同步中英文README与当前工程结构，并整理文档目录与构建忽略规则
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Cursor
@@ -1,92 +1,63 @@
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---
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name: readme
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description: 为当前项目生成适配 Gitee / 公司内部代码仓库的中英文双语 README。默认生成 README.md（中文，Gitee 默认展示）和 README_en.md（英文）两个文件，顶部互相链接切换语言。适用于公司项目、算法项目、机器人项目、工程代码仓库。当用户说“写个README”“生成项目介绍”“生成Gitee README”“make a readme”时使用。
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description: Create, update, audit, or synchronize repository README documentation from evidence in the codebase. Use when the user asks to write or improve a README, document setup/build/run/test workflows, explain project structure or architecture, fix stale README content, or maintain multilingual README files for any software project.
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---
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# Gitee 双语 README 生成
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# README维护
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为当前项目生成两个互相链接的 README 文件：
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生成或更新准确、简洁、可执行的项目README，不预设托管平台、技术栈、运行环境或文档语言。
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- `README.md`：简体中文，作为 Gitee 默认展示文件
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- `README_en.md`：英文版，供中英文切换使用
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## 工作流程
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如果项目中已经存在 `README_zh.md`、`Readme_zh.md`、`Readme_en.md` 等命名，先读取已有文件，并尽量沿用当前仓库已有命名规范；如果没有明确规范，默认使用 `README.md` + `README_en.md`。
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### 1. 调研仓库
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## 执行目标
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- 读取适用的`AGENTS.md`、现有README和主要设计文档。
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- 检查源码目录、项目清单、依赖文件、入口、配置、构建脚本、测试和CI配置。
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- 使用`rg --files`和针对性搜索；排除`bin`、`obj`、`build`、依赖缓存及其他生成目录。
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- 从代码和配置确认项目名称、用途、模块边界、环境要求及实际命令，不根据目录名猜测。
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生成符合公司内部 Gitee 仓库风格的 README，不写成 GitHub 开源宣传页。
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### 2. 确定范围
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README 应该让新同事或项目参与者快速知道：
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- 优先更新现有README，保留仍然准确的内容和仓库既有风格。
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- 默认沿用现有文件名和主要语言。
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- 只有用户明确要求或仓库已有约定时，才创建双语或多份README，并添加相对链接切换语言。
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- 删除或修正已改名、已删除、不存在或无法验证的内容。
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- 项目是什么
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- 面向什么设备 / 平台 / 场景
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- 软件架构大概是什么
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- 如何安装依赖
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- 如何编译 / 运行 / 启动
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- 代码目录怎么组织
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- 如何按公司流程参与开发
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### 3. 组织内容
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## 执行步骤
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根据项目实际情况选择必要章节，不强制套用完整模板。常用顺序为：
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### 1. 调研项目
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1. 项目名称与一句话说明
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2. 当前能力与适用范围
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3. 目录或架构概览
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4. 环境与依赖
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5. 构建、运行和测试
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6. 配置与部署
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7. 已知限制或故障排查
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8. 贡献方式与许可证（仅在仓库有依据时）
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先充分了解项目，不要凭空编造内容。
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- 把最常用的成功路径放在前面。
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- 仅在能显著解释模块关系或执行流程时使用表格、目录树或Mermaid图。
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- 使用相对路径链接仓库内文件，避免复制大段源码或生成完整文件清单。
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必须优先读取和分析：
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### 4. 保证事实准确
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- 项目根目录结构
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- 已有 README / 文档
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- 主入口脚本
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- 启动脚本
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- `CMakeLists.txt`
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- `package.xml`
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- `requirements.txt`
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- `pyproject.toml`
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- `package.json`
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- `docker-compose.yml`
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- `Dockerfile`
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- 配置文件
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- launch 文件
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- ROS / ROS2 相关目录
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- 核心源码目录
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- 设备通信、底盘控制、导航、感知、驱动相关代码
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- 命令必须来自项目文件、脚本或已验证的工具链；不要编造安装、启动、部署或硬件步骤。
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- 区分“已验证可用”“根据配置推断”和“尚未验证”，不要把编译成功描述为运行或实机验证成功。
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- 不编造版本、性能指标、兼容平台、许可证、维护状态或安全保证。
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- 不在README中写入密码、令牌、内网地址、个人路径或其他敏感信息。
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- 信息不足时优先省略非必要章节；必要信息缺失时明确标注待确认内容。
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需要识别：
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### 5. 验证结果
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- 项目名称
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- 项目用途
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- 运行平台
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- 技术栈
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- 编程语言
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- ROS / ROS2 版本（如果存在）
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- 构建方式
