完善轨迹跟踪测试并添加实验数据记录与绘图分析工具
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Cursor
+589
-95
@@ -2,125 +2,619 @@ using ClumsyCore;
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using ClumsyCore.DTools;
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using ClumsyCore.Interfaces;
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using ClumsyCore.Pilot;
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using CommonUsage.Chassis;
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using MDCSToolBox.Commons.Controllers;
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using MDCSToolBox.Clumsy.Tracks;
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using MyParking.Shared;
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using System;
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using System.Numerics;
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using System.Threading;
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namespace MultiWheelC
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{
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public abstract class DstTrackerTestBase : MovementTest
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internal static class MovementTestPreparation
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{
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public bool UseInteractivePick = true;
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public float srcX;
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public float srcY;
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public float dstX;
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public float dstY;
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public float carDirectionBias;
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private readonly Painter _painter = UI.GetPainter("DstTrackerTest");
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private DriveTask _dt;
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protected DstTrackerTestBase(float defaultCarDirectionBias)
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// 在测试正式开始前，将四个舵轮稳定回正到车体前向。
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public static bool AlignWheelsForward(
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ref DriveTask activeTask)
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{
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carDirectionBias = defaultCarDirectionBias;
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}
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var preparation = new PrepareWheelsForward();
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var task = new DriveTask(preparation.Get());
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activeTask = task;
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public override void TestStop()
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{
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_dt?.Stop();
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_painter?.Clear();
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}
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public override void Test()
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{
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Vector2 p1;
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Vector2 p2;
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if (UseInteractivePick)
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try
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{
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p1 = UI.GetPoint("point1");
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p2 = UI.GetPoint("point2");
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task.Wait();
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return preparation.Completed;
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}
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else
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{
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p1 = new Vector2(srcX, srcY);
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p2 = new Vector2(dstX, dstY);
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}
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_painter.Clear();
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_dt = new DriveTask(new DstTracker
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{
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Src = p1,
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Dst = p2,
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CarDirectionBias = carDirectionBias,
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}.Get());
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_dt.Wait();
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}
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}
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[MovementTest(name = "测试终点跟踪动作-前进")]
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public sealed class DstTrackerForward : DstTrackerTestBase
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{
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public DstTrackerForward() : base(0f) { }
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}
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[MovementTest(name = "测试终点跟踪动作-后退")]
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public sealed class DstTrackerBackward : DstTrackerTestBase
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{
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public DstTrackerBackward() : base(180f) { }
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}
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[MovementTest(name = "底盘旋转测试")]
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public class RotateToAngleTest : MovementTest
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{
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private DriveTask _dt;
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// 停止当前正在执行的底盘原地旋转任务。
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public override void TestStop()
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{
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_dt?.Stop();
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}
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// 交互输入目标角度后执行底盘原地旋转测试。
