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  yuxiang.shenandCursor
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7447317812 | ||
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yuxiang.shenandCursor
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31ec941b07 |
@@ -1,92 +1,63 @@
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|||||||
---
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---
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||||||
name: readme
|
name: readme
|
||||||
description: 为当前项目生成适配 Gitee / 公司内部代码仓库的中英文双语 README。默认生成 README.md（中文，Gitee 默认展示）和 README_en.md（英文）两个文件，顶部互相链接切换语言。适用于公司项目、算法项目、机器人项目、工程代码仓库。当用户说“写个README”“生成项目介绍”“生成Gitee README”“make a readme”时使用。
|
description: Create, update, audit, or synchronize repository README documentation from evidence in the codebase. Use when the user asks to write or improve a README, document setup/build/run/test workflows, explain project structure or architecture, fix stale README content, or maintain multilingual README files for any software project.
|
||||||
---
|
---
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||||||
|
|
||||||
# Gitee 双语 README 生成
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# README维护
|
||||||
|
|
||||||
为当前项目生成两个互相链接的 README 文件：
|
生成或更新准确、简洁、可执行的项目README，不预设托管平台、技术栈、运行环境或文档语言。
|
||||||
|
|
||||||
- `README.md`：简体中文，作为 Gitee 默认展示文件
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## 工作流程
|
||||||
- `README_en.md`：英文版，供中英文切换使用
|
|
||||||
|
|
||||||
如果项目中已经存在 `README_zh.md`、`Readme_zh.md`、`Readme_en.md` 等命名，先读取已有文件，并尽量沿用当前仓库已有命名规范；如果没有明确规范，默认使用 `README.md` + `README_en.md`。
|
### 1. 调研仓库
|
||||||
|
|
||||||
## 执行目标
|
- 读取适用的`AGENTS.md`、现有README和主要设计文档。
|
||||||
|
- 检查源码目录、项目清单、依赖文件、入口、配置、构建脚本、测试和CI配置。
|
||||||
|
- 使用`rg --files`和针对性搜索；排除`bin`、`obj`、`build`、依赖缓存及其他生成目录。
|
||||||
|
- 从代码和配置确认项目名称、用途、模块边界、环境要求及实际命令，不根据目录名猜测。
|
||||||
|
|
||||||
生成符合公司内部 Gitee 仓库风格的 README，不写成 GitHub 开源宣传页。
|
### 2. 确定范围
|
||||||
|
|
||||||
README 应该让新同事或项目参与者快速知道：
|
- 优先更新现有README，保留仍然准确的内容和仓库既有风格。
|
||||||
|
- 默认沿用现有文件名和主要语言。
|
||||||
|
- 只有用户明确要求或仓库已有约定时，才创建双语或多份README，并添加相对链接切换语言。
|
||||||
|
- 删除或修正已改名、已删除、不存在或无法验证的内容。
|
||||||
|
|
||||||
- 项目是什么
|
### 3. 组织内容
|
||||||
- 面向什么设备 / 平台 / 场景
|
|
||||||
- 软件架构大概是什么
|
|
||||||
- 如何安装依赖
|
|
||||||
- 如何编译 / 运行 / 启动
|
|
||||||
- 代码目录怎么组织
|
|
||||||
- 如何按公司流程参与开发
|
|
||||||
|
|
||||||
## 执行步骤
|
根据项目实际情况选择必要章节，不强制套用完整模板。常用顺序为：
|
||||||
|
|
||||||
### 1. 调研项目
|
1. 项目名称与一句话说明
|
||||||
|
2. 当前能力与适用范围
|
||||||
|
3. 目录或架构概览
|
||||||
|
4. 环境与依赖
|
||||||
|
5. 构建、运行和测试
|
||||||
|