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- 启动方式
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- 主要模块
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- 依赖项
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- 是否有实际设备、仿真环境、域控一体机、阿克曼底盘、CAN、串口、网络通信等内容
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- 检查README中的名称、路径、文件和命令仍真实存在。
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- 检查中英文或多语言版本的关键事实、命令和链接保持一致。
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- 对能够安全执行的核心命令进行适度验证；未执行时明确说明。
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- 查看最终差异，避免无关重写、重复章节和过度宣传。
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**重要：只写代码和文档中真实存在的内容。**
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## 写作要求
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不要编造：
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- 未确认的算法
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- 未确认的性能指标
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- 未确认的硬件型号
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- 未确认的 ROS 版本
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- 未确认的启动命令
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- 未确认的部署流程
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- 未确认的许可证
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如果信息不足，用“待补充”明确标注，不要用通用模板假装完整。
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---
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## 2. 文件命名与语言切换
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### 默认文件
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生成：
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```text
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README.md
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README_en.md
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- 面向首次接触仓库的开发者，使用直接、具体、可操作的语言。
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- 说明“是什么、怎么用、如何验证”，避免空泛的优势描述。
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- 保持章节简短；复杂设计链接到专门文档，不把README写成完整设计说明书。
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- 代码块标注正确语言，命令应可复制，并注明必要的工作目录或前置条件。
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+41
-78
@@ -1,93 +1,56 @@
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##################################################
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# Visual Studio
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##################################################
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# .NET / MSBuild生成目录
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**/bin/
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**/obj/
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**/build/
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**/publish/
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artifacts/
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TestResults/
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*.nupkg
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packages/
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# Visual Studio 工作区缓存
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# MyParking构建脚本生成的部署文件
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/output/
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/ref/CommonUsage.dll
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# Python缓存和本地虚拟环境
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**/__pycache__/
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*.py[cod]
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.pytest_cache/
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.mypy_cache/
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.venv/
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venv/
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# 实验生成数据；保留脚本、requirements和README
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/data_process/**/*.csv
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/data_process/**/*.png
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/data_process/**/plots/
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/logs/
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# IDE和用户配置
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.vs/
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**/.vs/
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# 用户配置
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.idea/
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.vscode/
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*.user
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*.suo
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*.userosscache
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*.sln.docstates
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##################################################
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# Build 输出
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##################################################
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# 编译输出目录
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bin/
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obj/
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**/bin/
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**/obj/
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##################################################
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# Rider / VS Code
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##################################################
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.idea/
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.vscode/
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##################################################
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# NuGet
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##################################################
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*.nupkg
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packages/
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##################################################
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# 日志
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##################################################
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*.log
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##################################################
