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shuai.li
2026-07-21 11:11:01 +08:00
commit a420e9ae74
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MedullaAdapter/FleetRemote.cs
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using System;
using CartActivator;
using CycleGUI;
using CycleGUI.API;
using FundamentalLib;
using Medulla.Types;
namespace MedullaAdapter
{
public partial class DiverCartDefinition
{
private bool _fleetRemoteActive;
private DateTime _fleetDiagLastStick = DateTime.MinValue;
private void FleetDiag(string msg)
{
DLog.Log($"car{CarNum} {msg}", "FleetDiagMedulla");
}
private void ZeroFleetManualFields()
{
MultiVehicleManualEnabled = false;
MultiVehicleManualMode = 0;
MultiVehicleManualVx = 0;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = 0;
}
public float ApplyFleetManualCommand(int mode, float px, float py, float speedRatio)
{
var ratio = Clamp(speedRatio, 0, 1);
px = Clamp(px, -1, 1);
py = Clamp(py, -1, 1);
if (mode < 0 || mode > 2) mode = 0;
MultiVehicleManualMode = mode;
if (mode == 2)
{
MultiVehicleManualVx = 0;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = px * MaxManualAngularSpeed * ratio;
}
else if (mode == 1)
{
MultiVehicleManualVx = py * MaxManualSpeed * ratio;
MultiVehicleManualVy = px * MaxManualSpeed * ratio;
MultiVehicleManualVth = 0;
}
else
{
MultiVehicleManualVx = py * MaxManualSpeed * ratio;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = px * MaxManualAngularSpeed * ratio;
}
return ratio;
}
[IOObjectUtility]
public void FleetRemote()
{
if (_fleetRemoteActive)
{
return;
}
_fleetRemoteActive = true;
var fleetOn = false;
var crabOn = false;
var rotateOn = false;
var speedRatio = 1f;
UseGesture manip = null;
int CurrentMode()
{
if (crabOn) return 1;
if (rotateOn) return 2;
return 0;
}
void ApplyMode()
{
MultiVehicleManualMode = fleetOn ? CurrentMode() : 0;
}
void CleanupFleetRemote()
{
if (manip != null)
{
manip.End();
manip = null;
}
fleetOn = false;
crabOn = false;
rotateOn = false;
ZeroFleetManualFields();
_fleetRemoteActive = false;
}
manip = new UseGesture();
manip.AddWidget(new UseGesture.StickWidget
{
name = "fleet_stick",
text = "速度摇杆",
position = "37.5%+10px, 18%+10px",
size = "37.5%-10px, 32%-10px",
bounceBack = true,
keyboard = "Up,Down,Left,Right",
joystick = "Axis0,Axis1",
OnValue = (pos, manipulating) =>
{
if (!fleetOn)
{
MultiVehicleManualVx = 0;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = 0;
if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
{
_fleetDiagLastStick = DateTime.Now;
FleetDiag($"STICK(ignored,fleetOff) pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating}");
}
return;
}
var mode = CurrentMode();
var ratio = ApplyFleetManualCommand(mode, pos.X, pos.Y, speedRatio);
if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
{
_fleetDiagLastStick = DateTime.Now;
FleetDiag($"STICK mode={mode} pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating} ratio={ratio:0.00} " +
$"-> Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} Vth={MultiVehicleManualVth:0.0} en={MultiVehicleManualEnabled}");
}
}
});
manip.AddWidget(new UseGesture.ToggleWidget
{
name = "fleet_crab",
text = "横移模式",
position = "12.5%+10px, 52%+10px",
size = "37.5%-10px, 10%-10px",
OnValue = b =>
{
crabOn = b;
ApplyMode();
FleetDiag($"TOGGLE crab={b} -> mode={MultiVehicleManualMode}");
}
});
manip.AddWidget(new UseGesture.ToggleWidget
{
name = "fleet_rotate",
text = "原地旋转",
position = "50%+10px, 52%+10px",
size = "37.5%-10px, 10%-10px",
OnValue = b =>
{
rotateOn = b;
ApplyMode();
FleetDiag($"TOGGLE rotate={b} -> mode={MultiVehicleManualMode}");
}
});
manip.AddWidget(new UseGesture.ToggleWidget
{
name = "fleet_enable",
text = "车队联动",
position = "12.5%+10px, 64%+10px",
size = "37.5%-10px, 10%-10px",
OnValue = b =>
{
fleetOn = b;
MultiVehicleManualEnabled = b;
ApplyMode();
if (!b) ZeroFleetManualFields();
FleetDiag($"TOGGLE fleetOn={b} -> ManualEnabled={MultiVehicleManualEnabled} mode={MultiVehicleManualMode}");
}
});
manip.AddWidget(new UseGesture.ThrottleWidget
{
name = "fleet_speed_ratio",
text = "速度比例",
position = "50%+10px, 64%+10px",
size = "37.5%-10px, 10%-10px",
bounceBack = false,
OnValue = (val, _) => speedRatio = Clamp(val, 0, 1)
});
manip.AddWidget(new UseGesture.ButtonWidget
{
name = "fleet_stop",
text = "急停/归零",
position = "31.25%+10px, 76%+10px",
size = "37.5%-10px, 10%-10px",
OnPressed = pressed =>
{
if (!pressed) return;
MultiVehicleManualVx = 0;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = 0;
FleetDiag("BUTTON stop/zero");
}
});
manip.ChangeState(new SetAppearance { drawGuizmo = false });
manip.Start();
GUI.PromptOrBringToFront(pb =>
{
if (pb.Closing())
{
CleanupFleetRemote();
pb.Panel.Exit();
return;
}
pb.Panel.TopMost(true)
.SetDefaultDocking(Panel.Docking.None)
.ShowTitle("车队联动遥控")
.InitSize(340, 190)
.InitPos(false, -32, 32, 1, 0, 1, 0);
pb.SeparatorText("状态");
var modeName = MultiVehicleManualMode == 2 ? "原地旋转" : MultiVehicleManualMode == 1 ? "横移" : "常规";
pb.Label($"车队联动: {MultiVehicleManualEnabled} 模式: {modeName}");
pb.Label($"速度比例: {speedRatio:0.00}");
pb.Label($"Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} m/s, Vth={MultiVehicleManualVth:0.0}");
pb.Label($"优先级: {CartActivator.CartDefinition.currentPriority} ({CartActivator.CartDefinition.currentPriorityDesc})");
pb.Label("请勿同时打开手动控制面板");
pb.Panel.Repaint();
}, instancingObject: this);
}
private static float Clamp(float value, float min, float max)
{
if (value < min) return min;
if (value > max) return max;
return value;
}
}
}