6. 配置与部署
|
||||||
|
7. 已知限制或故障排查
|
||||||
|
8. 贡献方式与许可证（仅在仓库有依据时）
|
||||||
|
|
||||||
先充分了解项目，不要凭空编造内容。
|
- 把最常用的成功路径放在前面。
|
||||||
|
- 仅在能显著解释模块关系或执行流程时使用表格、目录树或Mermaid图。
|
||||||
|
- 使用相对路径链接仓库内文件，避免复制大段源码或生成完整文件清单。
|
||||||
|
|
||||||
必须优先读取和分析：
|
### 4. 保证事实准确
|
||||||
|
|
||||||
- 项目根目录结构
|
- 命令必须来自项目文件、脚本或已验证的工具链；不要编造安装、启动、部署或硬件步骤。
|
||||||
- 已有 README / 文档
|
- 区分“已验证可用”“根据配置推断”和“尚未验证”，不要把编译成功描述为运行或实机验证成功。
|
||||||
- 主入口脚本
|
- 不编造版本、性能指标、兼容平台、许可证、维护状态或安全保证。
|
||||||
- 启动脚本
|
- 不在README中写入密码、令牌、内网地址、个人路径或其他敏感信息。
|
||||||
- `CMakeLists.txt`
|
- 信息不足时优先省略非必要章节；必要信息缺失时明确标注待确认内容。
|
||||||
- `package.xml`
|
|
||||||
- `requirements.txt`
|
|
||||||
- `pyproject.toml`
|
|
||||||
- `package.json`
|
|
||||||
- `docker-compose.yml`
|
|
||||||
- `Dockerfile`
|
|
||||||
- 配置文件
|
|
||||||
- launch 文件
|
|
||||||
- ROS / ROS2 相关目录
|
|
||||||
- 核心源码目录
|
|
||||||
- 设备通信、底盘控制、导航、感知、驱动相关代码
|
|
||||||
|
|
||||||
需要识别：
|
### 5. 验证结果
|
||||||
|
|
||||||
- 项目名称
|
- 检查README中的名称、路径、文件和命令仍真实存在。
|
||||||
- 项目用途
|
- 检查中英文或多语言版本的关键事实、命令和链接保持一致。
|
||||||
- 运行平台
|
- 对能够安全执行的核心命令进行适度验证；未执行时明确说明。
|
||||||
- 技术栈
|
- 查看最终差异，避免无关重写、重复章节和过度宣传。
|
||||||
- 编程语言
|
|
||||||
- ROS / ROS2 版本（如果存在）
|
|
||||||
- 构建方式
|
|
||||||
- 启动方式
|
|
||||||
- 主要模块
|
|
||||||
- 依赖项
|
|
||||||
- 是否有实际设备、仿真环境、域控一体机、阿克曼底盘、CAN、串口、网络通信等内容
|
|
||||||
|
|
||||||
**重要：只写代码和文档中真实存在的内容。**
|
## 写作要求
|
||||||
|
|
||||||
不要编造：
|
- 面向首次接触仓库的开发者，使用直接、具体、可操作的语言。
|
||||||
|
- 说明“是什么、怎么用、如何验证”，避免空泛的优势描述。
|
||||||
- 未确认的算法
|
- 保持章节简短；复杂设计链接到专门文档，不把README写成完整设计说明书。
|
||||||
- 未确认的性能指标
|
- 代码块标注正确语言，命令应可复制，并注明必要的工作目录或前置条件。
|
||||||
- 未确认的硬件型号
|
|
||||||
- 未确认的 ROS 版本
|
|
||||||
- 未确认的启动命令
|
|
||||||
- 未确认的部署流程
|
|
||||||
- 未确认的许可证
|
|
||||||
|
|
||||||
如果信息不足，用“待补充”明确标注，不要用通用模板假装完整。
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 2. 文件命名与语言切换
|
|
||||||
|
|
||||||
### 默认文件
|
|
||||||
|
|
||||||
生成：
|
|
||||||
|
|
||||||
```text
|
|
||||||
README.md
|
|
||||||
README_en.md
|
|
||||||
|
|||||||
+41
-78
@@ -1,93 +1,56 @@
|
|||||||
##################################################
|
# .NET / MSBuild生成目录
|
||||||
# Visual Studio
|
**/bin/
|
||||||
##################################################
|
**/obj/
|
||||||
|
**/build/
|
||||||
|
**/publish/
|
||||||
|
artifacts/
|
||||||
|
TestResults/
|
||||||
|
*.nupkg
|
||||||
|
packages/
|
||||||
|
|
||||||
# Visual Studio 工作区缓存
|
# MyParking构建脚本生成的部署文件
|
||||||
|
/output/
|
||||||
|
/ref/CommonUsage.dll
|
||||||
|
|
||||||
|
# Python缓存和本地虚拟环境
|
||||||
|
**/__pycache__/
|
||||||
|
*.py[cod]
|
||||||
|
.pytest_cache/
|
||||||
|
.mypy_cache/
|
||||||
|
.venv/
|
