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