泛化轨迹工厂参数并新增组合运动计划执行器与复合测试

2026-08-07 13:25:47 +08:00
parent 14ca1150e4
commit bc37e71ad0
26 changed files with 874 additions and 92 deletions
@@ -1,90 +1,90 @@


-using System;
-using ClumsyCore;
-using ClumsyCore.Pilot;
-using FundamentalLib;
-using MDCSToolBox.Clumsy.Movements;
-using MDCSToolBox.Clumsy.Pilot;
+// using System;
+// using ClumsyCore;
+// using ClumsyCore.Pilot;
+// using FundamentalLib;
+// using MDCSToolBox.Clumsy.Movements;
+// using MDCSToolBox.Clumsy.Pilot;

-namespace MultiWheelC
-{
-    public abstract class ClampMovementTestBase : MovementTest
-    {
-        public float TimeoutSeconds = 30f; // 动作超时时间，单位s。
+// namespace MultiWheelC
+// {
+//     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; }
+//         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;
+//         // 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;
-            }
+//             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}");
+//             // 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;
+//             var task = new DriveTask(
+//                 new ClampToTarget
+//                 {
+//                     LeftClampTarget = leftTarget,
+//                     RightClampTarget = rightTarget,
+//                     TimeoutSeconds = TimeoutSeconds
+//                 }.Get());
+//             _task = task;

-            try
-            {
-                task.Wait();
-            }
-            finally
-            {
-                PilotDefinition.Self.SpeedLeftArm = 0f;
-                PilotDefinition.Self.SpeedRightArm = 0f;
-                if (ReferenceEquals(_task, task))
-                    _task = null;
-            }
-        }
+//             try
+//             {
+//                 task.Wait();
+//             }
+//             finally
+//             {
+//                 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;
-        }
-    }
+//         // 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 TestClampCloseMovement
-        : ClampMovementTestBase
-    {
-        protected override bool Close => false;
-    }
+//     [MovementTest(name = "夹臂关闭测试")]
+//     public sealed class TestClampCloseMovement
+//         : ClampMovementTestBase
+//     {
+//         protected override bool Close => false;
+//     }

-    [MovementTest(name = "夹臂启动测试")]
-    public sealed class TestClampOpenMovement
-        : ClampMovementTestBase
-    {
-        protected override bool Close => true;
-    }
-}
+//     [MovementTest(name = "夹臂启动测试")]
+//     public sealed class TestClampOpenMovement
+//         : ClampMovementTestBase
+//     {
+//         protected override bool Close => true;
+//     }
+// }