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# 临时文件
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##################################################
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*.tmp
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*.temp
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##################################################
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# 测试结果
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##################################################
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TestResults/
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##################################################
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# 发布目录
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##################################################
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publish/
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##################################################
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# Windows
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##################################################
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Thumbs.db
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Desktop.ini
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##################################################
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# JetBrains
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##################################################
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_ReSharper*/
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*.DotSettings.user
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##################################################
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# 缓存
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##################################################
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# 日志、临时文件和本地缓存
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*.log
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*.tmp
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*.temp
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*.cache
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##################################################
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# 数据库（如果有）
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##################################################
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# 本地数据库
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*.db
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*.sqlite
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*.sqlite3
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*.csv
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*.png
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# 操作系统生成文件
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Thumbs.db
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Desktop.ini
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.DS_Store
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# 不要全局忽略*.dll：MedullaAdapter/ref和MultiWheelC/ref中的宿主依赖需要保留。
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@@ -34,7 +34,7 @@
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<ItemGroup>
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<Reference Include="FundamentalLib">
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<HintPath>..\..\MedullaAdapter\ref\RefFundamentalLib.dll</HintPath>
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<HintPath>.\ref\RefFundamentalLib.dll</HintPath>
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</Reference>
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<!-- <Reference Include="ClumsyCore">
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<HintPath>..\..\MultiWheelC\ref\RefClumsyCore.dll</HintPath>
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Binary file not shown.
@@ -8,10 +8,10 @@
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1. 先实现单台停车机器人小车的基本功能；
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2. 在单车闭环稳定后逐步增加停车作业功能；
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3. 基于仿真、台架和实车数据优化轨迹跟踪方法；
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3. 基于台架和实车数据优化轨迹跟踪方法；
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4. 最后再考虑多车通信、编队和协同控制。
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当前工作仍以**单车**为主，已经从基础框架搭建进入底盘联调、功能补充和跟踪实验阶段。多车配置仍位于 `PilotConfig.cs` 的 `#if false` 区域，`Shared/FleetKinematics.cs` 仍是占位文件，不能视为多车能力已经实现。
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当前工作仍以**单车**为主，处于底盘联调、功能补充和跟踪实验阶段。多车配置位于 `MultiWheelC/PilotConfig.cs` 的 `#if false` 区域，`Shared/Fleet/FleetKinematics.cs` 仍是占位文件，不能视为多车能力已经实现。
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| 阶段 | 当前状态 | 说明 |
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| --- | --- | --- |
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@@ -22,18 +22,17 @@
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## 项目简介
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MyParking 是一个面向多轮停车机器人底盘的 C# 工程，覆盖上层运动动作、共享运动学、底层硬件适配、离线 Web 仿真和实验数据分析。
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MyParking 是一个面向多轮停车机器人底盘的 C# 工程，覆盖上层运动动作、共享运动学、底层硬件适配和实验数据分析。
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核心代码分为：
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核心模块：
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- `ClumsyPilot`：Clumsy 上层动作、轨迹跟踪和人工测试；
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- `MedullaAdapter`：Medulla 下层 MCU、CAN、串口、轮组、夹臂、遥控和报警适配；
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- `Shared`：统一的二维坐标、底盘命令、坐标变换和多轮底盘适配；
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- `MultiWheelC`：Clumsy 上层（C 层）动作、轨迹跟踪、人工测试和实验记录；
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- `MedullaAdapter`：Medulla 下层（M 层）MCU、CAN、串口、轮组、夹臂、遥控和报警适配；
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- `Shared`：M/C 共享的二维坐标、底盘命令、坐标变换和多轮底盘适配（无独立 `.csproj`，由两端编译引入）；
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- `CommonUsage-MultiVehicleSync/commonusage`：仓库内的 `CommonUsage` 底盘公共库源码；
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- `Simulation`：基于 ASP.NET Core 的单车 Web 仿真器；
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- `data_process`：轨迹实验 CSV 的 Python 分析工具。
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- `data_process`：轨迹实验与舵轮响应的 Python 分析工具。
