared
{
    /// <summary>定义车队无线协议的公共常量。</summary>
    public static class FleetProtocol
    {
        public const int CurrentVersion = 1;
        public const int BroadcastVehicleId = 0;
        public const long NoActivePlanId = 0;
        public const long NoAppliedCommandSequence = 0;
    }

    /// <summary>表示成员车本地的车队任务执行阶段。</summary>
    public enum FleetMemberState
    {
        Idle = 0,
        Preparing = 1,
        Ready = 2,
        Active = 3,
        Faulted = 4
    }

    /// <summary>表示主车要求成员执行的动作。</summary>
    public enum FleetCommandKind
    {
        PrepareRolling = 1,
        PrepareSpin = 2,
        Activate = 3,
        Motion = 4,
        Stop = 5
    }

    /// <summary>成员车周期上报给主车的状态快照，同时承担心跳和命令确认。</summary>
    public readonly struct FleetMemberReport
    {
        public FleetMemberReport(
            int vehicleId,
            long planId,
            long sequenceNumber,
            double sampleTimestampSeconds,
            Pose2D poseInCommonWorld,
            Twist2D twistAtVehicleOriginInCommonWorld,
            bool isStateAvailable,
            bool hasValidVelocityEstimate,
            FleetMemberState state,
            long lastAppliedCommandSequence,
            int failureCode = 0)
        {
            VehicleId = vehicleId;
            PlanId = planId;
            SequenceNumber = sequenceNumber;
            SampleTimestampSeconds = sampleTimestampSeconds;
            PoseInCommonWorld = poseInCommonWorld;
            TwistAtVehicleOriginInCommonWorld =
                twistAtVehicleOriginInCommonWorld;
            IsStateAvailable = isStateAvailable;
            HasValidVelocityEstimate =
                hasValidVelocityEstimate;
            State = state;
            LastAppliedCommandSequence =
                lastAppliedCommandSequence;
            FailureCode = failureCode;
        }

        public int VehicleId { get; }

        // 零表示车辆当前不属于活动任务。
        public long PlanId { get; }

        // 本车上报流中单调递增，用于丢弃乱序旧报文。
        public long SequenceNumber { get; }

        // 本车单调时钟的采样时刻，通信层负责换算到主车时间轴。
        public double SampleTimestampSeconds { get; }

        // 位姿必须已经转换到所有成员约定一致的公共世界坐标系。
        public Pose2D PoseInCommonWorld { get; }

        public Twist2D TwistAtVehicleOriginInCommonWorld { get; }

        public bool IsStateAvailable { get; }

        public bool HasValidVelocityEstimate { get; }

        public FleetMemberState State { get; }

        // 零表示尚未执行任何主车命令。
        public long LastAppliedCommandSequence { get; }

        // 零表示没有结构化故障码。
        public int FailureCode { get; }
    }

    /// <summary>主车向指定成员或全队下发的一条车队任务命令。</summary>
    public readonly struct FleetCommand
    {
        public FleetCommand(
            long planId,
            long sequenceNumber,
            int targetVehicleId,
            FleetCommandKind kind,
            double motionDirectionInBodyRadians,
            Twist2D twistInVehicleBody,
            double validForSeconds,
            int reasonCode = 0)
        {
            PlanId = planId;
            SequenceNumber = sequenceNumber;
            TargetVehicleId = targetVehicleId;
            Kind = kind;
            MotionDirectionInBodyRadians =
                motionDirectionInBodyRadians;
            TwistInVehicleBody = twistInVehicleBody;
            ValidForSeconds = validForSeconds;
            ReasonCode = reasonCode;
        }

        public long PlanId { get; }

        // 主车命令流中单调递增，成员据此拒绝乱序旧命令。
        public long SequenceNumber { get; }

        // 零表示广播，正数表示指定成员车。
        public int TargetVehicleId { get; }

        public FleetCommandKind Kind { get; }

        // 仅PrepareRolling使用，单位rad，车体系X轴到运动X轴逆时针为正。
        public double MotionDirectionInBodyRadians { get; }

        // 仅Motion使用，采用目标成员车体系。
        public Twist2D TwistInVehicleBody { get; }

        // 从成员本机收到消息时开始计时，超时后必须停车。
        public double ValidForSeconds { get; }

        // 零表示没有结构化停止或故障原因。
        public int ReasonCode { get; }
    }
}