||||||
|
venv/
|
||||||
|
|
||||||
|
# 实验生成数据；保留脚本、requirements和README
|
||||||
|
/data_process/**/*.csv
|
||||||
|
/data_process/**/*.png
|
||||||
|
/data_process/**/plots/
|
||||||
|
/logs/
|
||||||
|
|
||||||
|
# IDE和用户配置
|
||||||
.vs/
|
.vs/
|
||||||
**/.vs/
|
.idea/
|
||||||
|
.vscode/
|
||||||
# 用户配置
|
|
||||||
*.user
|
*.user
|
||||||
*.suo
|
*.suo
|
||||||
*.userosscache
|
*.userosscache
|
||||||
*.sln.docstates
|
*.sln.docstates
|
||||||
|
|
||||||
##################################################
|
|
||||||
# Build 输出
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
# 编译输出目录
|
|
||||||
bin/
|
|
||||||
obj/
|
|
||||||
**/bin/
|
|
||||||
**/obj/
|
|
||||||
|
|
||||||
##################################################
|
|
||||||
# Rider / VS Code
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
.idea/
|
|
||||||
.vscode/
|
|
||||||
|
|
||||||
##################################################
|
|
||||||
# NuGet
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
*.nupkg
|
|
||||||
packages/
|
|
||||||
|
|
||||||
##################################################
|
|
||||||
# 日志
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
*.log
|
|
||||||
|
|
||||||
##################################################
|
|
||||||
# 临时文件
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
*.tmp
|
|
||||||
*.temp
|
|
||||||
|
|
||||||
##################################################
|
|
||||||
# 测试结果
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
TestResults/
|
|
||||||
|
|
||||||
##################################################
|
|
||||||
# 发布目录
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
publish/
|
|
||||||
|
|
||||||
##################################################
|
|
||||||
# Windows
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
Thumbs.db
|
|
||||||
Desktop.ini
|
|
||||||
|
|
||||||
##################################################
|
|
||||||
# JetBrains
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
_ReSharper*/
|
_ReSharper*/
|
||||||
*.DotSettings.user
|
*.DotSettings.user
|
||||||
|
|
||||||
##################################################
|
# 日志、临时文件和本地缓存
|
||||||
# 缓存
|
*.log
|
||||||
##################################################
|
*.tmp
|
||||||
|
*.temp
|
||||||
*.cache
|
*.cache
|
||||||
|
|
||||||
##################################################
|
# 本地数据库
|
||||||
# 数据库（如果有）
|
|
||||||
##################################################
|
|
||||||
|
|
||||||
*.db
|
*.db
|
||||||
*.sqlite
|
*.sqlite
|
||||||
*.sqlite3
|
*.sqlite3
|
||||||
|
|
||||||
*.csv
|
# 操作系统生成文件
|