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public override void Test()
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{
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var input = UI.GetInput("输入旋转角度：");
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if (!float.TryParse(input, out var angleTarget))
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catch (Exception ex)
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{
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Console.WriteLine(
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$"旋转测试输入无效：{input}");
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$"测试前舵轮回正失败：{ex.Message}");
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return false;
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}
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finally
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{
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task.Stop();
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if (ReferenceEquals(activeTask, task))
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activeTask = null;
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}
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}
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// 只读取实际舵角，检查四个舵轮是否已与车头方向一致。
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public static bool AreWheelsForward(
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float toleranceDegrees = 2f)
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{
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var chassis =
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PilotDefinition.Chassis as MultiWheelChassis;
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if (chassis == null)
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{
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Console.WriteLine(
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"当前底盘不是MultiWheelChassis，无法检查舵轮方向。");
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return false;
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}
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try
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{
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var adapter = new MultiWheelChassisAdapter(
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chassis,
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PilotDefinition.Self.CarNum);
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var toleranceRadians =
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toleranceDegrees * Math.PI / 180.0;
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if (adapter.AreParallelWheelsAligned(
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0.0,
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toleranceRadians))
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{
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return true;
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}
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Console.WriteLine(
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"四个舵轮尚未与车头方向一致，请先执行“准备：四个舵轮与车头方向一致”。");
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return false;
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}
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catch (Exception ex)
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{
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Console.WriteLine(
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$"检查舵轮方向失败：{ex.Message}");
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return false;
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}
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}
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}
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[MovementTest(name = "准备：四个舵轮与车头方向一致")]
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public class AlignWheelsForwardTest : MovementTest
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{
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private DriveTask _task;
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// 单独将四个舵轮转到车体前向0°并等待实际反馈稳定到位。
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public override void Test()
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{
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MovementTestPreparation.AlignWheelsForward(
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ref _task);
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}
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// 停止正在执行的舵轮回正任务并清零底盘运动命令。
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public override void TestStop()
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{
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_task?.Stop();
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_task = null;
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}
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}
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[MovementTest(name = "测试连续前进4m")]
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public class TestForward4m : MovementTest
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{
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public float DistanceMillimeters = 4000f; // 测试距离，单位mm。
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public float CruiseSpeed = 0.3f; // 巡航速度上限，单位m/s。
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public int TrialNumber = 1; // 重复实验编号。
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private DriveTask _task;
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private TrackingExperimentRecorder _recorder;
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// 从当前Detour位置沿车头方向生成4m连续直线并记录测试数据。
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public override void Test()
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{
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if (!MovementTestPreparation.AreWheelsForward())
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{
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return;
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}
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// 防止重复启动测试时，上一项旋转任务仍在运行。
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_dt?.Stop();
