496 lines
19 KiB
C#
496 lines
19 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using Autodesk.Navisworks.Api;
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using NavisworksTransport.Core;
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namespace NavisworksTransport.Commands
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{
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/// <summary>
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/// 自动路径规划命令参数
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/// </summary>
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public class AutoPathPlanningParameters
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{
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/// <summary>
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/// 起点位置
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/// </summary>
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public Point3D StartPoint { get; set; }
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/// <summary>
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/// 终点位置
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/// </summary>
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public Point3D EndPoint { get; set; }
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/// <summary>
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/// 物体长度（米）
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/// </summary>
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public double ObjectLengthMeters { get; set; } = 1.0;
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/// <summary>
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/// 物体宽度（米）
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/// </summary>
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public double ObjectWidthMeters { get; set; } = 1.0;
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/// <summary>
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/// 物体高度（米）
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/// </summary>
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public double ObjectHeightMeters { get; set; } = 2.0;
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/// <summary>
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/// 安全边距（米）
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/// </summary>
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public double SafetyMarginMeters { get; set; } = 0.5;
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/// <summary>
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/// 网格大小（米），-1表示自动选择
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/// </summary>
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public double GridSizeMeters { get; set; } = -1;
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/// <summary>
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/// 路径名称
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/// </summary>
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public string PathName { get; set; }
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/// <summary>
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/// 是否自动绘制可视化
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/// </summary>
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public bool AutoDrawVisualization { get; set; } = true;
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/// <summary>
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/// 路径规划策略（默认为最短路径）
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/// </summary>
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public PathStrategy Strategy { get; set; } = PathStrategy.Shortest;
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/// <summary>
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/// 验证参数
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/// </summary>
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public PathPlanningResult ValidateParameters()
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{
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var errors = new List<string>();
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if (StartPoint == null)
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errors.Add("起点不能为空");
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if (EndPoint == null)
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errors.Add("终点不能为空");
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if (ObjectLengthMeters <= 0 || ObjectLengthMeters > 20)
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errors.Add("物体长度必须在0-20米之间");
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if (ObjectWidthMeters <= 0 || ObjectWidthMeters > 10)
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errors.Add("物体宽度必须在0-10米之间");
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if (ObjectHeightMeters <= 0 || ObjectHeightMeters > 10)
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errors.Add("物体高度必须在0-10米之间");
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if (SafetyMarginMeters < 0 || SafetyMarginMeters > 5)
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errors.Add("安全边距必须在0-5米之间");
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if (GridSizeMeters > 0 && (GridSizeMeters < 0.01 || GridSizeMeters > 5.0))
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errors.Add("网格精度必须在0.01-5.0米之间");
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if (string.IsNullOrWhiteSpace(PathName))
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PathName = $"自动路径_{DateTime.Now:HHmmss}";
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if (StartPoint != null && EndPoint != null)
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{
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var distance = CalculateDistance(StartPoint, EndPoint);
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if (distance < 0.1)
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errors.Add("起点和终点距离过近（小于0.1米）");
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}
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return errors.Count == 0
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? PathPlanningResult.Success("参数验证通过")
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: PathPlanningResult.ValidationFailure(string.Join("; ", errors));
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}
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/// <summary>
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/// 计算两点之间的距离
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/// </summary>
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private double CalculateDistance(Point3D p1, Point3D p2)
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{
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var dx = p1.X - p2.X;
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var dy = p1.Y - p2.Y;
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var dz = p1.Z - p2.Z;
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return Math.Sqrt(dx * dx + dy * dy + dz * dz);
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}
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}
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/// <summary>
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/// 自动路径规划命令结果
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/// </summary>
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public class AutoPathPlanningResult
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{
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/// <summary>
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/// 生成的路径
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/// </summary>
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public PathRoute GeneratedRoute { get; set; }
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/// <summary>
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/// 路径长度（米）
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/// </summary>
