拆分MultiWheelC并新增轨迹投影、Detour状态估计与Stanley跟踪控制
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Cursor
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using ClumsyCore.Interfaces;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Globalization;
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using System.IO;
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using System.Numerics;
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using System.Text;
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using System.Threading;
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using MyParking.Shared;
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namespace MultiWheelC
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{
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// C层实验数据：保存一个采样时刻的定位与控制命令。
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public sealed class TrackingSample
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{
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public double ElapsedSeconds;
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// Detour位置单位为mm，航向单位为deg。
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public double DetourX;
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public double DetourY;
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public double DetourTheta;
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// 车体速度单位为m/s，角速度统一使用rad/s。
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public float CommandSpeed;
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public float CommandVx;
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public float CommandVy;
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public float CommandAngularSpeed;
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}
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// C层实验工具：统一采集并保存轨迹跟踪实验数据。
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public sealed class TrackingExperimentRecorder
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{
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private readonly string _controllerName;
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private readonly string _trajectoryName;
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private readonly int _trialNumber;
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private readonly Vector2 _referenceStart;
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private readonly Vector2 _referenceEnd;
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private readonly float _referenceSpeed;
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private readonly float _referenceAngularSpeed;
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private readonly float _referenceMotionFrameYawDegrees;
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private readonly int _sampleIntervalMs;
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private readonly List<TrackingSample> _samples =
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new List<TrackingSample>();
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private readonly object _sampleSyncRoot =
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new object();
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private readonly object _commandSyncRoot =
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new object();
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private readonly Stopwatch _stopwatch =
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new Stopwatch();
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private Thread _worker;
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private volatile bool _running;
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private int _started;
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private int _saved;
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private bool _hasExternalCommand;
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private float _externalCommandSpeed;
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private float _externalCommandVx;
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private float _externalCommandVy;
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private float _externalCommandAngularSpeed;
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public TrackingExperimentRecorder(
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string controllerName,
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string trajectoryName,
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int trialNumber,
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Vector2 referenceStart,
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Vector2 referenceEnd,
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float referenceSpeed,
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float referenceAngularSpeed = 0f,
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int sampleIntervalMs = 50,
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float referenceMotionFrameYawDegrees = 0f)
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{
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if (string.IsNullOrWhiteSpace(controllerName))
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throw new ArgumentException(
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"控制器名称不能为空。",
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nameof(controllerName));
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if (string.IsNullOrWhiteSpace(trajectoryName))
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throw new ArgumentException(
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"轨迹名称不能为空。",
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nameof(trajectoryName));
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if (sampleIntervalMs <= 0)
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throw new ArgumentOutOfRangeException(
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nameof(sampleIntervalMs),
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"采样周期必须大于零。");
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_controllerName = controllerName;
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_trajectoryName = trajectoryName;
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_trialNumber = trialNumber;
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_referenceStart = referenceStart;
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_referenceEnd = referenceEnd;
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_referenceSpeed = referenceSpeed;
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_referenceAngularSpeed = referenceAngularSpeed;
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_referenceMotionFrameYawDegrees =
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referenceMotionFrameYawDegrees;
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_sampleIntervalMs = sampleIntervalMs;
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}
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// 保存成功后的CSV绝对路径；尚未保存时为空。
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public string SavedFilePath { get; private set; }
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// 启动后台采样线程。
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public void Start()
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{
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if (Interlocked.Exchange(ref _started, 1) != 0)
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return;
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_stopwatch.Restart();
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_running = true;
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// 立即保存起点静止状态，避免第一帧被后台线程延迟。
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CaptureSample();
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_worker = new Thread(SamplingLoop)
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{
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IsBackground = true,
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Name = "TrackingExperimentRecorder"
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};
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_worker.Start();
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}
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// 供Stanley/LQR控制器主动写入本周期最终速度命令。
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// 调用后优先记录该命令，不再使用底盘反解值。
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public void UpdateCommand(
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float commandSpeed,
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float commandAngularSpeed)
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{
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lock (_commandSyncRoot)
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{
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_externalCommandSpeed = commandSpeed;
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_externalCommandVx = commandSpeed;
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_externalCommandVy = 0f;
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_externalCommandAngularSpeed =
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commandAngularSpeed;
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_hasExternalCommand = true;
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}
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}
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// 供全向、蟹行和曲线控制器写入完整车体速度命令。
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public void UpdateBodyCommand(
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float commandVx,
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float commandVy,
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float commandAngularSpeed)
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{
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lock (_commandSyncRoot)
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{
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_externalCommandVx = commandVx;
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_externalCommandVy = commandVy;
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_externalCommandSpeed =
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(float)Math.Sqrt(
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commandVx * commandVx +
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commandVy * commandVy);
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_externalCommandAngularSpeed =
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commandAngularSpeed;
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_hasExternalCommand = true;
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}
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}
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// 停止采样并将本次实验保存为CSV；重复调用只保存一次。
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public void StopAndSave()
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{
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if (Volatile.Read(ref _started) == 0)
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return;
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if (Interlocked.Exchange(ref _saved, 1) != 0)
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return;
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try
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{
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_running = false;
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if (_worker != null &&
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_worker != Thread.CurrentThread)
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{
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_worker.Join(
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Math.Max(1000, _sampleIntervalMs * 4));
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}
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// 保存停止时刻的最后一帧。
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CaptureSample();
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_stopwatch.Stop();
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SaveCsv();
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Console.WriteLine(
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$"轨迹实验数据已保存：{SavedFilePath}");
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}
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catch
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{
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// 保存失败后允许调用者再次尝试。
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Interlocked.Exchange(ref _saved, 0);
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throw;
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}
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}
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// 按固定周期采集Detour位姿和控制命令。
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private void SamplingLoop()
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{
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while (_running)
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{
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Thread.Sleep(_sampleIntervalMs);