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仓库中没有 ROS/ROS 2 或 Docker 配置。
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仓库中没有 ROS/ROS 2、Docker 或 Web 仿真项目。插件由 Clumsy / Medulla 宿主加载，不能通过 `dotnet run` 独立启动。
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## 当前已接入能力
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||||
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@@ -48,7 +47,6 @@ MyParking 是一个面向多轮停车机器人底盘的 C# 工程，覆盖上层
|
||||
| 驱动与反馈 | 8 个驱动电机和 4 个舵轮的命令、速度/位置/舵角反馈及远程帧状态 |
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| 车辆状态 | 急停、启停、抱闸、灯光、电池 SOC/SOH 和驱动使能状态 |
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||||
| 诊断 | CAN 轮速事件与周期快照 CSV、轨迹实验 CSV、控制命令和 Detour 位姿记录 |
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||||
| 仿真 | 浏览器二维车辆显示、模式按钮、手动控制、车辆配置、复位和 REST API |
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||||
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||||
以上表示代码和测试入口已经存在，不等同于所有工况均已完成实车验收。
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@@ -58,7 +56,7 @@ MyParking 是一个面向多轮停车机器人底盘的 C# 工程，覆盖上层
|
||||
Clumsy 宿主
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||||
│
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||||
▼
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||||
ClumsyPilot ───────────────┐
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||||
MultiWheelC ───────────────┐
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│ │
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▼ │ 实验 CSV
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Shared / CommonUsage ├──────────► data_process
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||||
@@ -74,111 +72,109 @@ mcu_serial_bridge.dll │
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||||
│ │
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||||
▼ │
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||||
MCU ─► CAN / Serial / IO ──┘
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||||
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||||
Simulation ─► Shared 数据类型 ─► 浏览器仿真界面
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||||
```
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||||
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||||
`ClumsyPilot` 和 `MedullaAdapter` 生成插件类库，需要由对应宿主加载；`Simulation` 是可以独立启动的 ASP.NET Core Web 项目。
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||||
`MultiWheelC` 与 `MedullaAdapter` 生成插件类库，需由对应宿主加载。`CommonUsage` 是独立底盘库，不反向依赖 `Shared`、M 层或 C 层。
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||||
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||||
## 坐标系与单位
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||||
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||||
- `Shared` 统一使用 SI 单位：m、m/s、rad、rad/s。
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||||
- 车体坐标系：X 向前、Y 向左、逆时针为正。
|
||||
- 旧接口单位只在边界处转换。
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||||
- 角度归一化、最短角差和度弧度转换统一使用 `Shared/Mathematics/AngleMath.cs`。
|
||||
- 弧度归一化范围为 `[-π, π)`，度归一化范围为 `[-180°, 180°)`。
|
||||
- 车辆航向可用圆周最短角差；受 `[-120°, 120°]` 限制的机械舵角误差必须直接使用目标值减实际值。
|
||||
|
||||
## 目录说明
|
||||
|
||||
```text
|
||||
MyParking/
|
||||
├── ParkingRobot.sln
|
||||
├── ClumsyPilot/ # 上层动作、跟踪、测试和实验记录
|
||||
├── MedullaAdapter/ # MCU、CAN、轮组、夹臂、遥控和报警
|
||||
├── Shared/ # 共享命令、坐标变换和底盘适配
|
||||
├── build-and-package.ps1 # 官方构建与 M/C 打包脚本
|
||||
├── AGENTS.md # 协作与代码规范
|
||||
├── MultiWheelC/ # C 层动作、跟踪、测试和实验记录
|
||||
├── MedullaAdapter/ # M 层 MCU、CAN、轮组、夹臂、遥控和报警
|
||||
├── Shared/ # 共享模型、数学方法和底盘适配
|
||||
├── CommonUsage-MultiVehicleSync/
|
||||
│ └── commonusage/ # CommonUsage 公共底盘库源码
|
||||
├── Simulation/ # .NET 8 Web 仿真器
|
||||
│ ├── Commands/ # 可由特性自动发现的仿真动作
|
||||
│ ├── Core/ # 仿真车辆、舵轮、时钟和世界
|
||||
│ ├── Models/ # Web API DTO
|
||||
│ └── wwwroot/ # 浏览器界面
|
||||
├── data_process/ # Python 实验绘图脚本
|
||||
├── ref/ # 两个插件共同使用的 CommonUsage.dll
|
||||
├── 测试方案.txt # 单车轨迹实验方案
|
||||
├── 记录.txt # 项目调试记录
|
||||
└── 电机记录.txt # 电机调试记录
|
||||
├── ref/ # 构建生成的 CommonUsage.dll（勿手工覆盖）
|
||||
├── data_process/
|
||||
│ ├── 轨迹测试处理/ # 轨迹对比、误差、速度与角速度绘图
|
||||
│ └── 电机响应处理/ # 舵轮响应快照分析
|
||||
├── docs/
|
||||
│ ├── SteeringConstraintDesign.md # 舵轮限位设计讨论
|
||||
│ ├── chassis参考.json # 底盘参数样例
|
||||
│ ├── 测试方案.txt # 单车轨迹实验方案
|
||||
│ └── 记录.txt # 项目调试记录
|
||||
└── output/ # 打包输出（gitignore）
|
||||
├── M/ # MedullaAdapter.dll + CommonUsage.dll
|
||||
└── C/ # MultiWheelC.dll + CommonUsage.dll
|
||||
```
|
||||
|
||||
根目录的 `ParkingRobot.sln` 当前只包含 `ClumsyPilot` 和 `MedullaAdapter`；`CommonUsage` 与 `Simulation` 需要分别构建。
|
||||
仓库内没有根级 `ParkingRobot.sln`。唯一 solution 文件位于 `CommonUsage-MultiVehicleSync/commonusage/CommonUsageSln.sln`。
|
||||
|
||||
## 开发环境与依赖
|
||||
|
||||
- Windows 开发/实机运行环境；
|
||||
- Windows 开发 / 实机运行环境；
|
||||
- Visual Studio 2022，或支持 .NET 8.0 和 .NET Standard 2.0 的 .NET SDK；
|
||||
- Python 环境，用于可选的实验数据绘图；
|
||||
- Clumsy/Medulla 内部框架程序集，位于各项目的 `ref` 目录；
|
||||
- Clumsy / Medulla 内部框架程序集，位于各项目的 `ref` 目录；
|
||||
- 实机所需的 `mcu_serial_bridge.dll`，当前仓库中未包含该文件；
|
||||
- 能够加载 `ClumsyPilot.dll` 和 `MedullaAdapter.dll` 的匹配版本宿主程序，当前仓库中未包含宿主。
|
||||
- 能够加载 `MultiWheelC.dll` 和 `MedullaAdapter.dll` 的匹配版本宿主程序，当前仓库中未包含宿主。
|
||||
|
||||
主要 NuGet/Python 依赖：
|
||||
主要依赖：
|
||||
|
||||
- `ClumsyPilot`：`Newtonsoft.Json 13.0.3`、`System.Numerics.Vectors 4.6.1`；
|
||||
- `CommonUsage`：`MQTTnet 4.3.7.1207`、`Newtonsoft.Json 13.0.3` 等；
|
||||
- `data_process`：NumPy、pandas、Matplotlib、SciPy。
|
||||
- `MultiWheelC`（`netstandard2.0`）：`Newtonsoft.Json 13.0.3`、`System.Numerics.Vectors 4.6.1`；
|
||||
- `MedullaAdapter`（`net8.0`）：无 NuGet PackageReference，依赖本地 `ref` 程序集；
|
||||
- `CommonUsage`（`netstandard2.0`）：`MQTTnet 4.3.7.1207`、`Newtonsoft.Json 13.0.3` 等；
|
||||
- `data_process`：见各子目录 `requirements.txt`。
|
||||
|
||||
## 编译
|
||||
## 编译与打包
|
||||
|
||||
### 1. 构建 CommonUsage
|
||||
在 `MyParking` 目录执行官方脚本（默认 Debug）：
|
||||
|
||||
修改公共底盘库后，先执行：
|
||||
```powershell
|
||||
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1
|
||||
```
|
||||
|
||||
Release 构建：
|
||||
|
||||
```powershell
|
||||
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1 -Configuration Release
|
||||
```
|
||||
|
||||
脚本流程：
|
||||
|
||||
1. 构建 `CommonUsage`，并将 `CommonUsage.dll` 复制到根目录 `ref/`；
|
||||
2. 构建 `MedullaAdapter` 和 `MultiWheelC`；
|
||||
3. 将 M/C 产物分别打包到 `output/M` 和 `output/C`，两边使用同一份 `CommonUsage.dll`。
|
||||
|
||||
首次克隆或依赖变更后，如遇 `--no-restore` 失败，可先恢复依赖再打包：
|
||||
|
||||
```powershell
|
||||
dotnet restore CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj
|
||||
dotnet build CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj -c Debug
|
||||
dotnet restore MedullaAdapter\MedullaAdapter.csproj
