package com.algo.model;
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import java.util.List;
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import java.util.Objects;
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/**
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* AGV状态信息
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* 包含AGV的完整状态数据，包括剩余路径和CTU物理参数
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*/
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public class AGVStatus {
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/**
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* AGV编号
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*/
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private String agvId;
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/**
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* AGV状态
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*/
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private int status;
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/**
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* AGV当前位置
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*/
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private String position;
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/**
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* 空背篓数量
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*/
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private String empty;
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/**
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* AGV方向角度
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*/
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private String direction;
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/**
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* 电压电量值
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*/
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private int vol;
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/**
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* 异常码，0表示正常
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*/
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private int error;
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/**
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* 背篓数据列表
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*/
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private List<BackpackData> backpack;
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/**
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* 低电量设定阈值，低于该值可以去自动充电也可以继续做任务
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*/
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private int autoCharge;
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/**
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* 最低电量，电量低于该值必须去充电
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*/
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private int lowVol;
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/**
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* CTU剩余未完成的路径，格式与输出路径相同
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*/
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private PlannedPath remainingPath;
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/**
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* CTU物理参数配置
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*/
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private CTUPhysicalConfig physicalConfig;
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/**
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* 当前执行路径中的位置索引（从剩余路径开始计算）
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*/
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private int currentPathIndex;
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/**
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* 预计到达下一个路径点的时间戳（毫秒）
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*/
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private long nextPointArrivalTime;
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// 构造函数
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public AGVStatus() {
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this.physicalConfig = new CTUPhysicalConfig(); // 使用默认配置
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this.currentPathIndex = 0;
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this.nextPointArrivalTime = System.currentTimeMillis();
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}
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public AGVStatus(String agvId, int status, String position, String empty,
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String direction, int vol, int error, List<BackpackData> backpack,
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int autoCharge, int lowVol) {
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this.agvId = agvId;
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this.status = status;
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this.position = position;
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this.empty = empty;
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this.direction = direction;
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this.vol = vol;
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this.error = error;
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this.backpack = backpack;
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this.autoCharge = autoCharge;
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this.lowVol = lowVol;
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this.physicalConfig = new CTUPhysicalConfig(); // 使用默认配置
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this.currentPathIndex = 0;
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this.nextPointArrivalTime = System.currentTimeMillis();
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}
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// 原有的Getter和Setter方法
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public String getAgvId() {
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return agvId;
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}
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public void setAgvId(String agvId) {
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this.agvId = agvId;
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}
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public int getStatus() {
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return status;
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}
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public void setStatus(int status) {
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this.status = status;
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}
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public String getPosition() {
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return position;
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}
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public void setPosition(String position) {
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this.position = position;
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}
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public String getEmpty() {
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return empty;
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}
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public void setEmpty(String empty) {
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this.empty = empty;
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}
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public String getDirection() {
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return direction;
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}
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public void setDirection(String direction) {
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this.direction = direction;
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}
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public int getVol() {
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return vol;
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}
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public void setVol(int vol) {
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this.vol = vol;
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}
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public int getError() {
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return error;
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}
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public void setError(int error) {
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this.error = error;
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}
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public List<BackpackData> getBackpack() {
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return backpack;
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}
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public void setBackpack(List<BackpackData> backpack) {
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this.backpack = backpack;
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}
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public int getAutoCharge() {
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return autoCharge;
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}
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public void setAutoCharge(int autoCharge) {
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this.autoCharge = autoCharge;
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}
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public int getLowVol() {
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return lowVol;
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}
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public void setLowVol(int lowVol) {
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this.lowVol = lowVol;
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}
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// 新增的剩余路径和物理参数相关的Getter和Setter方法
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public PlannedPath getRemainingPath() {
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return remainingPath;
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}
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public void setRemainingPath(PlannedPath remainingPath) {
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this.remainingPath = remainingPath;
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}
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public CTUPhysicalConfig getPhysicalConfig() {
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return physicalConfig;
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}
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public void setPhysicalConfig(CTUPhysicalConfig physicalConfig) {
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this.physicalConfig = physicalConfig;
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}
