creep-flight-distance-calculation/include/busbar_config.hpp

#ifndef BUSBAR_CONFIG_HPP
#define BUSBAR_CONFIG_HPP

#include "busbar_types.hpp"
#include <array>
#include <cmath>

class BusbarConfig {
private:
    float width_;
    float thickness_;
    float clearance_;
    std::array<bool, 7> allowed_segments_;

public:
    // 弯曲/扭转系数
    float flat_bend_factor;
    float vertical_bend_factor;
    float twist_factor;
    float bend_45_factor;
    float min_begin_length_;
    float segment_cost_multiplier_;  // 段固定代价乘数，越大越鼓励少段数
    bool smart_platform_;  // 智能平台检测开关：true=投票探测, false=坐标推算

    BusbarConfig(float w = 2.0f, float h = 1.0f, float c = 0.5f)
        : width_(w), thickness_(h), clearance_(c),
        flat_bend_factor(1.5f),
        vertical_bend_factor(0.6f),
        twist_factor(1.5f),
        bend_45_factor(1.0f),
        min_begin_length_(3.0f),
        segment_cost_multiplier_(0.6f),
        smart_platform_(true) {
        // 默认所有段类型都允许
        allowed_segments_.fill(true);
    }

    BusbarConfig(float width, float thickness,float min_begin_length, float clearance,
        float flat_bend, float vertical_bend,
        float twist, float bend_45)
        : width_(width),
        thickness_(thickness),
        min_begin_length_(min_begin_length),
        clearance_(clearance),
        flat_bend_factor(flat_bend),
        vertical_bend_factor(vertical_bend),
        twist_factor(twist),
        bend_45_factor(bend_45),
        segment_cost_multiplier_(0.6f),
        smart_platform_(true) {
        allowed_segments_.fill(true);
    }

    // 访问器
    float width() const { return width_; }
    float thickness() const { return thickness_; }
    float clearance() const { return clearance_; }
    bool smartPlatform() const { return smart_platform_; }
    void setSmartPlatform(bool v) { smart_platform_ = v; }

    // 每段固定代价：基于立弯代价，乘以段代价乘数
    // 立弯代价 = radius * angle * 2.0，90度立弯 = 0.625*W * PI/2 * 2 = 2*W
    float segmentFixedCost() const {
        return vertical_bend_factor * width_ * (M_PI / 2.0f) * 2.0f * segment_cost_multiplier_;
    }

    void setSegmentCostMultiplier(float m) { segment_cost_multiplier_ = m; }

    // 段类型控制
    void enableSegment(SegmentType type) {
        allowed_segments_[static_cast<int>(type)] = true;
    }

    void disableSegment(SegmentType type) {
        allowed_segments_[static_cast<int>(type)] = false;
    }

    bool isSegmentAllowed(SegmentType type) const {
        return allowed_segments_[static_cast<int>(type)];
    }
};

#endif