yunxiao.zhu
9c56ee825e
* 新增 Rust 原生 ICSP 规划库 (Cargo 项目, CubicSpline 算法, FFI 接口) * 新增 Flyshot.Native.Planning C# 互操作项目 (P/Invoke 封装) * 更新 ControllerClientCompat 适配新的规划接口 * 添加构建脚本 (Copy-NativePlanningArtifacts.ps1) * 新增互操作测试及一致性对比测试 * 更新解决方案文件和设计文档
92 lines
2.5 KiB
C#
92 lines
2.5 KiB
C#
using System.Text.Json.Serialization;
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namespace Flyshot.Core.Domain;
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/// <summary>
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/// Represents a request to plan or execute a flyshot trajectory.
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/// </summary>
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public sealed class TrajectoryRequest
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{
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/// <summary>
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/// Initializes a trajectory request with compatibility-oriented defaults.
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/// </summary>
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public TrajectoryRequest(
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RobotProfile robot,
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FlyshotProgram program,
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PlanningMethod method,
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bool moveToStart = false,
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bool saveTrajectoryArtifacts = false,
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bool useCache = false)
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{
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Robot = robot ?? throw new ArgumentNullException(nameof(robot));
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Program = program ?? throw new ArgumentNullException(nameof(program));
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Method = method;
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MoveToStart = moveToStart;
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SaveTrajectoryArtifacts = saveTrajectoryArtifacts;
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UseCache = useCache;
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}
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/// <summary>
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/// Gets the robot profile that constrains planning and runtime compatibility.
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/// </summary>
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[JsonPropertyName("robot")]
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public RobotProfile Robot { get; }
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/// <summary>
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/// Gets the uploaded program to be planned or executed.
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/// </summary>
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[JsonPropertyName("program")]
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public FlyshotProgram Program { get; }
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/// <summary>
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/// Gets the selected planning method.
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/// </summary>
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[JsonPropertyName("method")]
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public PlanningMethod Method { get; }
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/// <summary>
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/// Gets a value indicating whether the robot should move to the first waypoint before execution.
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/// </summary>
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[JsonPropertyName("moveToStart")]
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public bool MoveToStart { get; }
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/// <summary>
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/// Gets a value indicating whether trajectory artifacts should be exported.
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/// </summary>
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[JsonPropertyName("saveTrajectoryArtifacts")]
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public bool SaveTrajectoryArtifacts { get; }
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/// <summary>
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/// Gets a value indicating whether cached planning artifacts may be reused.
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/// </summary>
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[JsonPropertyName("useCache")]
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public bool UseCache { get; }
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}
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/// <summary>
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/// Identifies the planning mode requested by compatibility APIs.
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/// </summary>
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[JsonConverter(typeof(JsonStringEnumConverter))]
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public enum PlanningMethod
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{
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/// <summary>
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/// Uses the cubic-spline ICSP planner.
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/// </summary>
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Icsp,
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/// <summary>
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/// 使用 Rust 原生库实现的 ICSP 规划器。
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/// </summary>
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IcspRust,
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/// <summary>
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/// Uses the adaptive ICSP planner that may insert additional points.
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/// </summary>
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SelfAdaptIcsp,
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/// <summary>
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/// Uses the Double-S planner.
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/// </summary>
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Doubles
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}
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