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var task = new DriveTask(
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new MultiWheelRotateInPlace
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{
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AngleTarget = angleTarget,
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PidparamsRead = () => new PIDParams
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{
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Kp = PilotDefinition.Conf.InPlaceRotateKp,
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Ki = PilotDefinition.Conf.InPlaceRotateKi,
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Kd = PilotDefinition.Conf.InPlaceRotateKd,
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DeadZone = PilotDefinition.Conf.InPlaceRotateArriveDeg,
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SpeedAccPerSec = PilotDefinition.Conf.InPlaceRotateAcc,
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OutputUpperThreshold = PilotDefinition.Conf.InPlaceRotateMaxSpeed,
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MaxI = PilotDefinition.Conf.InPlaceRotateMaxI,
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}
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var location = DetourInterface.getCartLocation();
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if (double.IsNaN(location.x) ||
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double.IsInfinity(location.x) ||
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double.IsNaN(location.y) ||
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double.IsInfinity(location.y) ||
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double.IsNaN(location.th) ||
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double.IsInfinity(location.th))
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{
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Console.WriteLine(
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"Detour当前位姿无效，取消连续前进4m测试。");
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return;
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}
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var source = new Vector2((float)location.x, (float)location.y);
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// Detour航向单位是度，三角函数需要弧度。
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var headingRadians = location.th * Math.PI / 180.0;
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var destination = new Vector2(
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source.X + DistanceMillimeters * (float)Math.Cos(headingRadians),
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source.Y + DistanceMillimeters * (float)Math.Sin(headingRadians));
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_recorder =
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new TrackingExperimentRecorder(
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controllerName: "Stanley",
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trajectoryName: "Straight4m",
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trialNumber: TrialNumber,
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referenceStart: source,
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referenceEnd: destination,
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referenceSpeed: CruiseSpeed);
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_recorder.Start();
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try
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{
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_task = new DriveTask(
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new DstTracker
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{
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Src = source,
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Dst = destination,
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CarDirectionBias = 0f,
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MaxSpeed = CruiseSpeed
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}.Get());
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_dt = task;
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_task.Wait();
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// 保留少量停车后数据，便于观察速度是否回到零。
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Thread.Sleep(300);
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}
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finally
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
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_recorder?.StopAndSave();
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_task = null;
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_recorder = null;
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}
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}
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public override void TestStop()
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
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_recorder?.StopAndSave();
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}
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}
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[MovementTest(name = "测试原地自转90°")]
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public class TestRotate90 : MovementTest
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{
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public float RelativeAngleDegrees = 90f; // 相对当前航向的旋转角度，逆时针为正。
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public float MaxAngularSpeedDegreesPerSecond = 20f; // PID输出的最大角速度。
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public int TrialNumber = 1; // 重复实验编号。
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private DriveTask _task;
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private TrackingExperimentRecorder _recorder;
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// 从当前Detour航向开始，原地相对旋转指定角度并记录实验数据。
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public override void Test()
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{
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if (float.IsNaN(RelativeAngleDegrees) ||
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float.IsInfinity(RelativeAngleDegrees) ||
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float.IsNaN(MaxAngularSpeedDegreesPerSecond) ||