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public double PathLength { get; set; }
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/// <summary>
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/// 路径点数量
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/// </summary>
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public int PathPointCount { get; set; }
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/// <summary>
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/// 计算耗时（毫秒）
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/// </summary>
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public long ComputationTimeMs { get; set; }
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/// <summary>
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/// 使用的网格大小
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/// </summary>
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public double UsedGridSize { get; set; }
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/// <summary>
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/// 算法统计信息
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/// </summary>
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public string AlgorithmStatistics { get; set; }
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/// <summary>
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/// 警告信息
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/// </summary>
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public List<string> Warnings { get; set; } = new List<string>();
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}
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/// <summary>
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/// 自动路径规划命令实现
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/// 展示Command Pattern在路径规划业务中的应用
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/// </summary>
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public class AutoPathPlanningCommand : CommandBase
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{
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#region 字段和属性
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private readonly AutoPathPlanningParameters _parameters;
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private readonly PathPlanningManager _pathPlanningManager;
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private readonly UIStateManager _uiStateManager;
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/// <summary>
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/// 命令参数
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/// </summary>
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public AutoPathPlanningParameters Parameters => _parameters;
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#endregion
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#region 构造函数
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/// <summary>
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/// 初始化自动路径规划命令
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/// </summary>
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/// <param name="parameters">路径规划参数</param>
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/// <param name="pathPlanningManager">路径规划管理器</param>
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public AutoPathPlanningCommand(AutoPathPlanningParameters parameters, PathPlanningManager pathPlanningManager = null)
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: base("AutoPathPlanning", "自动路径规划", "使用A*算法自动规划最优路径")
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{
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_parameters = parameters ?? throw new ArgumentNullException(nameof(parameters));
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_pathPlanningManager = pathPlanningManager ?? throw new ArgumentNullException(nameof(pathPlanningManager));
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_uiStateManager = UIStateManager.Instance;
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LogInfo("自动路径规划命令初始化完成");
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}
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#endregion
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#region CommandBase实现
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/// <summary>
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/// 验证命令参数
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/// </summary>
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protected override PathPlanningResult ValidateParameters()
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{
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LogInfo("开始验证自动路径规划参数");
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try
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{
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// 验证基础参数
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var basicValidation = _parameters.ValidateParameters();
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if (!basicValidation.IsSuccess)
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{
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LogWarning($"基础参数验证失败: {basicValidation.ErrorMessage}");
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return basicValidation;
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}
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// 验证PathPlanningManager状态
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if (_pathPlanningManager == null)
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{
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return PathPlanningResult.ValidationFailure("路径规划管理器未初始化");
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}
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// 验证Navisworks文档状态
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var document = Application.ActiveDocument;
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if (document?.Models == null || !document.Models.Any())
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{
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return PathPlanningResult.ValidationFailure("当前没有加载的Navisworks模型");
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}
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// 基本验证：检查通道选择状态
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if (_pathPlanningManager.SelectedChannels.Count == 0)
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{
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return PathPlanningResult.ValidationFailure("没有选择可通行的通道模型，请先选择通道");
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}
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// 验证起点终点距离
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var distance = CalculateDistance(_parameters.StartPoint, _parameters.EndPoint);
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if (distance > 1000) // 距离过远可能导致计算时间过长
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{
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LogWarning($"起点和终点距离较远({distance:F2}米)，可能需要较长的计算时间");
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}
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LogInfo("参数验证通过");
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return PathPlanningResult.Success("所有参数验证通过");
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}
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catch (Exception ex)
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{
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LogError("参数验证过程中发生异常", ex);
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return PathPlanningResult.ValidationFailure($"验证过程异常: {ex.Message}");
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}
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}
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/// <summary>
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/// 执行自动路径规划的核心逻辑
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/// </summary>
