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106 lines
3.1 KiB
106 lines
3.1 KiB
#ifndef DEBUG_LOGGER_HPP
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#define DEBUG_LOGGER_HPP
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#include "busbar_types.hpp"
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#include "busbar_segment.hpp"
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#include <vector>
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#include <string>
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#include <fstream>
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#include <chrono>
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#include <mutex>
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// 碰撞失败记录
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struct CollisionRecord {
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Point voxel; // 碰撞的体素位置
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Point segment_start; // 段起点
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Point segment_end; // 段终点
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SegmentType segment_type; // 段类型
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std::string failure_reason; // 失败原因
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bool was_relaxed; // 是否使用宽松检测
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bool near_start_platform; // 是否靠近起始平台
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bool near_goal_platform; // 是否靠近终止平台
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};
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// 搜索状态记录
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struct SearchStateRecord {
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int iteration; // 迭代次数
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Point position; // 当前位置
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float g_cost; // 已知成本
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float h_cost; // 启发式成本
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float f_cost; // 总成本
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int successors_generated; // 生成的后继数
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int successors_valid; // 有效的后继数
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SegmentType last_segment_type; // 上一段类型
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};
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class DebugLogger {
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private:
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bool enabled_;
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std::string output_dir_;
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std::vector<CollisionRecord> collision_records_;
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std::vector<SearchStateRecord> search_records_;
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std::vector<Point> explored_positions_;
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std::vector<Point> collision_positions_;
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Point start_pos_;
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Point goal_pos_;
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mutable std::mutex mutex_; // 线程安全锁
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public:
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DebugLogger(bool enabled = false, const std::string& output_dir = "debug_output")
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: enabled_(enabled), output_dir_(output_dir) {}
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void setEnabled(bool enabled) { enabled_ = enabled; }
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bool isEnabled() const { return enabled_; }
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void setStartGoal(const Point& start, const Point& goal) {
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start_pos_ = start;
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goal_pos_ = goal;
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}
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// 记录碰撞（线程安全）
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void logCollision(const CollisionRecord& record) {
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if (!enabled_) return;
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std::lock_guard<std::mutex> lock(mutex_);
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collision_records_.push_back(record);
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collision_positions_.push_back(record.voxel);
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}
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// 记录搜索状态（线程安全）
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void logSearchState(const SearchStateRecord& record) {
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if (!enabled_) return;
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std::lock_guard<std::mutex> lock(mutex_);
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search_records_.push_back(record);
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explored_positions_.push_back(record.position);
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}
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// 导出所有调试信息
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void exportAll() {
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if (!enabled_) return;
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exportCollisionLog();
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exportSearchLog();
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exportVisualization();
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exportSummary();
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}
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void clear() {
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collision_records_.clear();
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search_records_.clear();
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explored_positions_.clear();
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collision_positions_.clear();
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}
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private:
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void exportCollisionLog();
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void exportSearchLog();
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void exportVisualization();
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void exportSummary();
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};
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// 全局调试器实例
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extern DebugLogger g_debug_logger;
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#endif
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