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float.IsInfinity(MaxAngularSpeedDegreesPerSecond) ||
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MaxAngularSpeedDegreesPerSecond <= 0f)
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{
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Console.WriteLine("原地旋转测试参数无效。");
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return;
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}
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var location = DetourInterface.getCartLocation();
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if (double.IsNaN(location.x) ||
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double.IsInfinity(location.x) ||
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double.IsNaN(location.y) ||
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double.IsInfinity(location.y) ||
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double.IsNaN(location.th) ||
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double.IsInfinity(location.th))
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{
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Console.WriteLine(
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"Detour当前位姿无效，取消原地旋转测试。");
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return;
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}
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var rotationCenter =
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new Vector2((float)location.x, (float)location.y);
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var targetWorldAngle =
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NormalizeDegrees(
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(float)location.th + RelativeAngleDegrees);
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_recorder = new TrackingExperimentRecorder(
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controllerName: "InPlaceRotatePID",
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trajectoryName: "Rotate90",
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trialNumber: TrialNumber,
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referenceStart: rotationCenter,
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referenceEnd: rotationCenter,
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referenceSpeed:
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MaxAngularSpeedDegreesPerSecond);
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_recorder.Start();
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try
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{
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_task = new DriveTask(
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new MultiWheelRotateInPlace
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{
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// MultiWheelRotateInPlace接收世界坐标系绝对航向。
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AngleTarget = targetWorldAngle,
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PidparamsRead = () => new PIDParams
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{
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Kp =
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PilotDefinition.Conf.InPlaceRotateKp,
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Ki =
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PilotDefinition.Conf.InPlaceRotateKi,
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Kd =
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PilotDefinition.Conf.InPlaceRotateKd,
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DeadZone =
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PilotDefinition.Conf
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.InPlaceRotateArriveDeg,
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SpeedAccPerSec =
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PilotDefinition.Conf.InPlaceRotateAcc,
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OutputUpperThreshold =
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MaxAngularSpeedDegreesPerSecond,
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MaxI =
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PilotDefinition.Conf.InPlaceRotateMaxI
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},
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CommandAngularSpeedObserver =
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commandAngularSpeed =>
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_recorder?.UpdateCommand(
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0f,
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commandAngularSpeed)
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}.Get());
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_task.Wait();
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// 保留少量停止后的样本，用于观察角速度是否回到零。
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Thread.Sleep(300);
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}
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finally
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
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_recorder?.StopAndSave();
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_task = null;
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_recorder = null;
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}
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}
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// 停止原地旋转并保存当前已经采集的实验数据。
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public override void TestStop()
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
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_recorder?.StopAndSave();
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}
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// 将世界航向归一化到大约[-180°,180°]。
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private static float NormalizeDegrees(float angleDegrees)
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{
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return (float)(
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angleDegrees -
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Math.Round(angleDegrees / 360.0) * 360.0);
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}
