Initial commit

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/Conflict.cs

@@ -0,0 +1,60 @@
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Represents a conflict between robots
+/// </summary>
+public class Conflict
+{
+    /// <summary>
+    /// Type of conflict
+    /// </summary>
+    public ConflictType Type { get; set; }
+
+    /// <summary>
+    /// List of robot IDs involved in this conflict
+    /// </summary>
+    public List<string> InvolvedRobots { get; set; } = new();
+
+    /// <summary>
+    /// List of conflicting edge IDs
+    /// </summary>
+    public List<Guid> ConflictingEdges { get; set; } = new();
+
+    /// <summary>
+    /// List of conflicting node IDs
+    /// </summary>
+    public List<Guid> ConflictingNodes { get; set; } = new();
+
+    /// <summary>
+    /// When the conflict was detected
+    /// </summary>
+    public DateTime DetectedAt { get; set; } = DateTime.UtcNow;
+
+    /// <summary>
+    /// Severity of the conflict
+    /// </summary>
+    public ConflictSeverity Severity { get; set; }
+
+    /// <summary>
+    /// Resolution strategy for this conflict
+    /// </summary>
+    public ConflictResolution? Resolution { get; set; }
+
+    /// <summary>
+    /// Additional details about the conflict
+    /// </summary>
+    public Dictionary<string, object> ConflictDetails { get; set; } = new();
+
+    /// <summary>
+    /// Estimated number of new conflicts that may arise from resolving this conflict
+    /// </summary>
+    public int EstimatedNewConflicts { get; set; }
+
+    /// <summary>
+    /// List of other conflict keys that can be resolved by resolving this conflict
+    /// </summary>
+    public List<string> CanResolveConflicts { get; set; } = new();
+}
+
+
+

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/ConflictResolution.cs

@@ -0,0 +1,35 @@
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Represents a resolution strategy for a conflict
+/// </summary>
+public class ConflictResolution
+{
+    /// <summary>
+    /// Resolution strategy (WaitAtNode or Reroute)
+    /// </summary>
+    public ResolutionStrategy Strategy { get; set; }
+
+    /// <summary>
+    /// Robot ID that needs to take action
+    /// </summary>
+    public string ActionRobotId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Specific action to take
+    /// </summary>
+    public ResolutionAction Action { get; set; }
+
+    /// <summary>
+    /// Wait until this time (if action is Wait)
+    /// </summary>
+    public DateTime? WaitUntil { get; set; }
+
+    /// <summary>
+    /// New route (if action is Reroute)
+    /// </summary>
+    public RobotRoute? NewRoute { get; set; }
+}
+
+
+

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/EdgeReservation.cs

@@ -0,0 +1,55 @@
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Represents an edge reservation for a robot
+/// </summary>
+public class EdgeReservation
+{
+    /// <summary>
+    /// Edge ID (Guid from database)
+    /// </summary>
+    public Guid EdgeId { get; set; }
+
+    /// <summary>
+    /// Edge ID string (VDMA LIF edgeId)
+    /// </summary>
+    public string EdgeIdString { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Start Node ID of the edge
+    /// </summary>
+    public Guid StartNodeId { get; set; }
+
+    /// <summary>
+    /// End Node ID of the edge
+    /// </summary>
+    public Guid EndNodeId { get; set; }
+
+    /// <summary>
+    /// Robot ID that reserved this edge
+    /// </summary>
+    public string RobotId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Order ID associated with this reservation
+    /// </summary>
+    public string OrderId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// When the reservation was created
+    /// </summary>
+    public DateTime ReservedAt { get; set; } = DateTime.UtcNow;
+
+    /// <summary>
+    /// When the reservation expires (based on edge length and robot speed)
+    /// </summary>
+    public DateTime ReservedUntil { get; set; }
+
+    /// <summary>
+    /// Reservation status
+    /// </summary>
+    public ReservationStatus Status { get; set; } = ReservationStatus.Reserved;
+}
+
+
+