|
||||
dotnet restore MultiWheelC\MultiWheelC.csproj
|
||||
```
|
||||
|
||||
该项目的构建目标会把生成的 `CommonUsage.dll` 复制到根目录 `ref`。
|
||||
|
||||
### 2. 构建实车插件
|
||||
|
||||
```powershell
|
||||
dotnet restore ParkingRobot.sln
|
||||
dotnet build ParkingRobot.sln -c Debug
|
||||
```
|
||||
|
||||
主要输出：
|
||||
主要中间输出：
|
||||
|
||||
```text
|
||||
ClumsyPilot/build/Clumsy/ClumsyPilot.dll
|
||||
MedullaAdapter/build/Medulla/plugins/MedullaAdapter.dll
|
||||
MultiWheelC/build/Clumsy/MultiWheelC.dll
|
||||
```
|
||||
|
||||
### 3. 构建 Web 仿真器
|
||||
|
||||
```powershell
|
||||
dotnet restore Simulation\MyParking.Simulation.csproj
|
||||
dotnet build Simulation\MyParking.Simulation.csproj -c Debug
|
||||
```
|
||||
|
||||
## 启动 Web 仿真
|
||||
|
||||
```powershell
|
||||
dotnet run --project Simulation\MyParking.Simulation.csproj --launch-profile http
|
||||
```
|
||||
|
||||
浏览器访问：
|
||||
|
||||
```text
|
||||
http://localhost:5203
|
||||
```
|
||||
|
||||
仿真界面提供正常、左蟹行、右蟹行、自转、前进、后退、左转、右转、停止和复位动作，并可修改车辆布局及手动控制输入。主要 API 包括：
|
||||
|
||||
- `GET /api/vehicles`
|
||||
- `GET /api/actions`
|
||||
- `GET/POST /api/configuration`
|
||||
- `POST /api/vehicles/{vehicleId}/commands/{command}`
|
||||
- `POST /api/vehicles/{vehicleId}/manual-control`
|
||||
- `POST /api/reset`
|
||||
|
||||
`Simulation/Commands/MySimulationTests.cs` 给出了自定义仿真动作示例；为静态方法添加 `SimulationAction` 特性后，调度器会自动发现并在网页生成对应动作。
|
||||
不要直接编辑 `bin`、`obj`、`build`、`output` 中的产物，也不要手工覆盖 `ref/CommonUsage.dll`。
|
||||
|
||||
## 实车运行与 MCU 配置
|
||||
|
||||
实车插件不能通过 `dotnet run` 独立启动。需要由匹配版本的 Clumsy/Medulla 宿主加载两个 DLL。宿主版本、部署目录和完整启动步骤尚未随仓库提供，待补充。
|
||||
实车插件不能通过 `dotnet run` 独立启动，需要由匹配版本的 Clumsy / Medulla 宿主分别加载：
|
||||
|
||||
```text
|
||||
output/C/MultiWheelC.dll
|
||||
output/M/MedullaAdapter.dll
|
||||
```
|
||||
|
||||
宿主版本、部署目录和完整启动步骤尚未随仓库提供，待补充。
|
||||
|
||||
当前源码中的 MCU 默认参数：
|
||||
|
||||
@@ -192,13 +188,13 @@ http://localhost:5203
|
||||
| 自转最大角速度 | `30 deg/s` |
|
||||
| 轮速诊断目录 | `logs\wheel-speed` |
|
||||
|
||||
当前工作区存在 `chassis.json` 底盘参数样例，但源码中尚未发现自动加载该文件的入口；实车参数仍应以宿主实际配置为准。
|
||||
`docs/chassis参考.json` 是底盘参数样例；源码中尚未发现自动加载该文件的入口，实车参数仍应以宿主实际配置为准。
|
||||
|
||||
实机测试前必须确认端口、车号、舵轮零位与限位、速度单位、驱动方向、夹臂限位和急停链路。建议先架空驱动轮或在隔离区域低速测试，并保留独立可靠的物理急停，不能只依赖软件停车。
|
||||
实机测试前必须确认端口、车号、舵轮零位与限位、速度单位、驱动方向、夹臂限位和急停链路。建议先架空驱动轮或在隔离区域低速、短距离测试，并保留独立可靠的物理急停，不能只依赖软件停车。
|
||||
|
||||
## 单车测试入口
|
||||
|
||||
`ClumsyPilot/MovementTests.cs` 当前注册：
|
||||
`MultiWheelC/MovementTests.cs` 当前注册：
|
||||
|
||||
- `准备：四个舵轮与车头方向一致`
|
||||
- `SendMotion：连续前进4m`
|
||||
@@ -227,25 +223,29 @@ Medulla 的轮速诊断可通过 `StartWheelSpeedDiagnostic` / `StopWheelSpeedDi
|
||||
logs/wheel-speed/
|
||||
```
|
||||
|
||||
在自行管理的 Python 环境中安装依赖：
|
||||
### 轨迹测试处理
|
||||
|
||||
```powershell
|
||||
python -m pip install -r data_process\requirements.txt
|
||||
python -m pip install -r data_process\轨迹测试处理\requirements.txt
|
||||
python data_process\轨迹测试处理\run_all_plots.py "路径\实验1.csv" "路径\实验2.csv" --output-dir "路径\plots"
|
||||
```
|
||||
|
||||
对一份或多份轨迹 CSV 同时生成轨迹对比、跟踪误差、速度响应和角速度命令图：
|
||||
默认重采样频率为 `20 Hz`，滤波窗口为 `0.55 s`，可通过 `--frequency` 和 `--window` 调整。
|
||||
|
||||
### 电机响应处理
|
||||
|
||||
```powershell
|
||||
python data_process\run_all_plots.py "路径\实验1.csv" "路径\实验2.csv" --output-dir "路径\plots"
|
||||
python -m pip install -r data_process\电机响应处理\requirements.txt
|
||||
python data_process\电机响应处理\plot_steering_response.py
|
||||
```
|
||||
|
||||
不传 CSV 路径时，脚本会查找 `data_process` 目录中的 CSV。默认重采样频率为 `20 Hz`，滤波窗口为 `0.55 s`，可通过 `--frequency` 和 `--window` 调整。
|
||||
默认读取 `logs\wheel-speed` 中最新的 `*_snapshot.csv`。详见 [`data_process/电机响应处理/README.md`](data_process/电机响应处理/README.md)。
|
||||
|
||||
## 尚未完成或需要继续验证
|
||||
|
||||
- 雷达点云、轮胎识别、自动钻车、车辆释放和完整停车作业状态机；
|
||||
- 当前运动和夹臂功能的完整实车验收、故障注入及长期稳定性测试；
|
||||
- 舵轮软限位预测和自动车身重定向；`SteeringConstraintManager.cs` 当前主要是设计记录；
|
||||
- 舵轮软限位预测和自动车身重定向；当前仅有设计文档 [`docs/SteeringConstraintDesign.md`](docs/SteeringConstraintDesign.md)；
|
||||
- 自动化单元测试和持续集成；
|
||||
- 多车通信、编队、同步和安全降级；`FleetKinematics.cs` 当前仅为占位；
|
||||
- 宿主版本、插件部署目录、配置文件位置和发布流程。
|
||||
@@ -253,12 +253,14 @@ python data_process\run_all_plots.py "路径\实验1.csv" "路径\实验2.csv" -
|
||||
## 参与开发
|
||||
|
||||
1. 当前改动优先服务于单车闭环、停车功能和跟踪质量，不提前启用多车代码；
|
||||
2. 保持上层动作、共享运动学、底层硬件协议和仿真模块的边界；
|
||||
2. 保持 `CommonUsage`、`Shared`、`MedullaAdapter`、`MultiWheelC` 的模块边界；
|
||||
3. 新增参数时注明坐标系、单位、默认值、车型和安全范围；
|
||||
4. 提交前构建受影响的项目，并记录仿真、台架或实车验证条件；
|
||||
5. 修改 `CommonUsage` 后同步更新根目录 `ref/CommonUsage.dll`；
|
||||
4. 修改相关项目后运行 `build-and-package.ps1`，并确认 M/C 部署包使用同一份 `CommonUsage.dll`；
|
||||
5. 未经明确要求，不改变速度或舵角符号、CAN ID、遥控器映射、机械限位和模式切换策略；
|
||||
6. 分支、评审和发布流程待团队补充。
|
||||
|
||||
更细的协作约定见 [`AGENTS.md`](AGENTS.md)。
|
||||
|
||||
## 许可证
|
||||
|
||||
仓库中暂未提供许可证文件。使用和分发范围请遵循公司内部规定。
|
||||
|
||||
+95
-93
@@ -8,10 +8,10 @@ This repository is a rewrite of the parking-robot control software. Development
|
||||
|
||||
1. Implement the basic functions of one parking robot first;
|
||||
2. Add parking-operation features after the single-robot loop is stable;
|
||||
3. Improve tracking with simulation, bench, and physical-vehicle data;
|
||||
3. Improve tracking with bench and physical-vehicle data;
|
||||
4. Consider multi-robot communication, formation, and coordination last.
|
||||
|
||||
The current work remains focused on the **single robot** and has progressed from framework construction to chassis integration, feature development, and tracking experiments. Multi-robot settings remain inside the `#if false` section of `PilotConfig.cs`, while `Shared/FleetKinematics.cs` is still a placeholder. These files do not represent an implemented multi-robot system.
|
||||
The current work remains focused on the **single robot** and is in chassis integration, feature development, and tracking experiments. Multi-robot settings remain inside the `#if false` section of `MultiWheelC/PilotConfig.cs`, while `Shared/Fleet/FleetKinematics.cs` is still a placeholder. These files do not represent an implemented multi-robot system.
|
||||
|
||||
| Stage | Current status | Notes |
|
||||
| --- | --- | --- |
|
||||
@@ -22,18 +22,17 @@ The current work remains focused on the **single robot** and has progressed from
|
||||
|
||||
## Overview
|
||||
|
||||
MyParking is a C# project for a multi-wheel parking-robot chassis. It covers upper-layer actions, shared kinematics, lower-layer hardware adaptation, an offline Web simulator, and experiment-data analysis.
|
||||
MyParking is a C# project for a multi-wheel parking-robot chassis. It covers upper-layer actions, shared kinematics, lower-layer hardware adaptation, and experiment-data analysis.