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}
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[MovementTest(name = "测试左转90°圆弧")]
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public class TestArcMovement : MovementTest
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{
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public float RadiusMillimeters = 2000f; // 左转圆的半径，单位mm。
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public float CruiseSpeed = 0.3f; // 圆周运动速度上限，单位m/s。
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public int TrialNumber = 1; // 重复实验编号。
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private DriveTask _task;
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private TrackingExperimentRecorder _recorder;
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// 从当前位姿开始，沿半径2m的圆弧向左转弯90°。
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public override void Test()
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{
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if (float.IsNaN(RadiusMillimeters) ||
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float.IsInfinity(RadiusMillimeters) ||
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RadiusMillimeters <= 0f ||
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float.IsNaN(CruiseSpeed) ||
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float.IsInfinity(CruiseSpeed) ||
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CruiseSpeed <= 0f)
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{
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Console.WriteLine("圆弧运动测试参数无效。");
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return;
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}
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if (!MovementTestPreparation.AreWheelsForward())
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{
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return;
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}
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var location = DetourInterface.getCartLocation();
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if (double.IsNaN(location.x) ||
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double.IsInfinity(location.x) ||
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double.IsNaN(location.y) ||
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double.IsInfinity(location.y) ||
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double.IsNaN(location.th) ||
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double.IsInfinity(location.th))
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{
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Console.WriteLine(
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"Detour当前位姿无效，取消圆弧运动测试。");
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return;
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}
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var source =
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new Vector2((float)location.x, (float)location.y);
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var headingRadians =
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location.th * Math.PI / 180.0;
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// 根据世界航向求车体左法向，左转圆心位于车辆左侧。
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var center = new Vector2(
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source.X -
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RadiusMillimeters *
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(float)Math.Sin(headingRadians),
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source.Y +
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RadiusMillimeters *
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(float)Math.Cos(headingRadians));
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// 从圆心指向车辆起点的极角，比车辆切线航向小90°。
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var startRadialAngleDegrees =
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(float)location.th - 90f;
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var controller = new ChassisController
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{
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BaseSpeed = CruiseSpeed
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}.Get();
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controller.FinishSpeed = 0f;
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var arc = new CircularArcTrack(
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center,
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RadiusMillimeters,
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startRadialAngleDegrees,
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startRadialAngleDegrees + 90f,
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direction: 1)
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{
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Speed = CruiseSpeed,
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CarDirectionBias = 0f
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};
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if (!controller.AddTrack(arc, "LeftArc90Degrees"))
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{
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Console.WriteLine(
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"左转90°圆弧轨迹添加失败，取消测试。");
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return;
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}
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_recorder = new TrackingExperimentRecorder(
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controllerName: "GeometricController",
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trajectoryName:
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$"LeftArc90_R{RadiusMillimeters:0}mm",
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trialNumber: TrialNumber,
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referenceStart: source,
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referenceEnd: source,
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referenceSpeed: CruiseSpeed);
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_recorder.Start();
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try
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{
