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
@@ -333,6 +333,12 @@ namespace MultiWheelC
            double controlPointRadiusMeters,
            WheelFeedbackVehicleStateProvider stateProvider)
        {
+            if (controller.LastCycleTiming.HasValue)
+            {
+                recorder.RecordControlCycleTiming(
+                    controller.LastCycleTiming.Value);
+            }
+
            if (controller.LastVehicleState.HasValue)
            {
                recorder.UpdateProcessedState(
@@ -690,6 +696,12 @@ namespace MultiWheelC
            double controlPointRadiusMeters,
            WheelFeedbackVehicleStateProvider stateProvider)
        {
+            if (controller.LastCycleTiming.HasValue)
+            {
+                recorder.RecordControlCycleTiming(
+                    controller.LastCycleTiming.Value);
+            }
+
            if (controller.LastVehicleState.HasValue)
            {
                recorder.UpdateProcessedState(