409 lines
18 KiB
Python
409 lines
18 KiB
Python
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# -*- coding: utf-8 -*-
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"""
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Task 数据模型
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─────────────────────────────────────────────────────────────────
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Task —— 核心任务对象
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TaskArea —— 任务目标区域（多边形/圆形）
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TaskState —— 任务状态机
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─────────────────────────────────────────────────────────────────
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"""
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from __future__ import annotations
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import logging
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import time
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import uuid
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from dataclasses import dataclass, field
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from datetime import datetime
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from enum import Enum
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from typing import Any, Dict, List, Optional, Union
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from uas.task.task_action_plan import RouteActionPlan, TriggerMoment
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from uas.task.task_type import TaskType, TaskPriority, task_type_registry
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logger = logging.getLogger(__name__)
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# ─────────────────────────────────────────────────────────────────
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# 任务状态机
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# ─────────────────────────────────────────────────────────────────
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class TaskState(Enum):
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CREATED = "created" # 已创建
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PLANNED = "planned" # 已规划（航线/Action 已配置）
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READY = "ready" # 就绪（等待执行时间）
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RUNNING = "running" # 执行中
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PAUSED = "paused" # 已暂停
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COMPLETED = "completed" # 已完成
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FAILED = "failed" # 执行失败
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CANCELLED = "cancelled" # 已取消
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ABORTED = "aborted" # 中止
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# ─────────────────────────────────────────────────────────────────
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# 任务目标区域
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# ─────────────────────────────────────────────────────────────────
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@dataclass
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class GeoPoint:
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"""地理坐标点"""
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latitude: float
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longitude: float
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altitude: float = 0.0
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def __repr__(self):
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return f"({self.latitude:.4f}°, {self.longitude:.4f}°, {self.altitude:.0f}m)"
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@dataclass
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class TaskArea:
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"""
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任务目标区域
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支持多边形（polygon）和圆形（circle）两种定义方式
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"""
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name: str = ""
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area_type: str = "polygon" # "polygon" | "circle"
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# 多边形顶点（area_type="polygon"）
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polygon: List[GeoPoint] = field(default_factory=list)
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# 圆形定义（area_type="circle"）
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center: Optional[GeoPoint] = None
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radius_m: float = 0.0
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# 高度范围
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alt_min_m: float = 0.0
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alt_max_m: float = 99999.0
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description: str = ""
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@classmethod
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def from_polygon(cls, points: List[tuple], name: str = "",
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alt_min: float = 0.0, alt_max: float = 99999.0) -> "TaskArea":
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"""从经纬度元组列表创建多边形区域"""
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polygon = [GeoPoint(lat, lon) for lat, lon in points]
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return cls(name=name, area_type="polygon", polygon=polygon,
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alt_min_m=alt_min, alt_max_m=alt_max)
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@classmethod
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def from_circle(cls, center_lat: float, center_lon: float,
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radius_m: float, name: str = "") -> "TaskArea":
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"""从圆心+半径创建圆形区域"""
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return cls(name=name, area_type="circle",
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center=GeoPoint(center_lat, center_lon),
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radius_m=radius_m)
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def __repr__(self):
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if self.area_type == "circle":
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return f"TaskArea(circle, center={self.center}, r={self.radius_m}m)"
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return f"TaskArea(polygon, points={len(self.polygon)})"
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# ─────────────────────────────────────────────────────────────────
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# 任务执行记录
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# ─────────────────────────────────────────────────────────────────
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@dataclass
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class TaskExecutionRecord:
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"""任务执行过程记录条目"""
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timestamp: float
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event_type: str # "action_start" | "action_done" | "state_change" | "error"
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description: str
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data: Dict = field(default_factory=dict)
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@property
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def datetime_str(self) -> str:
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return datetime.fromtimestamp(self.timestamp).strftime("%H:%M:%S.%f")[:-3]
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def __repr__(self):
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return f"[{self.datetime_str}] {self.event_type}: {self.description}"
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# ─────────────────────────────────────────────────────────────────
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# 核心 Task 对象
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# ─────────────────────────────────────────────────────────────────
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@dataclass
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class Task:
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"""
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核心任务对象
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─────────────────────────────────────────────────────────────
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字段说明：