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protected override async Task<PathPlanningResult> ExecuteInternalAsync(CancellationToken cancellationToken)
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{
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LogInfo("开始执行自动路径规划");
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var startTime = DateTime.UtcNow;
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try
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{
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// 第一阶段：初始化（10%）
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UpdateProgress(10, "正在初始化路径规划环境...");
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ThrowIfCancellationRequested(cancellationToken);
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// 更新UI状态为路径规划中
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await _uiStateManager.ExecuteUIUpdateAsync(() =>
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{
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LogInfo("UI状态更新：路径规划进行中");
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});
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// 第二阶段：参数准备（20%）
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UpdateProgress(20, "正在准备规划参数...");
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ThrowIfCancellationRequested(cancellationToken);
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var actualGridSize = _parameters.GridSizeMeters > 0 ? _parameters.GridSizeMeters : -1;
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LogInfo($"使用参数 - 起点: ({_parameters.StartPoint.X:F2}, {_parameters.StartPoint.Y:F2}), " +
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$"终点: ({_parameters.EndPoint.X:F2}, {_parameters.EndPoint.Y:F2}), " +
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$"物体宽度: {_parameters.ObjectWidthMeters}米, 安全边距: {_parameters.SafetyMarginMeters}米, " +
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$"网格大小: {(actualGridSize > 0 ? $"用户设置 {actualGridSize:F2}米" : "自动选择")}");
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// 第三阶段：执行路径规划（30% - 80%）
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UpdateProgress(30, "正在计算最优路径...");
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ThrowIfCancellationRequested(cancellationToken);
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PathRoute generatedRoute = null;
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// 调用PathPlanningManager的真实A*算法进行路径规划
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try
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{
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LogInfo("开始调用PathPlanningManager进行A*路径规划");
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// 创建起点和终点对象
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var startPathPoint = new PathPoint
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{
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Name = "起点",
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Position = _parameters.StartPoint,
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Type = PathPointType.StartPoint
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};
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var endPathPoint = new PathPoint
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{
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Name = "终点",
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Position = _parameters.EndPoint,
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Type = PathPointType.EndPoint
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};
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// 计算物体半径：基于长度和宽度的较大值的一半
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var objectRadius = Math.Max(_parameters.ObjectLengthMeters, _parameters.ObjectWidthMeters) / 2.0;
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LogInfo($"使用物体半径: {objectRadius}m（基于物体长度{_parameters.ObjectLengthMeters}m和宽度{_parameters.ObjectWidthMeters}m的较大值）");
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// 调用PathPlanningManager的AutoPlanPath方法执行真实的A*算法
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var pathPlanTask = _pathPlanningManager.AutoPlanPath(
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startPathPoint,
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endPathPoint,
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objectRadius,
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_parameters.SafetyMarginMeters,
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actualGridSize,
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_parameters.ObjectHeightMeters, // 使用参数中的物体高度
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_parameters.Strategy); // 使用参数中指定的路径策略
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generatedRoute = await pathPlanTask;
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if (generatedRoute == null)
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{
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throw new Exception("PathPlanningManager未能生成有效路径");
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}
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// 如果指定了路径名称，则更新路径名称
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if (!string.IsNullOrWhiteSpace(_parameters.PathName))
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{
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generatedRoute.Name = _parameters.PathName;
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}
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LogInfo($"A*算法路径规划完成: {generatedRoute.Name}，包含 {generatedRoute.Points.Count} 个点，长度 {generatedRoute.TotalLength:F2}米");
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}
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catch (Exception ex)
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{
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LogError($"调用PathPlanningManager进行A*路径规划失败: {ex.Message}", ex);
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throw;
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}
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if (generatedRoute == null)
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{
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return PathPlanningResult.Failure("路径规划失败：未能生成有效路径");
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}
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UpdateProgress(70, "路径规划完成，正在处理结果...");
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ThrowIfCancellationRequested(cancellationToken);
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// 第四阶段：设置路径名称（80%）
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if (!string.IsNullOrWhiteSpace(_parameters.PathName))
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{
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generatedRoute.Name = _parameters.PathName;
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}
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UpdateProgress(80, "正在应用路径配置...");
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LogInfo($"生成路径成功：{generatedRoute.Name}，包含 {generatedRoute.Points.Count} 个点，总长度 {generatedRoute.TotalLength:F2} 米");
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// 第五阶段：添加路径到管理器（90%）
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if (_parameters.AutoDrawVisualization)
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{
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UpdateProgress(90, "正在添加路径到管理器...");
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ThrowIfCancellationRequested(cancellationToken);
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await _uiStateManager.ExecuteUIUpdateAsync(() =>
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{
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try
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{
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_pathPlanningManager.AddRoute(generatedRoute);
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LogInfo("路径已添加到管理器");
