BQP/srcs/RobotNet10/Commons/RobotNet10.MapManager/Data/EdgeVehicleProperty.cs

using System.ComponentModel.DataAnnotations;
using System.ComponentModel.DataAnnotations.Schema;
using RobotNet.VDA5050.Type;

namespace RobotNet10.MapManager.Data;

/// <summary>
/// Edge vehicle property - Vehicle-specific properties for edges
/// Maps to VDMA LIF: edge.vehicleTypeEdgeProperties[]
/// </summary>
[Table("EdgeVehicleProperties")]
public class EdgeVehicleProperty
{
    [Key]
    [DatabaseGenerated(DatabaseGeneratedOption.Identity)]
    public Guid Id { get; set; }

    /// <summary>
    /// Edge reference
    /// </summary>
    [Required]
    public Guid EdgeId { get; set; }

    /// <summary>
    /// Vehicle type reference
    /// </summary>
    [Required]
    public Guid VehicleTypeId { get; set; }

    /// <summary>
    /// Vehicle orientation while traversing edge (VDMA LIF: vehicleOrientation) - Optional
    /// In degrees, range: [0.0 ... 360.0]
    /// </summary>
    public double? VehicleOrientation { get; set; }

    /// <summary>
    /// Type of orientation (VDMA LIF: orientationType) - Optional
    /// Values: GLOBAL, TANGENTIAL
    /// </summary>
    public OrientationType? OrientationType { get; set; }

    /// <summary>
    /// Is rotation allowed while on edge (VDMA LIF: rotationAllowed) - Optional
    /// </summary>
    public bool? RotationAllowed { get; set; }

    /// <summary>
    /// Rotation allowed at start node (VDMA LIF: rotationAtStartNodeAllowed) - Optional
    /// Values: NONE, CCW, CW, BOTH
    /// </summary>
    public RotationDirection? RotationAtStartNodeAllowed { get; set; }

    /// <summary>
    /// Rotation allowed at end node (VDMA LIF: rotationAtEndNodeAllowed) - Optional
    /// Values: NONE, CCW, CW, BOTH
    /// </summary>
    public RotationDirection? RotationAtEndNodeAllowed { get; set; }

    /// <summary>
    /// Maximum speed allowed on edge (VDMA LIF: maxSpeed) - Optional
    /// In meters per second, range: [0.0 ... double.MaxValue]
    /// </summary>
    public double? MaxSpeed { get; set; }

    /// <summary>
    /// Maximum rotation speed allowed (VDMA LIF: maxRotationSpeed) - Optional
    /// In radians per second, range: [0.0 ... double.MaxValue]
    /// </summary>
    public double? MaxRotationSpeed { get; set; }

    /// <summary>
    /// Minimum height of vehicle on edge (VDMA LIF: minHeight) - Optional
    /// In meters, range: [0.0 ... double.MaxValue]
    /// </summary>
    public double? MinHeight { get; set; }

    /// <summary>
    /// Maximum height of vehicle on edge (VDMA LIF: maxHeight) - Optional
    /// In meters, range: [0.0 ... double.MaxValue]
    /// </summary>
    public double? MaxHeight { get; set; }

    /// <summary>
    /// Can edge be traversed without load (VDMA LIF: loadRestriction.unloaded) - Optional
    /// </summary>
    public bool? LoadRestriction_Unloaded { get; set; }

    /// <summary>
    /// Can edge be traversed with load (VDMA LIF: loadRestriction.loaded) - Optional
    /// </summary>
    public bool? LoadRestriction_Loaded { get; set; }

    /// <summary>
    /// Load set names allowed on edge (VDMA LIF: loadRestriction.loadSetNames) - Optional
    /// JSON array of strings: ["pallet", "box"]
    /// </summary>
    public string? LoadRestriction_LoadSetNames { get; set; }

    /// <summary>
    /// Trajectory degree (NURBS curve degree) - Optional
    /// Values: 1 (linear), 2 (quadratic), 3 (cubic)
    /// </summary>
    public int? TrajectoryDegree { get; set; }

    /// <summary>
    /// Trajectory control point 1 X coordinate (meters) - Optional
    /// Used for degree 2 and 3 curves
    /// </summary>
    public double? TrajectoryControlPoint1X { get; set; }

    /// <summary>
    /// Trajectory control point 1 Y coordinate (meters) - Optional
    /// Used for degree 2 and 3 curves
    /// </summary>
    public double? TrajectoryControlPoint1Y { get; set; }

    /// <summary>
    /// Trajectory control point 2 X coordinate (meters) - Optional
    /// Used for degree 3 curves only
    /// </summary>
    public double? TrajectoryControlPoint2X { get; set; }

    /// <summary>
    /// Trajectory control point 2 Y coordinate (meters) - Optional
    /// Used for degree 3 curves only
    /// </summary>
    public double? TrajectoryControlPoint2Y { get; set; }

    /// <summary>
    /// Actions that vehicle can perform at this edge (VDMA LIF: actions) - Optional
    /// JSON array format:
    /// [
    ///   {
    ///     "actionType": "pick",
    ///     "actionDescription": "...",
    ///     "requirementType": "REQUIRED",
    ///     "blockingType": "HARD",
    ///     "actionParameters": [{"key": "...", "value": "..."}]
    ///   }
    /// ]
    /// </summary>
    public string? Actions { get; set; }

    /// <summary>
    /// Corridor left width (meters) - Optional
    /// Defines the width of the corridor to the left related to the trajectory
    /// </summary>
    public double? CorridorLeftWidth { get; set; }

    /// <summary>
    /// Corridor right width (meters) - Optional
    /// Defines the width of the corridor to the right related to the trajectory
    /// </summary>
    public double? CorridorRightWidth { get; set; }

    /// <summary>
    /// Corridor reference point (VDA5050: corridorRefPoint) - Optional
    /// Defines whether the boundaries are valid for the kinematic center or the contour of the vehicle
    /// Values: KINEMATICCENTER, CONTOUR
    /// </summary>
    public CorridorRefPoint? CorridorRefPoint { get; set; }

    // Navigation properties
    [ForeignKey(nameof(EdgeId))]
    public virtual Edge Edge { get; set; } = null!;

    [ForeignKey(nameof(VehicleTypeId))]
    public virtual VehicleType VehicleType { get; set; } = null!;
}