上传文件至 include/dispatch

include/dispatch/advanced_dispatcher.h

@@ -0,0 +1,97 @@
+#ifndef ADVANCED_DISPATCHER_H
+#define ADVANCED_DISPATCHER_H
+
+#include "graph_map.h"
+#include "agv_manager_base.h"
+#include "resource_manager.h"
+#include <thread>
+#include <atomic>
+#include <chrono>
+#include <functional>
+
+/**
+ * @brief 高级调度器统计信息
+ */
+struct DispatcherStatistics {
+    uint64_t total_tasks;
+    uint64_t completed_tasks;
+    uint64_t failed_tasks;
+    uint64_t active_agvs;
+
+    DispatcherStatistics()
+        : total_tasks(0), completed_tasks(0), failed_tasks(0), active_agvs(0) {}
+};
+
+/**
+ * @brief 高级调度器 - 基于图的多AGV任务调度系统
+ */
+class AdvancedDispatcher {
+public:
+    enum class DispatcherState {
+        STOPPED,    // 停止
+        RUNNING,    // 运行中
+        PAUSED      // 暂停
+    };
+
+private:
+    // 核心组件
+    GraphMap* graph_map_;
+    ResourceManager* resource_manager_;
+    AGVManagerBase* agv_manager_;
+
+    // 调度器状态
+    std::atomic<DispatcherState> state_;
+    std::atomic<bool> should_stop_;
+
+    // 调度线程
+    std::thread dispatch_thread_;
+
+    // 调度参数
+    int dispatch_interval_ms_;        // 调度间隔（毫秒）
+
+    // 统计信息
+    DispatcherStatistics statistics_;
+
+    // 任务队列（简化实现）
+    std::vector<std::unique_ptr<Task>> task_queue_;
+    mutable std::mutex task_mutex_;
+
+    // 互斥锁
+    mutable std::mutex dispatcher_mutex_;
+
+public:
+    AdvancedDispatcher(GraphMap* map, ResourceManager* resource_manager);
+    AdvancedDispatcher(GraphMap* map, ResourceManager* resource_manager, AGVManagerBase* agv_manager);
+    ~AdvancedDispatcher();
+
+    // ==================== 系统控制 ====================
+    bool start();
+    void stop();
+    void pause();
+    void resume();
+    DispatcherState getState() const { return state_.load(); }
+
+    // ==================== 任务管理 ====================
+    bool addTask(int task_id, int start_point_id, int end_point_id,
+                const std::string& description, int priority = 1);
+    bool cancelTask(int task_id);
+
+    // ==================== 任务执行反馈 ====================
+    void onTaskStarted(int task_id, int agv_id);
+    void onTaskCompleted(int task_id, int agv_id, bool success);
+
+    // ==================== 配置和监控 ====================
+    void setDispatchInterval(int interval_ms) { dispatch_interval_ms_ = interval_ms; }
+    DispatcherStatistics getStatistics();
+
+    void printSystemStatus() const;
+
+private:
+    // ==================== 内部方法 ====================
+    void dispatchLoop();
+    void performDispatch();
+    bool assignTaskToAGV(Task* task, AGV* agv);
+    void updateStatistics();
+};
+
+#endif // ADVANCED_DISPATCHER_H