RCS-3000/include/dispatch/resource_manager.h

#ifndef RESOURCE_MANAGER_H
#define RESOURCE_MANAGER_H

#include "graph_map.h"
#include <unordered_map>
#include <unordered_set>
#include <queue>
#include <mutex>
#include <condition_variable>
#include <thread>
#include <atomic>

/**
 * @brief 资源请求状态
 */
enum class ResourceRequestStatus {
    GRANTED,        // 已授予
    PENDING,        // 等待中
    TIMEOUT,        // 超时
    CANCELLED       // 已取消
};

/**
 * @brief 资源请求
 */
struct ResourceRequest {
    int id;
    AGV* agv;
    Path* path;
    uint64_t timestamp;
    ResourceRequestStatus status;
    std::condition_variable* condition;  // 用于通知

    ResourceRequest(int id_, AGV* agv_, Path* path_)
        : id(id_), agv(agv_), path(path_), timestamp(getCurrentTimestamp()),
          status(ResourceRequestStatus::PENDING), condition(nullptr) {}

    bool operator<(const ResourceRequest& other) const {
        // 可以根据优先级或其他规则排序
        return timestamp < other.timestamp;  // FIFO
    }

private:
    static uint64_t getCurrentTimestamp() {
        return std::chrono::duration_cast<std::chrono::milliseconds>(
            std::chrono::steady_clock::now().time_since_epoch()).count();
    }
};

/**
 * @brief 资源管理器
 * 负责管理路径和节点的占用
 */
class ResourceManager {
private:
    // 资源占用状态
    std::unordered_map<Path*, AGV*> path_occupancy_;
    std::unordered_map<Point*, AGV*> point_occupancy_;

    // 等待队列（路径和节点）
    std::unordered_map<Path*, std::queue<ResourceRequest*>> path_wait_queue_;
    std::unordered_map<Point*, std::queue<ResourceRequest*>> point_wait_queue_;

    // 互斥锁
    mutable std::mutex resource_mutex_;

    // 请求ID生成器
    std::atomic<int> next_request_id_{1};

    // 统计信息
    std::atomic<uint64_t> total_requests_{0};
    std::atomic<uint64_t> granted_requests_{0};
    std::atomic<uint64_t> wait_count_{0};

public:
    ResourceManager() = default;
    ~ResourceManager() = default;

    /**
     * @brief 请求占用路径
     * @param agv 请求的AGV
     * @param path 要占用的路径
     * @param timeout_ms 超时时间（毫秒），0表示无限等待
     * @return 请求状态
     */
    ResourceRequestStatus requestPath(AGV* agv, Path* path, int timeout_ms = 0);

    /**
     * @brief 释放路径资源
     * @param agv 释放的AGV
     * @param path 释放的路径
     */
    void releasePath(AGV* agv, Path* path);

    /**
     * @brief 检查路径是否可用
     * @param path 要检查的路径
     * @param requester 请求的AGV（如果是自己占用也算可用）
     * @return 是否可用
     */
    bool isPathAvailable(Path* path, AGV* requester = nullptr);

    /**
     * @brief 请求占用节点
     * @param agv 请求的AGV
     * @param point 要占用的节点
     * @param timeout_ms 超时时间
     * @return 请求状态
     */
    ResourceRequestStatus requestPoint(AGV* agv, Point* point, int timeout_ms = 0);

    /**
     * @brief 释放节点资源
     * @param agv 释放的AGV
     * @param point 释放的节点
     */
    void releasePoint(AGV* agv, Point* point);

    /**
     * @brief 检查节点是否可用
     * @param point 要检查的节点
     * @param requester 请求的AGV
     * @return 是否可用
     */
    bool isPointAvailable(Point* point, AGV* requester = nullptr);

    /**
     * @brief 获取占用路径的AGV
     * @param path 路径
     * @return 占用的AGV，如果没有则返回nullptr
     */
    AGV* getPathOccupant(Path* path) const;

    /**
     * @brief 获取占用节点的AGV
     * @param point 节点
     * @return 占用的AGV，如果没有则返回nullptr
     */
    AGV* getPointOccupant(Point* point) const;

    /**
     * @brief 强制释放AGV占用的所有资源（用于错误处理）
     * @param agv 要释放资源的AGV
     */
    void releaseAllResources(AGV* agv);

    /**
     * @brief 获取统计信息
     */
    void getStatistics(uint64_t& total_requests, uint64_t& granted_requests,
                      uint64_t& wait_count) const;

    /**
     * @brief 打印资源占用状态
     */
    void printResourceStatus() const;

    /**
     * @brief 检测死锁
     * @return 发现的死锁数量
     */
    int detectDeadlocks();

private:
    /**
     * @brief 处理等待队列
     * 当资源释放时，检查等待队列并分配给下一个请求
     */
    void processWaitQueue(Path* path);
    void processWaitQueue(Point* point);

    /**
     * @brief 取消请求
     */
    void cancelRequest(ResourceRequest* request);

    /**
     * @brief 检查循环等待（死锁检测）
     */
    bool hasCircularWait(AGV* agv, std::unordered_set<AGV*>& visited,
                         std::unordered_set<Path*>& path_set);

    /**
     * @brief 记录统计信息
     */
    void recordRequest(bool granted);
};

/**
 * @brief 资源自动管理器
 * 使用RAII模式自动管理资源
 */
class ScopedPathResource {
private:
    ResourceManager* manager_;
    AGV* agv_;
    Path* path_;
    bool acquired_;

public:
    ScopedPathResource(ResourceManager* manager, AGV* agv, Path* path)
        : manager_(manager), agv_(agv), path_(path), acquired_(false) {
        if (manager_ && agv_ && path_) {
            auto status = manager_->requestPath(agv_, path_);
            acquired_ = (status == ResourceRequestStatus::GRANTED);
        }
    }

    ~ScopedPathResource() {
        if (acquired_ && manager_ && agv_ && path_) {
            manager_->releasePath(agv_, path_);
        }
    }

    bool isAcquired() const { return acquired_; }

    // 禁止拷贝
    ScopedPathResource(const ScopedPathResource&) = delete;
    ScopedPathResource& operator=(const ScopedPathResource&) = delete;
};

/**
 * @brief 节点资源自动管理器
 */
class ScopedPointResource {
private:
    ResourceManager* manager_;
    AGV* agv_;
    Point* point_;
    bool acquired_;

public:
    ScopedPointResource(ResourceManager* manager, AGV* agv, Point* point)
        : manager_(manager), agv_(agv), point_(point), acquired_(false) {
        if (manager_ && agv_ && point_) {
            auto status = manager_->requestPoint(agv_, point_);
            acquired_ = (status == ResourceRequestStatus::GRANTED);
        }
    }

    ~ScopedPointResource() {
        if (acquired_ && manager_ && agv_ && point_) {
            manager_->releasePoint(agv_, point_);
        }
    }

    bool isAcquired() const { return acquired_; }

    // 禁止拷贝
    ScopedPointResource(const ScopedPointResource&) = delete;
    ScopedPointResource& operator=(const ScopedPointResource&) = delete;
};

#endif // RESOURCE_MANAGER_H