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/OrderACSState.cs

@@ -0,0 +1,76 @@
+using RobotNet10.FleetManager.Services.TrafficControl.ACS;
+
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// State information for an order managed by ACS Order Control
+/// </summary>
+public class OrderACSState
+{
+    /// <summary>
+    /// Robot ID
+    /// </summary>
+    public string RobotId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Order status
+    /// </summary>
+    public OrderStatus Status { get; set; } = OrderStatus.IsProccessing;
+
+    /// <summary>
+    /// Full route (Base + Horizon)
+    /// </summary>
+    public RobotRoute Route { get; set; } = new();
+
+    /// <summary>
+    /// Set of zone IDs that have been successfully requested (RequestIn completed)
+    /// </summary>
+    public HashSet<string> ZoneRequestInCompleted { get; set; } = [];
+
+    /// <summary>
+    /// Set of zone IDs that have been successfully requested (RequestOut completed)
+    /// </summary>
+    public HashSet<string> ZoneRequestOutCompleted { get; set; } = [];
+
+    /// <summary>
+    /// Set of region IDs needs to be successfully requested. (IN)
+    /// </summary>
+    public HashSet<string> ZoneRequestInCompleting { get; set; } = [];
+
+    /// <summary>
+    /// Set of region IDs needs to be successfully requested. (OUT)
+    /// </summary>
+    public HashSet<string> ZoneRequestOutCompleting { get; set; } = [];
+
+    /// <summary>
+    /// Error message if status is IsError
+    /// </summary>
+    public string? Error { get; set; }
+
+    /// <summary>
+    /// List of nodes that are mapped to ACS zones for RequestIn (in order of appearance in route)
+    /// Each entry contains: (NodeIdString, ZoneId)
+    /// </summary>
+    public List<(string NodeIdString, string ZoneId)> InMappedNodes { get; set; } = [];
+
+    /// <summary>
+    /// List of nodes that are mapped to ACS zones for RequestOut (in order of appearance in route)
+    /// Each entry contains: (NodeIdString, ZoneId)
+    /// </summary>
+    public List<(string NodeIdString, string ZoneId)> OutMappedNodes { get; set; } = [];
+
+    /// <summary>
+    /// Index of the current IN mapped node being processed
+    /// </summary>
+    public int CurrentInMappedNodeIndex { get; set; } = 0;
+
+    /// <summary>
+    /// Timestamp when order was created
+    /// </summary>
+    public DateTime CreatedAt { get; set; } = DateTime.UtcNow;
+
+    /// <summary>
+    /// Last update timestamp
+    /// </summary>
+    public DateTime LastUpdated { get; set; } = DateTime.UtcNow;
+}

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/PathPlanningMethod.cs

@@ -0,0 +1,27 @@
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Path planning method to use for IPathPlanner
+/// </summary>
+public enum PathPlanningMethod
+{
+    /// <summary>
+    /// Basic path planning (PathPlanning) - No constraints
+    /// </summary>
+    Basic = 0,
+
+    /// <summary>
+    /// Path planning with start direction constraint (PathPlanningWithStartDirection)
+    /// </summary>
+    WithStartDirection = 1,
+
+    /// <summary>
+    /// Path planning with final direction constraint (PathPlanningWithFinalDirection)
+    /// </summary>
+    WithFinalDirection = 2,
+
+    /// <summary>
+    /// Path planning with final angle constraint (PathPlanningWithAngle)
+    /// </summary>
+    WithAngle = 3
+}