|
||||
|
||||
The main components are:
|
||||
Main modules:
|
||||
|
||||
- `ClumsyPilot`: Clumsy actions, tracking, and manual tests;
|
||||
- `MedullaAdapter`: Medulla MCU, CAN, serial, wheel, clamp, remote-control, and alarm adaptation;
|
||||
- `Shared`: common 2D coordinates, chassis commands, frame transforms, and multi-wheel adaptation;
|
||||
- `MultiWheelC`: Clumsy upper layer (C layer) for actions, tracking, manual tests, and experiment recording;
|
||||
- `MedullaAdapter`: Medulla lower layer (M layer) for MCU, CAN, serial, wheel, clamp, remote-control, and alarm adaptation;
|
||||
- `Shared`: M/C-shared 2D coordinates, chassis commands, frame transforms, and multi-wheel adaptation (no standalone `.csproj`; compiled into both ends);
|
||||
- `CommonUsage-MultiVehicleSync/commonusage`: in-repository source for the `CommonUsage` chassis library;
|
||||
- `Simulation`: an ASP.NET Core single-robot Web simulator;
|
||||
- `data_process`: Python tools for tracking-experiment CSV files.
|
||||
- `data_process`: Python tools for tracking experiments and steering-response analysis.
|
||||
|
||||
No ROS/ROS 2 or Docker configuration is present.
|
||||
No ROS/ROS 2, Docker, or Web simulator project is present. The plugins are loaded by Clumsy / Medulla hosts and cannot be started independently with `dotnet run`.
|
||||
|
||||
## Currently Integrated Capabilities
|
||||
|
||||
@@ -48,7 +47,6 @@ No ROS/ROS 2 or Docker configuration is present.
|
||||
| Drive and feedback | Commands and speed/position/steering feedback for eight drive motors and four steer modules, plus remote-frame state |
|
||||
| Vehicle state | Emergency stop, start/stop, brake, lights, battery SOC/SOH, and drive-enable state |
|
||||
| Diagnostics | CAN wheel-speed events, periodic snapshot CSVs, tracking CSVs, command recording, and Detour pose recording |
|
||||
| Simulation | Browser-based 2D display, mode actions, manual control, vehicle configuration, reset, and REST APIs |
|
||||
|
||||
The presence of code and test entries does not mean every operating condition has passed physical acceptance testing.
|
||||
|
||||
@@ -58,7 +56,7 @@ The presence of code and test entries does not mean every operating condition ha
|
||||
Clumsy host
|
||||
│
|
||||
▼
|
||||
ClumsyPilot ───────────────┐
|
||||
MultiWheelC ───────────────┐
|
||||
│ │
|
||||
▼ │ experiment CSV
|
||||
Shared / CommonUsage ├──────────► data_process
|
||||
@@ -74,111 +72,109 @@ mcu_serial_bridge.dll │
|
||||
│ │
|
||||
▼ │
|
||||
MCU ─► CAN / Serial / IO ──┘
|
||||
|
||||
Simulation ─► Shared data types ─► browser simulator
|
||||
```
|
||||
|
||||
`ClumsyPilot` and `MedullaAdapter` build as plugin libraries that require their respective hosts. `Simulation` is an independently runnable ASP.NET Core Web project.
|
||||
`MultiWheelC` and `MedullaAdapter` build as plugin libraries that require their respective hosts. `CommonUsage` is an independent chassis library and must not depend back on `Shared`, the M layer, or the C layer.
|
||||
|
||||
## Coordinates and Units
|
||||
|
||||
- `Shared` uses SI units: m, m/s, rad, rad/s.
|
||||
- Body frame: X forward, Y left, counterclockwise positive.
|
||||
- Legacy API units are converted only at boundaries.
|
||||
- Angle normalization, shortest angular difference, and degree/radian conversion use `Shared/Mathematics/AngleMath.cs`.
|
||||
- Radian normalization range is `[-π, π)`; degree normalization range is `[-180°, 180°)`.
|
||||
- Vehicle heading may use the shortest circular difference; mechanical steering error under the `[-120°, 120°]` limit must use target minus actual directly.
|
||||
|
||||
## Repository Layout
|
||||
|
||||
```text
|
||||
MyParking/
|
||||
├── ParkingRobot.sln
|
||||
├── ClumsyPilot/ # Upper-layer actions, tracking, tests, and recording
|
||||
├── MedullaAdapter/ # MCU, CAN, wheel, clamp, remote, and alarms
|
||||
├── Shared/ # Shared commands, frame transforms, and chassis adapter
|
||||
├── build-and-package.ps1 # Official build and M/C packaging script
|
||||
├── AGENTS.md # Collaboration and coding rules
|
||||
├── MultiWheelC/ # C-layer actions, tracking, tests, and recording
|
||||
├── MedullaAdapter/ # M-layer MCU, CAN, wheel, clamp, remote, and alarms
|
||||
├── Shared/ # Shared models, math, and chassis adapter
|
||||
├── CommonUsage-MultiVehicleSync/
|
||||
│ └── commonusage/ # CommonUsage chassis-library source
|
||||
├── Simulation/ # .NET 8 Web simulator
|
||||
│ ├── Commands/ # Attribute-discovered simulation actions
|
||||
│ ├── Core/ # Vehicles, steer wheels, clock, and world
|
||||
│ ├── Models/ # Web API DTOs
|
||||
│ └── wwwroot/ # Browser UI
|
||||
├── data_process/ # Python experiment-plotting scripts
|
||||
├── ref/ # CommonUsage.dll shared by both plugins
|
||||
├── 测试方案.txt # Single-robot tracking experiment plan
|
||||
├── 记录.txt # Project debugging notes
|
||||
└── 电机记录.txt # Motor debugging notes
|
||||
├── ref/ # Generated CommonUsage.dll (do not overwrite by hand)
|
||||
├── data_process/
|
||||
│ ├── 轨迹测试处理/ # Trajectory comparison, error, speed, and yaw plots
|
||||
│ └── 电机响应处理/ # Steering-response snapshot analysis
|
||||
├── docs/
|
||||
│ ├── SteeringConstraintDesign.md # Steering-limit design notes
|
||||
│ ├── chassis参考.json # Sample chassis parameters
|
||||
│ ├── 测试方案.txt # Single-robot tracking experiment plan
|
||||
│ └── 记录.txt # Project debugging notes
|
||||
└── output/ # Packaging output (gitignored)
|
||||
├── M/ # MedullaAdapter.dll + CommonUsage.dll
|
||||
└── C/ # MultiWheelC.dll + CommonUsage.dll
|
||||
```
|
||||
|
||||
The root `ParkingRobot.sln` currently contains only `ClumsyPilot` and `MedullaAdapter`. Build `CommonUsage` and `Simulation` separately.
