重构横向控制器输出前后GCP目标转角并简化命令分配器

2026-08-07 18:13:55 +08:00
parent bc37e71ad0
commit 88f651e0c2
25 changed files with 310 additions and 105 deletions
@@ -173,7 +173,12 @@ namespace MultiWheelC

                    foreach (var keepRunning in movement.Get())
                    {
-                        yield return keepRunning;
+                        if (!keepRunning)
+                        {
+                            break;
+                        }
+
+                        yield return true;
                    }

                    continue;
@@ -219,7 +224,12 @@ namespace MultiWheelC

                    foreach (var keepRunning in movement.Get())
                    {
-                        yield return keepRunning;
+                        if (!keepRunning)
+                        {
+                            break;
+                        }
+
+                        yield return true;
                    }

                    continue;
@@ -228,6 +238,9 @@ namespace MultiWheelC
                throw new NotSupportedException(
                    $"组合运动计划不支持动作段类型：{segment.GetType().FullName}。");
            }
+
+            // 所有子动作均已完成后，才向外层DriveTask发送组合计划结束信号。
+            yield return false;
        }
    }
 }