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/RobotInfo.cs

@@ -0,0 +1,55 @@
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Robot information needed for conflict detection
+/// </summary>
+public class RobotInfo
+{
+    /// <summary>
+    /// Robot ID
+    /// </summary>
+    public string RobotId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Robot length in meters (from RobotModel)
+    /// </summary>
+    public double Length { get; set; }
+
+    /// <summary>
+    /// Robot width in meters (from RobotModel)
+    /// </summary>
+    public double Width { get; set; }
+
+    /// <summary>
+    /// Navigation point X offset in meters (from RobotModel)
+    /// </summary>
+    public double NavigationPointX { get; set; }
+
+    /// <summary>
+    /// Navigation point Y offset in meters (from RobotModel)
+    /// </summary>
+    public double NavigationPointY { get; set; }
+
+    /// <summary>
+    /// Current X position (from State message)
+    /// </summary>
+    public double CurrentX { get; set; }
+
+    /// <summary>
+    /// Current Y position (from State message)
+    /// </summary>
+    public double CurrentY { get; set; }
+
+    /// <summary>
+    /// Current orientation angle in radians (from State message)
+    /// </summary>
+    public double CurrentTheta { get; set; }
+
+    /// <summary>
+    /// Last node ID the robot passed through (from State message)
+    /// </summary>
+    public string LastNodeId { get; set; } = string.Empty;
+}
+
+
+

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/RobotPriority.cs

@@ -0,0 +1,30 @@
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Represents priority information for a robot
+/// </summary>
+public class RobotPriority
+{
+    /// <summary>
+    /// Robot ID
+    /// </summary>
+    public string RobotId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Priority level (higher number = higher priority)
+    /// </summary>
+    public int PriorityLevel { get; set; }
+
+    /// <summary>
+    /// Reason for the priority
+    /// </summary>
+    public PriorityReason Reason { get; set; }
+
+    /// <summary>
+    /// Priority valid until this time (null if permanent)
+    /// </summary>
+    public DateTime? ValidUntil { get; set; }
+}
+
+
+

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/RobotRoute.cs

@@ -0,0 +1,70 @@
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Represents a complete route for a robot with Base and Horizon segments
+/// </summary>
+public class RobotRoute
+{
+    /// <summary>
+    /// Robot ID (SerialNumber)
+    /// </summary>
+    public string RobotId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Order ID from VDA5050
+    /// </summary>
+    public string OrderId { get; set; } = string.Empty;
+
+    /// <summary>
+    /// Order Update ID from VDA5050
+    /// </summary>
+    public int OrderUpdateId { get; set; }
+
+    /// <summary>
+    /// Full route (Base + Horizon)
+    /// </summary>
+    public List<RouteSegment> FullRoute { get; set; } = [];
+
+    /// <summary>
+    /// Base: Released segments that robot is currently executing
+    /// </summary>
+    public List<RouteSegment> Base { get; set; } = [];
+
+    /// <summary>
+    /// Horizon: Unreleased segments waiting for conditions
+    /// </summary>
+    public List<RouteSegment> Horizon { get; set; } = [];
+
+    /// <summary>
+    /// Current position index in the route
+    /// </summary>
+    public int CurrentSegmentIndex { get; set; }
+
+    /// <summary>
+    /// Route creation timestamp
+    /// </summary>
+    public DateTime CreatedAt { get; set; } = DateTime.UtcNow;
+
+    /// <summary>
+    /// Last update timestamp
+    /// </summary>
+    public DateTime LastUpdated { get; set; } = DateTime.UtcNow;
+
+    /// <summary>
+    /// Number of reroute attempts for this route (to prevent infinite rerouting)
+    /// </summary>
+    public int RerouteAttempts { get; set; } = 0;
+
+    /// <summary>
+    /// Node ID where robot should wait (if WaitAtNode resolution is applied)
+    /// </summary>
+    public Guid? WaitNodeId { get; set; }
+
+    /// <summary>
+    /// Time until which robot should wait at WaitNodeId (if WaitAtNode resolution is applied)
+    /// </summary>
+    public DateTime? WaitUntil { get; set; }
+}
+
+
+