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if (!_running)
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break;
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CaptureSample();
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}
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}
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// 采集一帧Detour位姿和控制命令。
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private void CaptureSample()
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{
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try
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{
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var location =
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DetourInterface.getCartLocation();
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float commandSpeed;
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float commandVx;
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float commandVy;
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float commandAngularSpeed;
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lock (_commandSyncRoot)
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{
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if (_hasExternalCommand)
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{
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commandSpeed =
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_externalCommandSpeed;
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commandVx =
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_externalCommandVx;
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commandVy =
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_externalCommandVy;
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commandAngularSpeed =
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_externalCommandAngularSpeed;
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}
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else
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{
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var command =
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PilotDefinition.Chassis
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.GetCarSpeed(false);
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commandVx = command.Vx;
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commandVy = command.Vy;
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// CommonUsage.GetCarSpeed().Vw的单位为deg/s，
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// 记录器内部统一转换为rad/s。
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commandAngularSpeed =
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(float)AngleMath.DegreesToRadians(
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command.Vw);
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commandSpeed = (float)Math.Sqrt(
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commandVx * commandVx +
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commandVy * commandVy);
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}
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}
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var sample = new TrackingSample
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{
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ElapsedSeconds =
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_stopwatch.Elapsed.TotalSeconds,
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DetourX = location.x,
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DetourY = location.y,
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DetourTheta = location.th,
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CommandSpeed = commandSpeed,
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CommandVx = commandVx,
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CommandVy = commandVy,
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CommandAngularSpeed =
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commandAngularSpeed
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};
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lock (_sampleSyncRoot)
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{
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_samples.Add(sample);
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}
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}
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catch (Exception ex)
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{
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// 单帧读取失败不应终止车辆控制或整个记录线程。
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Console.WriteLine(
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$"轨迹实验采样失败：{ex.Message}");
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}
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}
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// 将内存中的采样数据写入CSV。
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private void SaveCsv()
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{
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List<TrackingSample> snapshot;
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lock (_sampleSyncRoot)
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{
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snapshot =
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new List<TrackingSample>(_samples);
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}
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var outputDirectory = Path.Combine(
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AppContext.BaseDirectory,
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"TrackingExperiments");
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Directory.CreateDirectory(outputDirectory);
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var fileName =
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$"{DateTime.Now:yyyyMMdd_HHmmss_fff}_" +
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$"{SanitizeFileName(_controllerName)}_" +
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$"{SanitizeFileName(_trajectoryName)}_" +
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$"Trial{_trialNumber}.csv";
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SavedFilePath = Path.Combine(
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outputDirectory,
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fileName);
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using (var writer = new StreamWriter(
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SavedFilePath,
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false,
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new UTF8Encoding(true)))
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{
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writer.WriteLine(
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"ElapsedSeconds," +
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"ControllerName," +
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"TrajectoryName," +
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"TrialNumber," +
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"DetourX," +
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"DetourY," +
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"DetourTheta," +
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"CommandSpeed," +
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// 保留旧列（deg/s）供历史Python脚本兼容。
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"CommandAngularSpeed," +
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"CommandAngularSpeedRadPerSecond," +
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"CommandVx," +
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"CommandVy," +
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"ReferenceStartX," +
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"ReferenceStartY," +
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"ReferenceEndX," +
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"ReferenceEndY," +
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"ReferenceSpeed," +
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"ReferenceAngularSpeedRadPerSecond," +
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"ReferenceMotionFrameYawDegrees");
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foreach (var sample in snapshot)
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{
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writer.WriteLine(string.Join(
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",",
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Format(sample.ElapsedSeconds),
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EscapeCsv(_controllerName),
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EscapeCsv(_trajectoryName),
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_trialNumber.ToString(
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CultureInfo.InvariantCulture),
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Format(sample.DetourX),
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Format(sample.DetourY),
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Format(sample.DetourTheta),
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Format(sample.CommandSpeed),
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Format(
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AngleMath.RadiansToDegrees(
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sample.CommandAngularSpeed)),
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Format(sample.CommandAngularSpeed),
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Format(sample.CommandVx),
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Format(sample.CommandVy),
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Format(_referenceStart.X),
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Format(_referenceStart.Y),
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Format(_referenceEnd.X),
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Format(_referenceEnd.Y),
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Format(_referenceSpeed),
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Format(_referenceAngularSpeed),
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Format(_referenceMotionFrameYawDegrees)));
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}
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}
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}
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// 将文件名中的非法字符替换为下划线。
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private static string SanitizeFileName(string value)
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{
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var result = value;
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foreach (var invalidCharacter in
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Path.GetInvalidFileNameChars())
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{
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result = result.Replace(
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invalidCharacter,
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'_');
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}
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return result;
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}
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// 按固定小数格式输出数值，避免系统区域设置改变CSV格式。
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private static string Format(double value)
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{
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return value.ToString(
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"0.######",
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CultureInfo.InvariantCulture);
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}
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// 对CSV文本字段进行引号和逗号转义。
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private static string EscapeCsv(string value)
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{
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if (value == null)
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return string.Empty;
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if (!value.Contains(",") &&
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!value.Contains("\"") &&
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!value.Contains("\r") &&
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!value.Contains("\n"))
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{
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return value;
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}
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return
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"\"" +
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value.Replace("\"", "\"\"") +
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"\"";
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}
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}
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}
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