update

2026-07-21 11:11:01 +08:00
commit a420e9ae74
124 changed files with 16517 additions and 0 deletions
@@ -0,0 +1,100 @@
+using System;
+using System.Numerics;
+using ClumsyCore;
+using ClumsyCore.Interfaces;
+using ClumsyCore.Pilot;
+using FundamentalLib;
+using MDCSToolBox.Clumsy.MotionControllers;
+using MDCSToolBox.Clumsy.Movements;
+using MDCSToolBox.Clumsy.Pilot;
+
+namespace MultiWheelC;
+
+public class ChassisController : MovementDefinition<MultiWheelGeometricController>
+{
+    public float BaseSpeed = Configuration.conf.basicSpeed;
+
+    private DateTime _sendMotionDbgLast = DateTime.MinValue;
+
+    public override MultiWheelGeometricController Get()
+    {
+        return new MultiWheelGeometricController
+        {
+            Chassis = BasicPilotBase.Chassis,
+            BaseSpeed = BaseSpeed,
+            SlowDistance = PilotDefinition.Conf.SlowDistance,
+            SlowingPow = PilotDefinition.Conf.SlowingPow,
+            FinishDistance = PilotDefinition.Conf.FinishDistance,
+            FinishSpeed = PilotDefinition.Conf.FinishSpeed,
+            FirstThAccuracy = PilotDefinition.Conf.FirstThAccuracy,
+            FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
+            FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
+            NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
+            DebugMode = PilotDefinition.Conf.MotionDebugPrint,
+            DebugCurvature = PilotDefinition.Conf.DebugCurvature,
+            PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
+            SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
+            SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
+            SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
+            SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
+            SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
+            MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
+            MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
+            GcpThetaThreshold = PilotDefinition.Conf.GcpThetaThreshold,
+            DthLinearFac = PilotDefinition.Conf.DthLinearFac,
+            DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
+            BiasFac = PilotDefinition.Conf.BiasFac,
+            BiasThreshold = PilotDefinition.Conf.BiasThreshold,
+
+            MultiVehicleSendMotion = (speed, frontTh, rearTh, idealPos, idealAngle) =>
+            {
+                var self = PilotDefinition.Self;
+                self.MultiVehicleAutoEnabled = true;
+                // A: 用固定锁对象（不再锁会被替换的字段引用）。
+                int fleetCnt;
+                lock (self.FleetLock)
+                    fleetCnt = self.MultiVehicleFleet.Count;
+
+                // 诊断（节流 ~300ms）：确认回调被调用、编队是否就绪、是否因数量不符提前 return（导致不下发速度）。
+                if ((DateTime.Now - _sendMotionDbgLast).TotalMilliseconds >= 300)
+                {
+                    _sendMotionDbgLast = DateTime.Now;
+                    DLog.Log(
+                        $"SENDMOTION speed={speed:0.000} fTh={frontTh:0.0} rTh={rearTh:0.0} " +
+                        $"ideal=({idealPos.X:0},{idealPos.Y:0},{idealAngle:0.0}) " +
+                        $"editCnt={fleetCnt}/{PilotDefinition.Conf.MultiVehicleFleetNum} " +
+                        $"earlyReturn={fleetCnt != PilotDefinition.Conf.MultiVehicleFleetNum}",
+                        "FleetCrabDbg");
+                }
+
+                if (fleetCnt != PilotDefinition.Conf.MultiVehicleFleetNum)
+                    return;
+
+                self.MultiVehicleAutoVx = speed;
+                self.MultiVehicleAutoFrontTh = frontTh;
+                self.MultiVehicleAutoRearTh = rearTh;
+                // D: 透传路径控制器算出的理想车队中心位姿（此前被丢弃），供各车按 layout 做前馈。
+                self.MultiVehicleAutoIdealX = idealPos.X;
+                self.MultiVehicleAutoIdealY = idealPos.Y;
+                self.MultiVehicleAutoIdealTh = idealAngle;
+                self.MultiVehicleAutoHasIdeal = true;
+                // B: 标记命令新鲜度。路径结束/早退/卡顿不再刷新此时刻 → 主车超时后清零速度，避免滑行。
+                self.MultiVehicleAutoCmdTime = DateTime.Now;
+            },
+
+            // G: 读取车队中心原子快照，避免跨线程读到撕裂的 x/y/th 组合。
+            MultiVehicleGetFleetPos = () =>
+            {
+                var snap = PilotDefinition.Self.GetFleetCenterSnapshot();
+                return new Location
+                {
+                    x = snap.X,
+                    y = snap.Y,
+                    th = snap.Th,
+                    l_step = 1,
+                    tick = DateTime.Now.Ticks
+                };
+            }
+        };
+    }
+}