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/RouteSegment.cs

@@ -0,0 +1,71 @@
+using RobotNet.VDA5050.Order;
+
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Represents a segment in a robot route (either a node or an edge)
+/// Uses VDA5050.Order.Node and VDA5050.Order.Edge to store full information
+/// </summary>
+public class RouteSegment
+{
+    // Internal properties needed for traffic control logic
+    /// <summary>
+    /// Node ID (Guid from database) - for conflict detection and edge reservation
+    /// </summary>
+    public Guid NodeId { get; set; }
+
+    /// <summary>
+    /// Edge ID (Guid from database) - Null if this is a node-only segment
+    /// </summary>
+    public Guid? EdgeId { get; set; }
+
+    /// <summary>
+    /// Start Node ID of the edge (Guid from database) - for conflict detection
+    /// </summary>
+    public Guid? StartNodeId { get; set; }
+
+    /// <summary>
+    /// End Node ID of the edge (Guid from database) - for conflict detection
+    /// </summary>
+    public Guid? EndNodeId { get; set; }
+
+    /// <summary>
+    /// Whether this segment has been released into base
+    /// </summary>
+    public bool Released { get; set; }
+
+    /// <summary>
+    /// Time until which this edge is reserved
+    /// </summary>
+    public DateTime? ReservedUntil { get; set; }
+
+    // VDA5050 Order objects containing full information from MapEditor
+    /// <summary>
+    /// VDA5050 Node with full information (NodeId, NodeDescription, NodePosition, Actions, etc.)
+    /// </summary>
+    public Node? VdaNode { get; set; }
+
+    /// <summary>
+    /// VDA5050 Edge with full information (EdgeId, EdgeDescription, MaxSpeed, Trajectory, Actions, etc.)
+    /// Null if this is a node-only segment
+    /// </summary>
+    public Edge? VdaEdge { get; set; }
+
+    /// <summary>
+    /// Get SequenceId from VdaNode or VdaEdge
+    /// </summary>
+    public int SequenceId => VdaNode?.SequenceId ?? VdaEdge?.SequenceId ?? 0;
+
+    /// <summary>
+    /// Check if this segment is a node segment
+    /// </summary>
+    public bool IsNode => VdaNode != null;
+
+    /// <summary>
+    /// Check if this segment is an edge segment
+    /// </summary>
+    public bool IsEdge => VdaEdge != null;
+}
+
+
+

srcs/RobotNet10/FleetManager/RobotNet10.FleetManager/Services/TrafficControl/Models/TrafficControlConfig.cs

