171 lines
3.9 KiB
C++
171 lines
3.9 KiB
C++
#ifndef AGV_MANAGER_BASE_H
|
||
#define AGV_MANAGER_BASE_H
|
||
|
||
#include "graph_map.h"
|
||
#include <unordered_map>
|
||
#include <vector>
|
||
#include <memory>
|
||
|
||
/**
|
||
* @brief AGV状态枚举
|
||
*/
|
||
enum class AGVState {
|
||
IDLE, // 空闲
|
||
ASSIGNED, // 已分配任务
|
||
MOVING, // 移动中
|
||
LOADING, // 装载中
|
||
UNLOADING, // 卸载中
|
||
CHARGING, // 充电中
|
||
ERROR, // 错误状态
|
||
MAINTENANCE // 维护中
|
||
};
|
||
|
||
/**
|
||
* @brief 任务状态枚举
|
||
*/
|
||
enum class TaskStatus {
|
||
PENDING, // 待处理
|
||
ASSIGNED, // 已分配
|
||
IN_PROGRESS, // 执行中
|
||
COMPLETED, // 已完成
|
||
FAILED // 失败
|
||
};
|
||
|
||
// 前向声明以解决循环依赖
|
||
struct Task;
|
||
struct AGV;
|
||
|
||
/**
|
||
* @brief AGV小车结构
|
||
*/
|
||
struct AGV {
|
||
int id;
|
||
std::string name;
|
||
AGVState state;
|
||
Point* current_position;
|
||
double x, y; // 坐标位置
|
||
double battery_level; // 电量百分比
|
||
double max_speed; // 最大速度
|
||
Task* current_task; // 当前任务
|
||
|
||
AGV()
|
||
: id(0), name(""), state(AGVState::IDLE), current_position(nullptr),
|
||
x(0), y(0), battery_level(100.0), max_speed(2.0), current_task(nullptr) {}
|
||
};
|
||
|
||
/**
|
||
* @brief 任务结构
|
||
*/
|
||
struct Task {
|
||
int id;
|
||
int priority;
|
||
Point* start_point;
|
||
Point* end_point;
|
||
std::string description;
|
||
TaskStatus status;
|
||
AGV* assigned_agv;
|
||
|
||
Task(int task_id, int prio, Point* start, Point* end, const std::string& desc)
|
||
: id(task_id), priority(prio), start_point(start), end_point(end),
|
||
description(desc), status(TaskStatus::PENDING), assigned_agv(nullptr) {}
|
||
};
|
||
|
||
/**
|
||
* @brief AGV基础管理器
|
||
* 提供AGV管理的基本功能，供EnhancedAGVManager继承
|
||
*/
|
||
class AGVManagerBase {
|
||
protected:
|
||
GraphMap* map_;
|
||
std::unordered_map<int, AGV*> agvs_;
|
||
std::vector<std::unique_ptr<Task>> task_queue_;
|
||
std::unordered_map<int, std::vector<Path*>> agv_paths_;
|
||
|
||
public:
|
||
AGVManagerBase(GraphMap* map) : map_(map) {}
|
||
virtual ~AGVManagerBase() = default;
|
||
|
||
/**
|
||
* @brief 添加AGV到管理器
|
||
*/
|
||
virtual void addAGV(int id, double x, double y, const std::string& name = "");
|
||
|
||
/**
|
||
* @brief 移除AGV
|
||
*/
|
||
virtual void removeAGV(int id);
|
||
|
||
/**
|
||
* @brief 获取AGV
|
||
*/
|
||
AGV* getAGV(int id);
|
||
|
||
/**
|
||
* @brief 获取所有AGV
|
||
*/
|
||
std::vector<AGV*> getAllAGVs();
|
||
|
||
/**
|
||
* @brief 获取空闲AGV列表
|
||
*/
|
||
std::vector<AGV*> getIdleAGVs();
|
||
|
||
/**
|
||
* @brief 获取AGV数量
|
||
*/
|
||
size_t getAGVCount() const { return agvs_.size(); }
|
||
|
||
/**
|
||
* @brief 添加任务到队列
|
||
*/
|
||
virtual void addTask(int task_id, int start_point_id, int end_point_id,
|
||
const std::string& description, int priority = 1);
|
||
|
||
/**
|
||
* @brief 获取待处理任务
|
||
*/
|
||
std::vector<Task*> getPendingTasks();
|
||
|
||
/**
|
||
* @brief 为AGV设置路径
|
||
*/
|
||
void setAGVPath(int agv_id, const std::vector<Path*>& path);
|
||
|
||
/**
|
||
* @brief 获取AGV的当前路径
|
||
*/
|
||
std::vector<Path*> getAGVPath(int agv_id);
|
||
|
||
/**
|
||
* @brief 清除AGV路径
|
||
*/
|
||
void clearAGVPath(int agv_id);
|
||
|
||
/**
|
||
* @brief 任务分配（基类实现简单的FIFO分配）
|
||
*/
|
||
virtual int assignTasks();
|
||
|
||
/**
|
||
* @brief 打印AGV状态
|
||
*/
|
||
virtual void printAGVStatus();
|
||
|
||
/**
|
||
* @brief 打印任务队列状态
|
||
*/
|
||
virtual void printTaskQueue();
|
||
|
||
protected:
|
||
/**
|
||
* @brief 寻找路径（使用GraphMap的A*算法）
|
||
*/
|
||
std::vector<Path*> findPath(AGV* agv, Task* task);
|
||
|
||
/**
|
||
* @brief 计算两点间距离
|
||
*/
|
||
double calculateDistance(AGV* agv, Task* task);
|
||
};
|
||
|
||
#endif // AGV_MANAGER_BASE_H
|