package com.mes.interaction.vehicle.model;
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import lombok.Data;
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import java.util.ArrayList;
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import java.util.List;
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/**
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* 车辆路径信息
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*
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* @author mes
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* @since 2025-01-XX
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*/
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@Data
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public class VehiclePath {
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/**
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* 起始位置
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*/
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private VehiclePosition startPosition;
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/**
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* 目标位置
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*/
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private VehiclePosition endPosition;
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/**
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* 路径点列表（如果路径不是直线）
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*/
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private List<VehiclePosition> waypoints;
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/**
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* 路径宽度（用于冲突检测）
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*/
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private Double pathWidth;
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public VehiclePath() {
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this.waypoints = new ArrayList<>();
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}
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public VehiclePath(VehiclePosition start, VehiclePosition end) {
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this.startPosition = start;
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this.endPosition = end;
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this.waypoints = new ArrayList<>();
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}
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/**
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* 检查路径是否与另一条路径冲突
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*/
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public boolean conflictsWith(VehiclePath other) {
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if (other == null) {
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return false;
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}
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// 简单冲突检测：检查起点和终点是否重叠
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if (startPosition != null && other.startPosition != null) {
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if (positionsOverlap(startPosition, other.startPosition)) {
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return true;
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}
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}
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if (endPosition != null && other.endPosition != null) {
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if (positionsOverlap(endPosition, other.endPosition)) {
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return true;
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}
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}
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// TODO: 更复杂的路径交叉检测
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return false;
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}
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private boolean positionsOverlap(VehiclePosition pos1, VehiclePosition pos2) {
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if (pos1 == null || pos2 == null) {
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return false;
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}
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// 如果有坐标，使用坐标判断
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if (pos1.getX() != null && pos1.getY() != null &&
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pos2.getX() != null && pos2.getY() != null) {
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double distance = pos1.distanceTo(pos2);
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double threshold = (pathWidth != null ? pathWidth : 100.0) / 2.0;
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return distance < threshold;
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}
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// 如果有位置值，使用位置值判断
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if (pos1.getPositionValue() != null && pos2.getPositionValue() != null) {
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return pos1.getPositionValue().equals(pos2.getPositionValue());
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}
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return false;
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}
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}
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