添加单车底盘仿真平台并完善运动控制与夹臂功能

2026-07-27 17:47:50 +08:00
parent 580a936a83
commit e6b99c45b3
47 changed files with 4238 additions and 122 deletions
@@ -0,0 +1,97 @@
+using MyParking.Simulation.Commands;
+using MyParking.Simulation.Core;
+
+var builder = WebApplication.CreateBuilder(args);
+
+builder.Services.AddSingleton<SimulationWorld>();
+builder.Services.AddSingleton<SimulationCommandDispatcher>();
+builder.Services.AddHostedService<SimulationClock>();
+
+var app = builder.Build();
+
+app.UseDefaultFiles();
+app.UseStaticFiles();
+
+app.MapGet("/api/vehicles", (SimulationWorld world) =>
+    Results.Ok(world.GetSnapshot()));
+
+app.MapGet(
+    "/api/actions",
+    (SimulationCommandDispatcher dispatcher) =>
+        Results.Ok(dispatcher.GetActions()));
+
+app.MapGet("/api/configuration", (SimulationWorld world) =>
+    Results.Ok(world.GetConfiguration()));
+
+app.MapPost(
+    "/api/configuration",
+    (MyParking.Simulation.Models.SimulationConfigurationDto configuration,
+        SimulationWorld world) =>
+    {
+        try
+        {
+            world.ApplyConfiguration(configuration);
+            return Results.Ok(world.GetConfiguration());
+        }
+        catch (ArgumentException exception)
+        {
+            return Results.BadRequest(new
+            {
+                message = exception.Message
+            });
+        }
+    });
+
+app.MapPost(
+    "/api/vehicles/{vehicleId:int}/commands/{command}",
+    (int vehicleId, string command, SimulationCommandDispatcher dispatcher) =>
+    {
+        var result = dispatcher.Execute(vehicleId, command);
+        return result.Success
+            ? Results.Ok(result)
+            : Results.BadRequest(result);
+    });
+
+app.MapPost(
+    "/api/vehicles/{vehicleId:int}/manual-control",
+    (int vehicleId,
+        MyParking.Simulation.Models.ManualControlInputDto input,
+        SimulationWorld world) =>
+    {
+        try
+        {
+            var success = world.WithVehicle(
+                vehicleId,
+                vehicle => vehicle.ManualDrive(
+                    input.Throttle,
+                    input.Steering,
+                    input.SpeedScale,
+                    input.SteeringScale));
+
+            var result = new CommandResult(
+                success,
+                success
+                    ? $"车辆{vehicleId}虚拟遥控输入已更新。"
+                    : $"车辆{vehicleId}舵轮尚未到位或输入无效。");
+
+            return success
+                ? Results.Ok(result)
+                : Results.BadRequest(result);
+        }
+        catch (KeyNotFoundException exception)
+        {
+            return Results.NotFound(new CommandResult(
+                false,
+                exception.Message));
+        }
+    });
+
+app.MapPost("/api/reset", (SimulationWorld world) =>
+{
+    world.Reset();
+    return Results.Ok(new { message = "全部仿真车已复位。" });
+});
+
+app.MapFallbackToFile("index.html");
+
+app.Run();