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task_type —— 任务类型（TaskType 枚举 或 自定义字符串）
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name —— 任务名称
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description —— 任务描述
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target_area —— 任务目标区域
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priority —— 执行优先级
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scheduled_at —— 计划执行时间（Unix 时间戳）
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deadline —— 任务截止时间（Unix 时间戳）
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route —— 关联的 FlightRoute 对象
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action_plan —— 航线/航段 Action 配置计划
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─────────────────────────────────────────────────────────────
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"""
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# ── 基本信息 ──────────────────────────────────────────────────
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name: str
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task_type: Union[TaskType, str]
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description: str = ""
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target_area: Optional[TaskArea] = None
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priority: TaskPriority = TaskPriority.NORMAL
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# ── 时间约束 ──────────────────────────────────────────────────
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scheduled_at: Optional[float] = None # 计划执行时间（None=立即）
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deadline: Optional[float] = None # 截止时间
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# ── 航线配置 ──────────────────────────────────────────────────
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route: Optional[object] = None # FlightRoute 实例
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action_plan: RouteActionPlan = field(
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default_factory=RouteActionPlan
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)
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# ── 扩展参数 ──────────────────────────────────────────────────
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metadata: Dict[str, Any] = field(default_factory=dict)
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tags: List[str] = field(default_factory=list)
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# ── 自动填充 ──────────────────────────────────────────────────
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task_id: str = field(default_factory=lambda: str(uuid.uuid4()))
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created_at: float = field(default_factory=time.time)
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state: TaskState = field(default=TaskState.CREATED)
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# ── 运行时字段 ────────────────────────────────────────────────
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_start_time: Optional[float] = field(default=None, repr=False)
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_end_time: Optional[float] = field(default=None, repr=False)
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_records: List[TaskExecutionRecord] = field(default_factory=list, repr=False)
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_cancel_flag: bool = field(default=False, repr=False)
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def __post_init__(self):
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# 若未指定优先级，从注册表读取默认值
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meta = task_type_registry.get(self.type_key)
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if meta and self.priority == TaskPriority.NORMAL:
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self.priority = meta.default_priority
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# ── 属性 ──────────────────────────────────────────────────────
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@property
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def type_key(self) -> str:
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return (self.task_type.value
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if isinstance(self.task_type, TaskType)
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else str(self.task_type))
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@property
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def elapsed_s(self) -> float:
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if self._start_time and self._end_time:
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return self._end_time - self._start_time
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if self._start_time:
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return time.time() - self._start_time
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return 0.0
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@property
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def is_running(self) -> bool:
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return self.state == TaskState.RUNNING
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@property
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def is_done(self) -> bool:
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return self.state in (
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TaskState.COMPLETED, TaskState.FAILED,
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TaskState.CANCELLED, TaskState.ABORTED,
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)
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@property
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def created_datetime(self) -> str:
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return datetime.fromtimestamp(self.created_at).strftime("%Y-%m-%d %H:%M:%S")
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@property
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def has_route(self) -> bool:
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return self.route is not None and bool(
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getattr(self.route, "segments", None)
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)
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@property
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def records(self) -> List[TaskExecutionRecord]:
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return list(self._records)
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# ── 航线配置 ──────────────────────────────────────────────────
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def set_route(self, route) -> "Task":
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"""
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配置航线（FlightRoute 实例）
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:return: self（链式调用）
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"""
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self.route = route
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self._add_record("state_change", f"航线已配置，航段数={len(route.segments)}")
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if self.state == TaskState.CREATED:
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self.state = TaskState.PLANNED
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return self
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# ── Action 计划配置（快捷方法）────────────────────────────────
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def add_route_action(
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self,
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action,
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order: Optional[int] = None,
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trigger: TriggerMoment = TriggerMoment.ON_ENTER,
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interval_s: float = 10.0,
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time_offset_s: float = 0.0,
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description: str = "",
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) -> "Task":
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"""
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为整条航线添加 Action
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order=None → 并行执行
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order=整数 → 串行执行（按 order 升序）
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"""
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self.action_plan.add_route_action(
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action=action, order=order, trigger=trigger,
