ENIG/Cs_HMI/AGVNavigationCore/PathFinding/PathResult.cs

using System;
using System.Collections.Generic;

namespace AGVNavigationCore.PathFinding
{
    /// <summary>
    /// 경로 계산 결과
    /// </summary>
    public class PathResult
    {
        /// <summary>
        /// 경로 찾기 성공 여부
        /// </summary>
        public bool Success { get; set; }

        /// <summary>
        /// 경로 노드 ID 목록 (시작 → 목적지 순서)
        /// </summary>
        public List<string> Path { get; set; }

        /// <summary>
        /// 총 거리
        /// </summary>
        public float TotalDistance { get; set; }

        /// <summary>
        /// 계산 소요 시간 (밀리초)
        /// </summary>
        public long CalculationTimeMs { get; set; }

        /// <summary>
        /// 탐색한 노드 수
        /// </summary>
        public int ExploredNodeCount { get; set; }

        /// <summary>
        /// 오류 메시지 (실패시)
        /// </summary>
        public string ErrorMessage { get; set; }

        /// <summary>
        /// 기본 생성자
        /// </summary>
        public PathResult()
        {
            Success = false;
            Path = new List<string>();
            TotalDistance = 0;
            CalculationTimeMs = 0;
            ExploredNodeCount = 0;
            ErrorMessage = string.Empty;
        }

        /// <summary>
        /// 성공 결과 생성
        /// </summary>
        /// <param name="path">경로</param>
        /// <param name="totalDistance">총 거리</param>
        /// <param name="calculationTimeMs">계산 시간</param>
        /// <param name="exploredNodeCount">탐색 노드 수</param>
        /// <returns>성공 결과</returns>
        public static PathResult CreateSuccess(List<string> path, float totalDistance, long calculationTimeMs, int exploredNodeCount)
        {
            return new PathResult
            {
                Success = true,
                Path = new List<string>(path),
                TotalDistance = totalDistance,
                CalculationTimeMs = calculationTimeMs,
                ExploredNodeCount = exploredNodeCount
            };
        }

        /// <summary>
        /// 실패 결과 생성
        /// </summary>
        /// <param name="errorMessage">오류 메시지</param>
        /// <param name="calculationTimeMs">계산 시간</param>
        /// <param name="exploredNodeCount">탐색 노드 수</param>
        /// <returns>실패 결과</returns>
        public static PathResult CreateFailure(string errorMessage, long calculationTimeMs, int exploredNodeCount)
        {
            return new PathResult
            {
                Success = false,
                ErrorMessage = errorMessage,
                CalculationTimeMs = calculationTimeMs,
                ExploredNodeCount = exploredNodeCount
            };
        }

        /// <summary>
        /// 문자열 표현
        /// </summary>
        public override string ToString()
        {
            if (Success)
            {
                return $"Success: {Path.Count} nodes, {TotalDistance:F1}px, {CalculationTimeMs}ms";
            }
            else
            {
                return $"Failed: {ErrorMessage}, {CalculationTimeMs}ms";
            }
        }
    }
}