@@ -0,0 +1,174 @@
+using RobotNet10.FleetManager.Shared.Enums;
+
+namespace RobotNet10.FleetManager.Services.TrafficControl.Models;
+
+/// <summary>
+/// Configuration for TrafficControl service
+/// </summary>
+public class TrafficControlConfig
+{
+    /// <summary>
+    /// Conflict detection configuration
+    /// </summary>
+    public ConflictDetectionConfig ConflictDetection { get; set; } = new();
+
+    /// <summary>
+    /// Base/Horizon management configuration
+    /// </summary>
+    public BaseHorizonConfig BaseHorizon { get; set; } = new();
+
+    /// <summary>
+    /// Conflict resolution configuration
+    /// </summary>
+    public ConflictResolutionConfig ConflictResolution { get; set; } = new();
+
+    /// <summary>
+    /// Priority configuration
+    /// </summary>
+    public PriorityConfig Priority { get; set; } = new();
+
+    /// <summary>
+    /// Path planning configuration
+    /// </summary>
+    public PathPlanningConfig PathPlanning { get; set; } = new();
+}
+
+/// <summary>
+/// Conflict detection configuration
+/// </summary>
+public class ConflictDetectionConfig
+{
+    /// <summary>
+    /// Detection interval in milliseconds (default: 500ms = 2 Hz)
+    /// </summary>
+    public int IntervalMs { get; set; } = 500;
+
+    /// <summary>
+    /// Vertex conflict threshold in meters (default: 2.0m)
+    /// </summary>
+    public double VertexConflictThreshold { get; set; } = 2.0;
+
+    /// <summary>
+    /// Minimum safe distance for proximity conflict in meters (default: 1.0m)
+    /// </summary>
+    public double ProximityMinDistance { get; set; } = 1.0;
+
+    /// <summary>
+    /// Time conflict threshold in seconds (default: 5.0s)
+    /// </summary>
+    public double TimeConflictThreshold { get; set; } = 5.0;
+
+    /// <summary>
+    /// Rotation space radius in meters (default: 0.5m)
+    /// </summary>
+    public double RotationSpaceRadius { get; set; } = 0.5;
+
+    /// <summary>
+    /// Corridor width threshold in meters (default: 2.0m)
+    /// </summary>
+    public double CorridorWidthThreshold { get; set; } = 2.0;
+}
+
+/// <summary>
+/// Base/Horizon management configuration
+/// </summary>
+public class BaseHorizonConfig
+{
+    /// <summary>
+    /// Initial number of base segments (default: 2)
+    /// </summary>
+    public int InitialBaseSegments { get; set; } = 2;
+
+    /// <summary>
+    /// Number of segments to release ahead (default: 2)
+    /// </summary>
+    public int ReleaseAheadSegments { get; set; } = 2;
+
+    /// <summary>
+    /// Minimum number of horizon segments to keep (default: 1)
+    /// </summary>
+    public int MinHorizonSegments { get; set; } = 1;
+}
+
+/// <summary>
+/// Conflict resolution configuration
+/// </summary>
+public class ConflictResolutionConfig
+{
+    /// <summary>
+    /// Maximum wait time at node in seconds (default: 5.0s)
+    /// </summary>
+    public double WaitTimeAtNode { get; set; } = 5.0;
+
+    /// <summary>
+    /// Whether to allow reroute on conflict (default: true)
+    /// </summary>
+    public bool RerouteOnConflict { get; set; } = true;
+
+    /// <summary>
+    /// Maximum reroute attempts for one conflict (default: 3)
+    /// </summary>
+    public int MaxRerouteAttempts { get; set; } = 3;
+
+    /// <summary>
+    /// Enable resolution optimization (default: true)
+    /// </summary>
+    public bool ResolutionOptimization { get; set; } = true;
+
+    /// <summary>
+    /// Maximum simulation depth for resolution evaluation (default: 2)
+    /// </summary>
+    public int MaxResolutionSimulationDepth { get; set; } = 2;
+}
+
+/// <summary>
+/// Priority configuration
+/// </summary>
+public class PriorityConfig
+{
+    /// <summary>
+    /// Default priority level (default: 0)
+    /// </summary>
+    public int DefaultPriority { get; set; } = 0;
+
+    /// <summary>
+    /// Emergency priority level (default: 100)
+    /// </summary>
+    public int EmergencyPriority { get; set; } = 100;
+
+    /// <summary>
+    /// High value order priority level (default: 50)
+    /// </summary>
+    public int HighValueOrderPriority { get; set; } = 50;
+
+    /// <summary>
+    /// Time critical priority level (default: 30)
+    /// </summary>
+    public int TimeCriticalPriority { get; set; } = 30;
+}
+
+/// <summary>
+/// Path planning configuration
+/// </summary>
+public class PathPlanningConfig
+{
+    /// <summary>
+    /// Mapping from NavigationType to PathPlanningMethod
+    /// Defines which IPathPlanner method to use for each NavigationType
+    /// </summary>
+    public Dictionary<NavigationType, PathPlanningMethod> NavigationTypeMethodMapping { get; set; } = new()
+    {
+        // Default mappings
+        { NavigationType.Differential, PathPlanningMethod.Basic },
+        { NavigationType.Forklift, PathPlanningMethod.Basic },
+        { NavigationType.OmniDrive, PathPlanningMethod.Basic }
+    };
+
+    /// <summary>
+    /// Default path planning method if NavigationType is not found in mapping (default: Basic)
+    /// </summary>
+    public PathPlanningMethod DefaultMethod { get; set; } = PathPlanningMethod.Basic;
+}
+
+
+