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}
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catch (Exception ex)
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{
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LogWarning($"添加路径到管理器失败: {ex.Message}");
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}
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});
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}
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// 完成（100%）
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UpdateProgress(100, "自动路径规划完成");
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var elapsedMs = (DateTime.UtcNow - startTime).TotalMilliseconds;
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LogInfo($"自动路径规划执行完成，总耗时: {elapsedMs:F0}ms");
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// 创建结果对象
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var result = PathPlanningResult<AutoPathPlanningResult>.Success(
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new AutoPathPlanningResult
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{
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GeneratedRoute = generatedRoute,
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PathLength = generatedRoute.TotalLength,
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PathPointCount = generatedRoute.Points.Count,
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ComputationTimeMs = (long)elapsedMs,
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UsedGridSize = actualGridSize > 0 ? actualGridSize : 0.5, // 实际使用的网格大小
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AlgorithmStatistics = $"A*算法路径规划完成，生成{generatedRoute.Points.Count}个路径点"
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},
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$"自动路径规划成功完成：{generatedRoute.Name}"
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);
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result.ElapsedMilliseconds = (long)elapsedMs;
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return result;
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}
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catch (OperationCanceledException)
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{
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LogInfo("自动路径规划被用户取消");
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throw; // 让基类处理取消异常
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}
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catch (Exception ex)
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{
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var elapsedMs = (DateTime.UtcNow - startTime).TotalMilliseconds;
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LogError($"自动路径规划执行失败，已耗时: {elapsedMs:F0}ms", ex);
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// 尝试恢复UI状态
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try
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{
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await _uiStateManager.ExecuteUIUpdateAsync(() =>
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{
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LogInfo("尝试恢复UI状态");
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});
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}
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catch (Exception uiEx)
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{
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LogError("UI状态恢复失败", uiEx);
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}
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return PathPlanningResult.Failure($"自动路径规划失败: {ex.Message}", ex);
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}
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}
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#endregion
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#region 私有辅助方法
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/// <summary>
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/// 计算两点之间的距离
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/// </summary>
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private double CalculateDistance(Point3D p1, Point3D p2)
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{
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var dx = p1.X - p2.X;
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var dy = p1.Y - p2.Y;
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var dz = p1.Z - p2.Z;
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return Math.Sqrt(dx * dx + dy * dy + dz * dz);
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}
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#endregion
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#region 公共方法
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/// <summary>
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/// 创建自动路径规划命令的快捷方法
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/// </summary>
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/// <param name="startPoint">起点</param>
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/// <param name="endPoint">终点</param>
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/// <param name="objectSize">物体尺寸（应用于长度和宽度）</param>
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/// <param name="pathName">路径名称</param>
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/// <param name="objectHeight">物体高度（可选，默认2.0米）</param>
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/// <param name="strategy">路径策略（可选，默认最短路径）</param>
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/// <returns>自动路径规划命令实例</returns>
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public static AutoPathPlanningCommand CreateQuick(Point3D startPoint, Point3D endPoint,
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double objectSize = 1.0, string pathName = null, double objectHeight = 2.0, PathStrategy strategy = PathStrategy.Shortest)
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{
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var parameters = new AutoPathPlanningParameters
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{
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StartPoint = startPoint,
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EndPoint = endPoint,
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ObjectLengthMeters = objectSize,
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ObjectWidthMeters = objectSize,
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ObjectHeightMeters = objectHeight,
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SafetyMarginMeters = 0.5,
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GridSizeMeters = -1, // 自动选择
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PathName = pathName,
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AutoDrawVisualization = true,
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Strategy = strategy
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};
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return new AutoPathPlanningCommand(parameters);
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}
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/// <summary>
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/// 获取命令执行摘要信息
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/// </summary>
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/// <returns>命令信息摘要</returns>
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public string GetExecutionSummary()
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{
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return $"自动路径规划命令 - 起点:({_parameters.StartPoint?.X:F1}, {_parameters.StartPoint?.Y:F1}), " +
|
||
$"终点:({_parameters.EndPoint?.X:F1}, {_parameters.EndPoint?.Y:F1}), " +
|
||
$"物体尺寸:长{_parameters.ObjectLengthMeters}×宽{_parameters.ObjectWidthMeters}×高{_parameters.ObjectHeightMeters}米, " +
|
||
$"状态:{Status}";
|
||
}
|
||
|
||
#endregion
|
||
}
|
||
} |