添加单车底盘仿真平台并完善运动控制与夹臂功能

Simulation/Core/SimulationClock.cs

@@ -0,0 +1,38 @@
+using System.Diagnostics;
+
+namespace MyParking.Simulation.Core;
+
+/// <summary>
+/// 以固定周期推进离线仿真世界。
+/// </summary>
+public sealed class SimulationClock(
+    SimulationWorld world,
+    ILogger<SimulationClock> logger) : BackgroundService
+{
+    private static readonly TimeSpan TickInterval =
+        TimeSpan.FromMilliseconds(20);
+
+    protected override async Task ExecuteAsync(
+        CancellationToken stoppingToken)
+    {
+        logger.LogInformation(
+            "停车机器人离线仿真时钟已启动，周期{Period}ms。",
+            TickInterval.TotalMilliseconds);
+
+        using var timer = new PeriodicTimer(TickInterval);
+        var stopwatch = Stopwatch.StartNew();
+        var previousSeconds = stopwatch.Elapsed.TotalSeconds;
+
+        while (await timer.WaitForNextTickAsync(stoppingToken))
+        {
+            var currentSeconds = stopwatch.Elapsed.TotalSeconds;
+            var deltaTimeSeconds = Math.Clamp(
+                currentSeconds - previousSeconds,
+                0.001,
+                0.1);
+
+            previousSeconds = currentSeconds;
+            world.Step(deltaTimeSeconds);
+        }
+    }
+}