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84 lines
3.0 KiB
84 lines
3.0 KiB
#ifndef BUSBAR_PLANNER_API_H
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#define BUSBAR_PLANNER_API_H
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#include <cstdint>
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#ifdef _WIN32
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#if defined(BUSBAR_PLANNER_EXPORTS) || defined(VOXEL_DISTANCE_EXPORTS)
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// 编译动态库时导出
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#define BUSBAR_API __declspec(dllexport)
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#elif defined(BUSBAR_ROUTER_STATIC)
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// 编译或使用静态库时，不需要导入导出声明
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#define BUSBAR_API
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#else
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// 使用动态库时导入
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#define BUSBAR_API __declspec(dllimport)
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#endif
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#else
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#define BUSBAR_API
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#endif
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extern "C" {
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/**
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* 巴片路径规划接口
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*
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* voxel_types: uint16_t数组，表示每个体素的类型（预处理表）
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* - Bit 11-15 (5 bits): 障碍计数(包含绝缘件在内). >0 视为实体障碍（最高优先级）
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* - Bit 6-10 (5 bits): 非障碍计数(带电件/金属件等). 仅用于分类/统计，不用于最短距离阻挡
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* - Bit 0-5 (6 bits): 间隙计数. 高5位为0时，可作为“间隙碰撞”标记
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* - 全0: 可通行
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*
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* mandatory_region: 必经区域（AABB包围盒），路径必须经过此区域
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* - mandatory_min_x/y/z: 区域最小坐标
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* - mandatory_max_x/y/z: 区域最大坐标
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* - mandatory_enabled: 是否启用必经区域约束
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*/
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BUSBAR_API bool planBusbarPath(
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// 输入参数 - 起点位置、法向和切向
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int start_x, int start_y, int start_z,
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float start_nx, float start_ny, float start_nz,
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float start_tx, float start_ty, float start_tz, // 起点切向，(0,0,0)表示不指定
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// 终点位置、法向和切向
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int end_x, int end_y, int end_z,
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float end_nx, float end_ny, float end_nz,
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float end_tx, float end_ty, float end_tz, // 终点切向，(0,0,0)表示不指定
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// 必经区域（AABB包围盒）
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int mandatory_min_x, int mandatory_min_y, int mandatory_min_z,
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int mandatory_max_x, int mandatory_max_y, int mandatory_max_z,
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bool mandatory_enabled, // 是否启用必经区域
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// 地图尺寸和体素数据
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int xsize, int ysize, int zsize,
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const uint16_t* voxel_types, // 体素类型数组（预处理表）
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const bool* available_types,
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float busbar_width,
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float busbar_thickness,
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float min_begin_length,
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float clearance,
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float flat_bend_f,
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float vertical_bend_v,
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float twist_t,
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float bend_b,
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float heuristic_weight,
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const char* log_file_path,
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float max_time_s,
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// 输出参数
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float* total_cost,
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int* segment_count,
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int* segment_types,
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int* start_pos_x,
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int* start_pos_y,
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int* start_pos_z,
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float* start_normal_x,
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float* start_normal_y,
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float* start_normal_z,
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int* end_pos_x,
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int* end_pos_y,
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int* end_pos_z,
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float* end_normal_x,
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float* end_normal_y,
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float* end_normal_z,
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float* bend_angles
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);
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}
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#endif // BUSBAR_PLANNER_API_H
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