新增倒车以及项目结构优化

MultiWheelC/Movements/PrepareWheelsForward.cs

@@ -9,16 +9,54 @@ using MyParking.Shared;
 
 namespace MultiWheelC
 {
-    // C层测试准备：停车并等待四个舵轮稳定回到车体前向0°。
+    /// <summary>
+    /// 停车并等待四个舵轮稳定回到车体前向0°。
+    /// </summary>
     public class PrepareWheelsForward : MovementDefinition
     {
-        public float ToleranceDegrees = 2f;
-        public float StableSeconds = 0.3f;
-        public float TimeoutSeconds = 10f;
+        /// <summary>
+        /// 获取或设置本次动作的回正到位容差覆盖值，单位为deg；为空时读取车辆配置。
+        /// </summary>
+        public float? ToleranceDegrees;
+
+        /// <summary>
+        /// 获取或设置本次动作的稳定确认时间覆盖值，单位为s；为空时读取车辆配置。
+        /// </summary>
+        public float? StableSeconds;
+
+        /// <summary>
+        /// 获取或设置本次动作的超时覆盖值，单位为s；为空时读取车辆配置，0表示关闭超时。
+        /// </summary>
+        public float? TimeoutSeconds;
+
         public bool Completed { get; private set; }
 
+        /// <summary>
+        /// 读取一次有效配置并等待全部舵轮在容差内稳定保持车体前向0°。
+        /// </summary>
         public override IEnumerable<bool> Get()
         {
+            var config = PilotDefinition.Conf;
+            var toleranceDegrees =
+                ToleranceDegrees ??
+                config.ParkingWheelForwardToleranceDegrees;
+            var stableSeconds =
+                StableSeconds ??
+                config.ParkingWheelForwardStableSeconds;
+            var timeoutSeconds =
+                TimeoutSeconds ??
+                config.ParkingWheelForwardTimeoutSeconds;
+
+            NumericGuard.EnsureFiniteNonNegative(
+                toleranceDegrees,
+                nameof(ToleranceDegrees));
+            NumericGuard.EnsureFiniteNonNegative(
+                stableSeconds,
+                nameof(StableSeconds));
+            NumericGuard.EnsureFiniteNonNegative(
+                timeoutSeconds,
+                nameof(TimeoutSeconds));
+
             var chassis =
                 PilotDefinition.Chassis as MultiWheelChassis;
             if (chassis == null)
@@ -32,7 +70,7 @@ namespace MultiWheelC
                 PilotDefinition.Self.CarNum);
             adapter.ResetToBodyFrame();
             var toleranceRadians =
-                AngleMath.DegreesToRadians(ToleranceDegrees);
+                AngleMath.DegreesToRadians(toleranceDegrees);
             var startTime = DateTime.UtcNow;
             DateTime? alignedSince = null;
 
@@ -59,7 +97,7 @@ namespace MultiWheelC
 
                         if ((DateTime.UtcNow -
                                 alignedSince.Value).TotalSeconds >=
-                            StableSeconds)
+                            stableSeconds)
                         {
                             Completed = true;
                             yield break;
@@ -70,12 +108,12 @@ namespace MultiWheelC
                         alignedSince = null;
                     }
 
-                    if (TimeoutSeconds > 0f &&
+                    if (timeoutSeconds > 0f &&
                         (DateTime.UtcNow - startTime).TotalSeconds >
-                        TimeoutSeconds)
+                        timeoutSeconds)
                     {
                         throw new TimeoutException(
-                            $"舵轮回正超过{TimeoutSeconds:F1}s，" +
+                            $"舵轮回正超过{timeoutSeconds:F1}s，" +
                             "测试已经取消。");
                     }