集中停车控制配置并完善终点逼近和周期诊断

2026-08-11 17:46:52 +08:00
parent 33a33af710
commit 3043febd91
30 changed files with 2946 additions and 30 deletions
@@ -178,6 +178,7 @@ namespace MultiWheelC
                },
                TrackingCycleObserver = (index, controller) =>
                    RecordTrackingCycle(
+                        index,
                        controller,
                        controlPointRadiusMeters,
                        stateProvider),
@@ -281,10 +282,18 @@ namespace MultiWheelC
        /// 将轨迹控制周期使用的状态、参考误差和最终GCP命令写入记录器。
        /// </summary>
        private void RecordTrackingCycle(
+            int motionSegmentIndex,
            ParkingGeometricController controller,
            double controlPointRadiusMeters,
            WheelFeedbackVehicleStateProvider stateProvider)
        {
+            if (controller.LastCycleTiming.HasValue)
+            {
+                _recorder?.RecordControlCycleTiming(
+                    controller.LastCycleTiming.Value,
+                    motionSegmentIndex);
+            }
+
            if (controller.LastVehicleState.HasValue)
            {
                _recorder?.UpdateProcessedState(