|
||||
There is no root-level `ParkingRobot.sln`. The only solution file is `CommonUsage-MultiVehicleSync/commonusage/CommonUsageSln.sln`.
|
||||
|
||||
## Development Environment and Dependencies
|
||||
|
||||
- Windows development and physical-runtime environment;
|
||||
- Visual Studio 2022, or a .NET SDK supporting .NET 8.0 and .NET Standard 2.0;
|
||||
- A Python environment for optional experiment plotting;
|
||||
- Internal Clumsy/Medulla framework assemblies under each project's `ref` directory;
|
||||
- Internal Clumsy / Medulla framework assemblies under each project's `ref` directory;
|
||||
- `mcu_serial_bridge.dll` for physical operation; this file is not currently in the repository;
|
||||
- Compatible hosts capable of loading `ClumsyPilot.dll` and `MedullaAdapter.dll`; the hosts are not included.
|
||||
- Compatible hosts capable of loading `MultiWheelC.dll` and `MedullaAdapter.dll`; the hosts are not included.
|
||||
|
||||
Primary NuGet/Python dependencies:
|
||||
Primary dependencies:
|
||||
|
||||
- `ClumsyPilot`: `Newtonsoft.Json 13.0.3` and `System.Numerics.Vectors 4.6.1`;
|
||||
- `CommonUsage`: `MQTTnet 4.3.7.1207`, `Newtonsoft.Json 13.0.3`, and related packages;
|
||||
- `data_process`: NumPy, pandas, Matplotlib, and SciPy.
|
||||
- `MultiWheelC` (`netstandard2.0`): `Newtonsoft.Json 13.0.3` and `System.Numerics.Vectors 4.6.1`;
|
||||
- `MedullaAdapter` (`net8.0`): no NuGet PackageReferences; depends on local `ref` assemblies;
|
||||
- `CommonUsage` (`netstandard2.0`): `MQTTnet 4.3.7.1207`, `Newtonsoft.Json 13.0.3`, and related packages;
|
||||
- `data_process`: see each subdirectory's `requirements.txt`.
|
||||
|
||||
## Build
|
||||
## Build and Packaging
|
||||
|
||||
### 1. Build CommonUsage
|
||||
From the `MyParking` directory, run the official script (Debug by default):
|
||||
|
||||
After changing the common chassis library, run:
|
||||
```powershell
|
||||
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1
|
||||
```
|
||||
|
||||
Release build:
|
||||
|
||||
```powershell
|
||||
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1 -Configuration Release
|
||||
```
|
||||
|
||||
Script flow:
|
||||
|
||||
1. Build `CommonUsage` and copy `CommonUsage.dll` to the root `ref/` directory;
|
||||
2. Build `MedullaAdapter` and `MultiWheelC`;
|
||||
3. Package M/C outputs into `output/M` and `output/C`, both using the same `CommonUsage.dll`.
|
||||
|
||||
After a fresh clone or dependency change, if `--no-restore` fails, restore first and then package:
|
||||
|
||||
```powershell
|
||||
dotnet restore CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj
|
||||
dotnet build CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj -c Debug
|
||||
dotnet restore MedullaAdapter\MedullaAdapter.csproj
|
||||
dotnet restore MultiWheelC\MultiWheelC.csproj
|
||||
```
|
||||
|
||||
The project includes a build target that copies the generated `CommonUsage.dll` to the root `ref` directory.
|
||||
|
||||
### 2. Build Physical-Robot Plugins
|
||||
|
||||
```powershell
|
||||
dotnet restore ParkingRobot.sln
|
||||
dotnet build ParkingRobot.sln -c Debug
|
||||
```
|
||||
|
||||
Primary outputs:
|
||||
Primary intermediate outputs:
|
||||
|
||||
```text
|
||||
ClumsyPilot/build/Clumsy/ClumsyPilot.dll
|
||||
MedullaAdapter/build/Medulla/plugins/MedullaAdapter.dll
|
||||
MultiWheelC/build/Clumsy/MultiWheelC.dll
|
||||
```
|
||||
|
||||
### 3. Build the Web Simulator
|
||||
|
||||
```powershell
|
||||
dotnet restore Simulation\MyParking.Simulation.csproj
|
||||
dotnet build Simulation\MyParking.Simulation.csproj -c Debug
|
||||
```
|
||||
|
||||
## Run the Web Simulator
|
||||
|
||||
```powershell
|
||||
dotnet run --project Simulation\MyParking.Simulation.csproj --launch-profile http
|
||||
```
|
||||
|
||||
Open:
|
||||
|
||||
```text
|
||||
http://localhost:5203
|
||||
```
|
||||
|
||||
The UI provides normal, left-crab, right-crab, spin, forward, backward, left-turn, right-turn, stop, and reset actions. It also supports vehicle-layout configuration and manual-control input. Main APIs include:
|
||||
|
||||
- `GET /api/vehicles`
|
||||
- `GET /api/actions`
|
||||
- `GET/POST /api/configuration`
|
||||
- `POST /api/vehicles/{vehicleId}/commands/{command}`
|
||||
- `POST /api/vehicles/{vehicleId}/manual-control`
|
||||
- `POST /api/reset`
|
||||
|
||||
`Simulation/Commands/MySimulationTests.cs` contains an example custom action. Add the `SimulationAction` attribute to a static method to have it discovered by the dispatcher and exposed in the Web UI.
|
||||
Do not edit artifacts under `bin`, `obj`, `build`, or `output`, and do not manually overwrite `ref/CommonUsage.dll`.