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interval_s=interval_s, time_offset_s=time_offset_s,
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description=description,
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)
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return self
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def add_segment_action(
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self,
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segment_index: int,
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action,
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order: Optional[int] = None,
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trigger: TriggerMoment = TriggerMoment.ON_ENTER,
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interval_s: float = 10.0,
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time_offset_s: float = 0.0,
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description: str = "",
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) -> "Task":
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"""
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为指定航段添加 Action
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segment_index: FlightRoute.segments 的下标
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order=None → 并行执行
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order=整数 → 串行执行（按 order 升序）
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"""
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self.action_plan.add_segment_action(
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segment_index=segment_index, action=action,
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order=order, trigger=trigger,
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interval_s=interval_s, time_offset_s=time_offset_s,
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description=description,
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)
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return self
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# ── 状态操作 ──────────────────────────────────────────────────
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def mark_ready(self):
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self.state = TaskState.READY
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self._add_record("state_change", "任务就绪")
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def mark_running(self):
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self.state = TaskState.RUNNING
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self._start_time = time.time()
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self._add_record("state_change", "任务开始执行")
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def mark_completed(self):
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self.state = TaskState.COMPLETED
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self._end_time = time.time()
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self._add_record("state_change", f"任务完成，耗时={self.elapsed_s:.1f}s")
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def mark_failed(self, reason: str = ""):
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self.state = TaskState.FAILED
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self._end_time = time.time()
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self._add_record("error", f"任务失败: {reason}")
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def mark_cancelled(self):
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self._cancel_flag = True
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self.state = TaskState.CANCELLED
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self._end_time = time.time()
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self._add_record("state_change", "任务已取消")
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def mark_paused(self):
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self.state = TaskState.PAUSED
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self._add_record("state_change", "任务已暂停")
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def mark_resumed(self):
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self.state = TaskState.RUNNING
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self._add_record("state_change", "任务已恢复")
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def request_cancel(self) -> bool:
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self._cancel_flag = True
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return True
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@property
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def cancel_requested(self) -> bool:
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return self._cancel_flag
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# ── 记录 ──────────────────────────────────────────────────────
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def _add_record(self, event_type: str, description: str, data: dict = None):
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self._records.append(TaskExecutionRecord(
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timestamp = time.time(),
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event_type = event_type,
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description = description,
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data = data or {},
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))
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def add_record(self, event_type: str, description: str, data: dict = None):
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"""外部调用：添加执行记录"""
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self._add_record(event_type, description, data)
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# ── 序列化 ────────────────────────────────────────────────────
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def to_dict(self) -> dict:
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return {
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|
|
"task_id": self.task_id,
|
|||
|
|
"name": self.name,
|
|||
|
|
"task_type": self.type_key,
|
|||
|
|
"description": self.description,
|
|||
|
|
"priority": self.priority.name,
|
|||
|
|
"state": self.state.value,
|
|||
|
|
"created_at": self.created_datetime,
|
|||
|
|
"elapsed_s": self.elapsed_s,
|
|||
|
|
"has_route": self.has_route,
|
|||
|
|
"route_actions": len(self.action_plan.route_entries),
|
|||
|
|
"segment_plans": len(self.action_plan.segment_plans),
|
|||
|
|
"tags": self.tags,
|
|||
|
|
"metadata": self.metadata,
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
# ── 摘要 ──────────────────────────────────────────────────────
|
|||
|
|
|
|||
|
|
def info(self) -> str:
|
|||
|
|
meta = task_type_registry.get(self.type_key)
|
|||
|
|
lines = [
|
|||
|
|
f"{'═'*60}",
|
|||
|
|
f" 任务: {self.name} [{self.task_id[:8]}]",
|
|||
|
|
f"{'═'*60}",
|
|||
|
|
f" 类型 : {self.type_key}"
|
|||
|
|
f" ({meta.description if meta else ''})",
|
|||
|
|
f" 优先级 : {self.priority.name}",
|
|||
|
|
f" 状态 : {self.state.value}",
|
|||
|
|
f" 描述 : {self.description}",
|
|||
|
|
f" 创建时间 : {self.created_datetime}",
|
|||
|
|
f" 目标区域 : {self.target_area}",
|
|||
|
|
f" 标签 : {self.tags}",
|
|||
|
|
]
|
|||
|
|
if self.has_route:
|
|||
|
|
r = self.route
|
|||
|
|
lines += [
|
|||
|
|
f"{'─'*60}",
|
|||
|
|
f" 航线 : {len(r.segments)} 段 / "
|
|||
|
|
f"{sum(s.distance for s in r.segments)/1000:.1f} km / "
|
|||
|
|
f"{r.total_duration:.0f}s",
|
|||
|
|
f" 航线Actions: {len(self.action_plan.route_entries)} 个"
|
|||
|
|
f" (并行={len(self.action_plan.parallel_route_entries)}, "
|
|||
|
|
f"串行={len(self.action_plan.sequential_route_entries)})",
|
|||
|
|
f" 已配置航段: {len(self.action_plan.segment_plans)} 个",
|
|||
|
|
]
|
|||
|
|
for idx, plan in sorted(self.action_plan.segment_plans.items()):
|
|||
|
|
seg = r.segments[idx] if idx < len(r.segments) else None
|
|||
|
|
seg_name = (f"{seg.wp_from.identifier}→{seg.wp_to.identifier}"
|
|||
|
|
if seg else f"seg[{idx}]")
|
|||
|
|
lines.append(
|
|||
|
|
f" [{idx}] {seg_name}: "
|
|||
|
|
f"{len(plan.entries)} actions "
|
|||
|
|
f"(并行={len(plan.parallel_entries)}, "
|
|||
|
|
f"串行={len(plan.sequential_entries)})"
|
|||
|
|
)
|
|||
|
|
if self._records:
|
|||
|
|
lines += [f"{'─'*60}", " 执行记录:"]
|
|||
|
|
for rec in self._records[-5:]:
|
|||
|
|
lines.append(f" {rec}")
|
|||
|
|
lines.append(f"{'═'*60}")
|
|||
|
|
return "\n".join(lines)
|
|||
|
|
|
|||
|
|
def __repr__(self):
|
|||
|
|
return (f"Task(id={self.task_id[:8]}, name={self.name!r}, "
|
|||
|
|
f"type={self.type_key}, state={self.state.value}, "
|
|||
|
|
f"priority={self.priority.name})")
|