上传文件至 include/dispatch

include/dispatch/agv_manager_standalone.h

@@ -0,0 +1,121 @@
+#ifndef AGV_MANAGER_STANDALONE_H
+#define AGV_MANAGER_STANDALONE_H
+
+#include "graph_map.h"
+#include <string>
+#include <vector>
+#include <unordered_map>
+#include <memory>
+#include <mutex>
+#include <atomic>
+#include <queue>
+#include <chrono>
+#include <functional>
+
+/**
+ * @brief AGV状态枚举
+ */
+enum class AGVState {
+    IDLE,           // 空闲
+    ASSIGNED,       // 已分配任务
+    PLANNING,       // 路径规划中
+    EXECUTING,      // 执行任务中
+    WAITING,        // 等待资源
+    ERROR           // 错误状态
+};
+
+/**
+ * @brief 任务结构
+ */
+struct Task {
+    int id;
+    int priority;
+    int start_point_id;
+    int end_point_id;
+    std::string description;
+
+    Task(int task_id, int prio, int start, int end, const std::string& desc)
+        : id(task_id), priority(prio), start_point_id(start), end_point_id(end), description(desc) {}
+};
+
+/**
+ * @brief AGV小车结构
+ */
+struct AGV {
+    int id;
+    std::string name;
+    AGVState state;
+    Point* current_position;
+    double battery_level;       // 电量百分比
+    double max_velocity;        // 最大速度
+    Task* current_task;         // 当前任务
+    std::vector<Path*> planned_path;  // 规划的路径
+    size_t path_index;          // 当前路径索引
+
+    AGV(int agv_id, const std::string& agv_name, int start_point_id, Point* pos)
+        : id(agv_id), name(agv_name), state(AGVState::IDLE), current_position(pos),
+          battery_level(100.0), max_velocity(2.0), current_task(nullptr), path_index(0) {}
+};
+
+/**
+ * @brief AGV管理器
+ */
+class AGVManager {
+private:
+    GraphMap* graph_map_;
+    std::unordered_map<int, std::unique_ptr<AGV>> agvs_;
+    std::priority_queue<Task*, std::vector<Task*>, std::function<bool(Task*, Task*)>> task_queue_;
+    mutable std::mutex agv_mutex_;
+    mutable std::mutex task_mutex_;
+    std::atomic<int> next_task_id_{1};
+
+public:
+    explicit AGVManager(GraphMap* map);
+    ~AGVManager() = default;
+
+    // AGV管理
+    AGV* addAGV(int id, const std::string& name, int start_point_id);
+    AGV* getAGV(int id);
+    std::vector<AGV*> getAllAGVs();
+    std::vector<AGV*> getIdleAGVs();
+
+    // 任务管理
+    int addTask(int priority, int start_point_id, int end_point_id, const std::string& description = "");
+    bool assignTask(AGV* agv, Task* task);
+    int assignTasks();
+    void completeTask(AGV* agv, bool success = true);
+
+    // 路径规划
+    bool planPath(AGV* agv, Task* task);
+
+    // 状态查询
+    size_t getAGVCount() const;
+    size_t getTaskQueueSize() const;
+    std::vector<Task*> getPendingTasks();
+
+    // 事件回调
+    void setTaskCompleteCallback(std::function<void(const Task&, int)> callback) {
+        task_complete_callback_ = callback;
+    }
+
+    // 统计信息
+    struct Statistics {
+        int total_agvs;
+        int idle_agvs;
+        int busy_agvs;
+        int pending_tasks;
+        double average_battery_level;
+    };
+
+    Statistics getStatistics() const;
+
+private:
+    std::function<void(const Task&, int)> task_complete_callback_;
+
+    void initializeTaskQueue();
+    bool isValidTask(const Task* task) const;
+    bool canAssignTask(const AGV* agv, const Task* task) const;
+    double calculateDistance(AGV* agv, const Task* task) const;
+};
+
+#endif // AGV_MANAGER_STANDALONE_H