|
||||
|
||||
## Physical Runtime and MCU Configuration
|
||||
|
||||
The physical-robot plugins cannot be started independently with `dotnet run`. Compatible Clumsy/Medulla hosts must load both DLLs. The required host versions, deployment directories, and complete startup procedure have not yet been provided.
|
||||
The physical-robot plugins cannot be started independently with `dotnet run`. Compatible Clumsy / Medulla hosts must load:
|
||||
|
||||
```text
|
||||
output/C/MultiWheelC.dll
|
||||
output/M/MedullaAdapter.dll
|
||||
```
|
||||
|
||||
The required host versions, deployment directories, and complete startup procedure have not yet been provided.
|
||||
|
||||
MCU defaults confirmed from the current source:
|
||||
|
||||
@@ -192,13 +188,13 @@ MCU defaults confirmed from the current source:
|
||||
| Maximum spin rate | `30 deg/s` |
|
||||
| Wheel-speed diagnostic directory | `logs\wheel-speed` |
|
||||
|
||||
A `chassis.json` chassis-parameter example is present in the current workspace, but no automatic loader for it was found in the source. Treat the actual host configuration as authoritative.
|
||||
`docs/chassis参考.json` is a chassis-parameter example. No automatic loader for it was found in the source. Treat the actual host configuration as authoritative.
|
||||
|
||||
Before physical testing, verify the port, vehicle ID, steering zero and limits, speed units, motor direction, clamp limits, and emergency-stop chain. Begin with lifted drive wheels or a segregated low-speed test area and retain an independent physical emergency stop; never rely on software stopping alone.
|
||||
Before physical testing, verify the port, vehicle ID, steering zero and limits, speed units, motor direction, clamp limits, and emergency-stop chain. Begin with lifted drive wheels or a segregated low-speed, short-distance test area and retain an independent physical emergency stop; never rely on software stopping alone.
|
||||
|
||||
## Single-Robot Test Entries
|
||||
|
||||
`ClumsyPilot/MovementTests.cs` currently registers:
|
||||
`MultiWheelC/MovementTests.cs` currently registers:
|
||||
|
||||
- `准备：四个舵轮与车头方向一致`
|
||||
- `SendMotion：连续前进4m`
|
||||
@@ -227,25 +223,29 @@ Medulla wheel-speed diagnostics can be controlled with the `StartWheelSpeedDiagn
|
||||
logs/wheel-speed/
|
||||
```
|
||||
|
||||
Install dependencies in a Python environment managed by your team:
|
||||
### Trajectory processing
|
||||
|
||||
```powershell
|
||||
python -m pip install -r data_process\requirements.txt
|
||||
python -m pip install -r data_process\轨迹测试处理\requirements.txt
|
||||
python data_process\轨迹测试处理\run_all_plots.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots"
|
||||
```
|
||||
|
||||
Generate trajectory comparison, tracking error, speed response, and angular-command plots for one or more CSV files:
|
||||
The default resampling frequency is `20 Hz`, and the default filter window is `0.55 s`; use `--frequency` and `--window` to change them.
|
||||
|
||||
### Steering-response processing
|
||||
|
||||
```powershell
|
||||
python data_process\run_all_plots.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots"
|
||||
python -m pip install -r data_process\电机响应处理\requirements.txt
|
||||
python data_process\电机响应处理\plot_steering_response.py
|
||||
```
|
||||
|
||||
When no CSV path is supplied, the scripts search the `data_process` directory. The default resampling frequency is `20 Hz`, and the default filter window is `0.55 s`; use `--frequency` and `--window` to change them.
|
||||
By default this reads the latest `*_snapshot.csv` under `logs\wheel-speed`. See [`data_process/电机响应处理/README.md`](data_process/电机响应处理/README.md).
|
||||
|
||||
## Incomplete or Pending Validation
|
||||
|
||||
- Lidar point clouds, tire recognition, automatic vehicle entry, vehicle release, and the complete parking-operation state machine;
|
||||
- Full physical acceptance, fault injection, and long-duration testing for current motion and clamp functions;
|
||||
- Steering soft-limit prediction and automatic body reorientation; `SteeringConstraintManager.cs` currently contains mainly design notes;
|
||||
- Steering soft-limit prediction and automatic body reorientation; only the design document [`docs/SteeringConstraintDesign.md`](docs/SteeringConstraintDesign.md) exists today;
|
||||
- Automated unit tests and continuous integration;
|
||||
- Multi-robot communication, formation, synchronization, and safety fallback; `FleetKinematics.cs` is currently only a placeholder;
|
||||
- Host versions, plugin deployment directories, configuration-file locations, and the release process.
|
||||
@@ -253,12 +253,14 @@ When no CSV path is supplied, the scripts search the `data_process` directory. T
|
||||
## Contributing
|
||||
|
||||
1. Prioritize single-robot closed-loop behavior, parking functions, and tracking quality; do not enable multi-robot code prematurely.
|
||||
2. Preserve the boundaries between upper-layer actions, shared kinematics, hardware protocols, and simulation.
|
||||
2. Preserve the boundaries among `CommonUsage`, `Shared`, `MedullaAdapter`, and `MultiWheelC`.
|
||||
3. Document coordinate frames, units, defaults, applicable vehicle types, and safe ranges for new parameters.
|
||||
4. Build every affected project before submission and record the simulation, bench, or physical-test conditions.
|
||||
5. After changing `CommonUsage`, update the root `ref/CommonUsage.dll`.
|
||||
4. After changing the related projects, run `build-and-package.ps1` and confirm that the M/C packages use the same `CommonUsage.dll`.
|
||||
5. Do not change velocity or steering signs, CAN IDs, remote-control mappings, mechanical limits, or mode-switch policy unless explicitly requested.
|
||||
6. The team still needs to document its branch, review, and release processes.
|
||||
|
||||
See [`AGENTS.md`](AGENTS.md) for more detailed collaboration rules.
|
||||
|
||||
## License
|
||||
|
||||
No license file is currently included. Use and distribution must follow internal company policy.
|
||||
|
||||
Reference in New Issue
Block a user