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public int getCurrentPathIndex() {
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return currentPathIndex;
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}
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public void setCurrentPathIndex(int currentPathIndex) {
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this.currentPathIndex = currentPathIndex;
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}
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public long getNextPointArrivalTime() {
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return nextPointArrivalTime;
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}
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public void setNextPointArrivalTime(long nextPointArrivalTime) {
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this.nextPointArrivalTime = nextPointArrivalTime;
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}
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/**
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* 检查CTU是否有剩余未完成的路径
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*
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* @return true如果有剩余路径
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*/
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public boolean hasRemainingPath() {
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return remainingPath != null &&
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remainingPath.getCodeList() != null &&
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!remainingPath.getCodeList().isEmpty() &&
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currentPathIndex < remainingPath.getCodeList().size();
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}
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/**
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* 获取剩余路径的长度（从当前位置开始）
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*
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* @return 剩余路径点数量
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*/
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public int getRemainingPathLength() {
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if (!hasRemainingPath()) {
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return 0;
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}
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return remainingPath.getCodeList().size() - currentPathIndex;
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}
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/**
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* 获取当前正在执行的路径点
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*
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* @return 当前路径点，如果没有则返回null
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*/
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public PathCode getCurrentPathCode() {
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if (!hasRemainingPath()) {
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return null;
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}
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return remainingPath.getCodeList().get(currentPathIndex);
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}
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/**
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* 获取下一个要到达的路径点
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*
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* @return 下一个路径点，如果没有则返回null
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*/
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public PathCode getNextPathCode() {
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if (!hasRemainingPath() || currentPathIndex + 1 >= remainingPath.getCodeList().size()) {
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return null;
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}
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return remainingPath.getCodeList().get(currentPathIndex + 1);
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}
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/**
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* 检查AGV是否可用（空闲且非故障状态）
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*
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* @return true如果AGV可用
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*/
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public boolean isAvailable() {
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return error == 0 && status == 0 && vol > lowVol;
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}
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/**
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* 检查CTU是否可以接受新任务（考虑剩余路径）
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*
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* @return true如果可以接受新任务
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*/
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public boolean canAcceptNewTask() {
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// 如果有剩余路径，需要等待完成后才能接受新任务
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// 除非剩余路径很短（比如只有1个点）
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if (hasRemainingPath()) {
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int remainingLength = getRemainingPathLength();
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return remainingLength <= 1; // 允许在即将完成当前路径时接受新任务
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}
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return isAvailable();
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}
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/**
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* 获取可用的背篓数量
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*
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* @return 可用背篓数量
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*/
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public int getAvailableBackpackCount() {
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if (backpack == null || backpack.isEmpty()) {
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return 0;
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}
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int count = 0;
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for (BackpackData bp : backpack) {
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if (!bp.isLoaded() && bp.getTaskId() == null) {
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count++;
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}
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}
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return count;
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}
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/**
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* 查找可用的背篓位置
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*
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* @return 可用背篓的索引，如果没有可用则返回-1
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*/
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public int findAvailableBackpackIndex() {
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if (backpack == null || backpack.isEmpty()) {
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return -1;
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}
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for (BackpackData bp : backpack) {
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if (!bp.isLoaded() && bp.getTaskId() == null) {
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return bp.getIndex();
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}
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}
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return -1;
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}
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/**
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* 检查AGV是否需要充电
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*
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* @return true如果需要充电
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*/
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public boolean needsCharging() {
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return vol <= autoCharge;
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}
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/**
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* 检查AGV是否必须充电
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*
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* @return true如果必须充电
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*/
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public boolean mustCharge() {
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return vol <= lowVol;
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}
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@Override
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public boolean equals(Object o) {
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if (this == o) return true;
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if (o == null || getClass() != o.getClass()) return false;
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AGVStatus agvStatus = (AGVStatus) o;
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return Objects.equals(agvId, agvStatus.agvId);
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}
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@Override
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public int hashCode() {
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return Objects.hash(agvId);
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}
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@Override
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public String toString() {
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return "AGVStatus{" +
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"agvId='" + agvId + '\'' +
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", status=" + status +
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", position='" + position + '\'' +
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", empty='" + empty + '\'' +
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", direction='" + direction + '\'' +
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", vol=" + vol +
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", error=" + error +
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", backpack=" + (backpack != null ? backpack.size() : 0) +
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", autoCharge=" + autoCharge +
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", lowVol=" + lowVol +
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", hasRemainingPath=" + hasRemainingPath() +
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", remainingPathLength=" + getRemainingPathLength() +
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", physicalConfig=" + physicalConfig +
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'}';
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}
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}
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