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_task = new DriveTask(controller.Track());
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_task.Wait();
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||||
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// 保留少量停车后的样本，用于观察速度是否回到零。
|
||||
Thread.Sleep(300);
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||||
}
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finally
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{
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_task?.Stop();
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_recorder?.UpdateCommand(0f, 0f);
|
||||
_recorder?.StopAndSave();
|
||||
_task = null;
|
||||
_recorder = null;
|
||||
}
|
||||
}
|
||||
|
||||
// 停止圆弧运动并保存当前已经采集的实验数据。
|
||||
public override void TestStop()
|
||||
{
|
||||
_task?.Stop();
|
||||
_recorder?.UpdateCommand(0f, 0f);
|
||||
_recorder?.StopAndSave();
|
||||
}
|
||||
}
|
||||
|
||||
public abstract class ClampMovementTestBase : MovementTest
|
||||
{
|
||||
public float TimeoutSeconds = 30f; // 动作超时时间，单位s。
|
||||
|
||||
private DriveTask _task;
|
||||
protected abstract bool Close { get; }
|
||||
|
||||
// 根据派生测试类型驱动左右夹臂同步夹紧或打开。
|
||||
public override void Test()
|
||||
{
|
||||
var leftTarget = Close
|
||||
? PilotDefinition.Self.LeftArmUpperPos
|
||||
: PilotDefinition.Self.LeftArmLowerPos;
|
||||
var rightTarget = Close
|
||||
? PilotDefinition.Self.RightArmUpperPos
|
||||
: PilotDefinition.Self.RightArmLowerPos;
|
||||
|
||||
if (float.IsNaN(leftTarget) ||
|
||||
float.IsInfinity(leftTarget) ||
|
||||
float.IsNaN(rightTarget) ||
|
||||
float.IsInfinity(rightTarget))
|
||||
{
|
||||
Console.WriteLine(
|
||||
"夹臂目标位置无效，取消夹臂运动测试。");
|
||||
return;
|
||||
}
|
||||
|
||||
// 防止重复点击时上一项夹臂任务仍在运行。
|
||||
TestStop();
|
||||
Console.WriteLine(
|
||||
$"开始夹臂{(Close ? "夹紧" : "打开")}测试：" +
|
||||
$"左目标={leftTarget}，右目标={rightTarget}");
|
||||
|
||||
var task = new DriveTask(
|
||||
new ClampToTarget
|
||||
{
|
||||
LeftClampTarget = leftTarget,
|
||||
RightClampTarget = rightTarget,
|
||||
TimeoutSeconds = TimeoutSeconds
|
||||
}.Get());
|
||||
_task = task;
|
||||
|
||||
try
|
||||
{
|
||||
task.Wait();
|
||||
}
|
||||
finally
|
||||
{
|
||||
// 防止旧任务结束时，错误清除后来启动的新任务。
|
||||
if (ReferenceEquals(_dt, task))
|
||||
{
|
||||
_dt = null;
|
||||
}
|
||||
PilotDefinition.Self.SpeedLeftArm = 0f;
|
||||
PilotDefinition.Self.SpeedRightArm = 0f;
|
||||
if (ReferenceEquals(_task, task))
|
||||
_task = null;
|
||||
}
|
||||
}
|
||||
|
||||
// 停止夹臂任务并立即清零左右夹臂下发速度。
|
||||
public override void TestStop()
|
||||
{
|
||||
_task?.Stop();
|
||||
_task = null;
|
||||
PilotDefinition.Self.SpeedLeftArm = 0f;
|
||||
PilotDefinition.Self.SpeedRightArm = 0f;
|
||||
}
|
||||
}
|
||||
|
||||
[MovementTest(name = "夹臂关闭测试")]
|
||||
public sealed class TestClampOpenMovement
|
||||
: ClampMovementTestBase
|
||||
{
|
||||
protected override bool Close => false;
|
||||
}
|
||||
|
||||
[MovementTest(name = "夹臂启动测试")]
|
||||
public sealed class TestClampCloseMovement
|
||||
: ClampMovementTestBase
|
||||
{
|
||||
protected override bool Close => true;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#region 旧版测试
|
||||
// public abstract class DstTrackerTestBase : MovementTest
|
||||
// {
|
||||
// public bool UseInteractivePick = true;
|
||||
// public float srcX;
|
||||
// public float srcY;
|
||||
// public float dstX;
|
||||
// public float dstY;
|
||||
// public float carDirectionBias;
|
||||
|
||||
// private readonly Painter _painter = UI.GetPainter("DstTrackerTest");
|
||||
// private DriveTask _dt;
|
||||
|
||||
// protected DstTrackerTestBase(float defaultCarDirectionBias)
|
||||
// {
|
||||
// carDirectionBias = defaultCarDirectionBias;
|
||||
// }
|
||||
|
||||
// public override void TestStop()
|
||||
// {
|
||||
// _dt?.Stop();
|
||||
// _painter?.Clear();
|
||||
// }
|
||||
|
||||
// public override void Test()
|
||||
// {
|
||||
// Vector2 p1;
|
||||
// Vector2 p2;
|
||||
// if (UseInteractivePick)
|
||||
// {
|
||||
// p1 = UI.GetPoint("point1");
|
||||
// p2 = UI.GetPoint("point2");
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// p1 = new Vector2(srcX, srcY);
|
||||
// p2 = new Vector2(dstX, dstY);
|
||||
// }
|
||||
|
||||
// _painter.Clear();
|
||||
// _dt = new DriveTask(new DstTracker
|
||||
// {
|
||||
// Src = p1,
|
||||
// Dst = p2,
|
||||
// CarDirectionBias = carDirectionBias,
|
||||
// }.Get());
|
||||
// _dt.Wait();
|
||||
// }
|
||||
// }
|
||||
|
||||
// [MovementTest(name = "测试终点跟踪动作-前进")]
|
||||
// public sealed class DstTrackerForward : DstTrackerTestBase
|
||||
// {
|
||||
// public DstTrackerForward() : base(0f) { }
|
||||
// }
|
||||
|
||||
// [MovementTest(name = "测试终点跟踪动作-后退")]
|
||||
// public sealed class DstTrackerBackward : DstTrackerTestBase
|
||||
// {
|
||||
// public DstTrackerBackward() : base(180f) { }
|
||||
// }
|
||||
|
||||
// [MovementTest(name = "底盘旋转测试")]
|
||||
// public class RotateToAngleTest : MovementTest
|
||||
// {
|
||||
// private DriveTask _dt;
|
||||
|
||||
// // 停止当前正在执行的底盘原地旋转任务。
|
||||
// public override void TestStop()
|
||||
// {
|
||||
// _dt?.Stop();
|
||||
// }
|
||||
|
||||
// // 交互输入目标角度后执行底盘原地旋转测试。
|
||||
// public override void Test()
|
||||
// {
|
||||
// var input = UI.GetInput("输入旋转角度：");
|
||||
// if (!float.TryParse(input, out var angleTarget))
|
||||
// {
|
||||
// Console.WriteLine(
|
||||
// $"旋转测试输入无效：{input}");
|
||||
// return;
|
||||
// }
|
||||
// // 防止重复启动测试时，上一项旋转任务仍在运行。
|
||||
// _dt?.Stop();
|
||||
// var task = new DriveTask(
|
||||
// new MultiWheelRotateInPlace
|
||||
// {
|
||||
// AngleTarget = angleTarget,
|
||||
|
||||
// PidparamsRead = () => new PIDParams
|
||||
// {
|
||||
// Kp = PilotDefinition.Conf.InPlaceRotateKp,
|
||||
// Ki = PilotDefinition.Conf.InPlaceRotateKi,
|
||||
// Kd = PilotDefinition.Conf.InPlaceRotateKd,
|
||||
// DeadZone = PilotDefinition.Conf.InPlaceRotateArriveDeg,
|
||||
// SpeedAccPerSec = PilotDefinition.Conf.InPlaceRotateAcc,
|
||||
// OutputUpperThreshold = PilotDefinition.Conf.InPlaceRotateMaxSpeed,
|
||||
// MaxI = PilotDefinition.Conf.InPlaceRotateMaxI,
|
||||
// }
|
||||
// }.Get());
|
||||
// _dt = task;
|
||||
// try
|
||||
// {
|
||||
// task.Wait();
|
||||
// }
|
||||
// finally
|
||||
// {
|
||||
// // 防止旧任务结束时，错误清除后来启动的新任务。
|
||||
// if (ReferenceEquals(_dt, task))
|
||||
// {
|
||||
// _dt = null;
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
#endregion
|
||||
|
||||
Reference in New Issue
Block a user