59 lines
2.3 KiB
C#
59 lines
2.3 KiB
C#
using Flyshot.Core.Domain;
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using Flyshot.Core.Planning;
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using Flyshot.Core.Triggering;
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namespace Flyshot.ControllerClientCompat;
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/// <summary>
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/// 表示兼容层执行轨迹前生成的完整规划结果包。
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/// </summary>
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public sealed class PlannedExecutionBundle
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{
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/// <summary>
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/// 初始化一份执行规划结果包。
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/// </summary>
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/// <param name="plannedTrajectory">规划后的原始连续轨迹。</param>
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/// <param name="shotTimeline">飞拍触发时间轴。</param>
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/// <param name="result">对运行时和监控层暴露的规划结果。</param>
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/// <param name="preparedExecution">飞拍链路预先准备好的最终发送队列。</param>
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/// <param name="executionTrajectory">与运行时结果同口径的连续执行轨迹；为空时复用 plannedTrajectory。</param>
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public PlannedExecutionBundle(
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PlannedTrajectory plannedTrajectory,
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ShotTimeline shotTimeline,
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TrajectoryResult result,
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FlyshotPreparedExecution? preparedExecution = null,
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PlannedTrajectory? executionTrajectory = null)
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{
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PlannedTrajectory = plannedTrajectory ?? throw new ArgumentNullException(nameof(plannedTrajectory));
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ShotTimeline = shotTimeline ?? throw new ArgumentNullException(nameof(shotTimeline));
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Result = result ?? throw new ArgumentNullException(nameof(result));
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PreparedExecution = preparedExecution;
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ExecutionTrajectory = executionTrajectory ?? plannedTrajectory;
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}
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/// <summary>
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/// 获取规划后的原始连续轨迹。
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/// </summary>
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public PlannedTrajectory PlannedTrajectory { get; }
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/// <summary>
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/// 获取与运行时结果同口径的连续执行轨迹，用于构建最终 8ms 发送队列。
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/// </summary>
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public PlannedTrajectory ExecutionTrajectory { get; }
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/// <summary>
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/// 获取飞拍触发时间轴。
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/// </summary>
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public ShotTimeline ShotTimeline { get; }
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/// <summary>
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/// 获取运行时可消费的规划结果。
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/// </summary>
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public TrajectoryResult Result { get; }
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/// <summary>
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/// 获取飞拍链路预先准备好的最终发送队列；普通轨迹与 move_joint 为 null。
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/// </summary>
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public FlyshotPreparedExecution? PreparedExecution { get; }
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}
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