||||||
*.png
|
Thumbs.db
|
||||||
|
Desktop.ini
|
||||||
|
.DS_Store
|
||||||
|
|
||||||
|
# 不要全局忽略*.dll：MedullaAdapter/ref和MultiWheelC/ref中的宿主依赖需要保留。
|
||||||
|
|||||||
@@ -1190,7 +1190,8 @@ namespace CommonUsage.Chassis
|
|||||||
float vx,
|
float vx,
|
||||||
float vy,
|
float vy,
|
||||||
float vth,
|
float vth,
|
||||||
TimeSpan? deltaTime = null)
|
TimeSpan? deltaTime = null,
|
||||||
|
bool enableDifferentialSteerFeedforward = false)
|
||||||
{
|
{
|
||||||
const string operationName = "SendXYThSpeed";
|
const string operationName = "SendXYThSpeed";
|
||||||
|
|
||||||
@@ -1313,13 +1314,42 @@ namespace CommonUsage.Chassis
|
|||||||
var driveScale = _xyThWheelsAligned
|
var driveScale = _xyThWheelsAligned
|
||||||
? alignmentSpeedScale
|
? alignmentSpeedScale
|
||||||
: 0f;
|
: 0f;
|
||||||
|
#region 新增虚拟旋转中心
|
||||||
|
// vth传入单位为deg/s，这里换算成rad/s。
|
||||||
|
var omegaRadiansPerSecond =
|
||||||
|
vth * (float)Math.PI / 180f;
|
||||||
|
|
||||||
|
// 只有调用者主动开启并且存在旋转运动时，
|
||||||
|
// 才启用差速舵轮左右轮的几何速度前馈。
|
||||||
|
var useDifferentialSteerFeedforward =
|
||||||
|
enableDifferentialSteerFeedforward &&
|
||||||
|
Math.Abs(omegaRadiansPerSecond) > 1e-4f;
|
||||||
|
|
||||||
|
var rotationCenter = Vector2.Zero;
|
||||||
|
|
||||||
|
if (useDifferentialSteerFeedforward)
|
||||||
|
{
|
||||||
|
// 根据车体速度场：
|
||||||
|
// vx(point) = vx - omega * y
|
||||||
|
// vy(point) = vy + omega * x
|
||||||
|
// 计算车体坐标系中的瞬时旋转中心。
|
||||||
|
//
|
||||||
|
// vx、vy单位为m/s，计算结果原本是m；
|
||||||
|
// 舵轮Position使用mm，因此乘以1000。
|
||||||
|
rotationCenter = new Vector2(
|
||||||
|
-vy / omegaRadiansPerSecond * 1000f,
|
||||||
|
vx / omegaRadiansPerSecond * 1000f);
|
||||||
|
}
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
|
||||||
for (var i = 0; i < _steerWheels.Count; i++)
|
for (var i = 0; i < _steerWheels.Count; i++)
|
||||||
AccumulateSpeed(
|
AccumulateSpeed(
|
||||||
i,
|
i,
|
||||||
driveScale *
|
driveScale *
|
||||||
sendSpeed[i],
|
sendSpeed[i],
|
||||||
false,
|
useDifferentialSteerFeedforward,
|
||||||
new Vector2(0f, 0f),
|
rotationCenter,
|
||||||
deltaTime);
|
deltaTime);
|
||||||
|
|
||||||
if (writeDiagnostics)
|
if (writeDiagnostics)
|
||||||
|
|||||||
@@ -34,7 +34,7 @@
|
|||||||
|
|
||||||
<ItemGroup>
|
<ItemGroup>
|
||||||
<Reference Include="FundamentalLib">
|
<Reference Include="FundamentalLib">
|
||||||
<HintPath>..\..\MedullaAdapter\ref\RefFundamentalLib.dll</HintPath>
|
<HintPath>.\ref\RefFundamentalLib.dll</HintPath>
|
||||||
</Reference>
|
</Reference>
|
||||||
<!-- <Reference Include="ClumsyCore">
|
<!-- <Reference Include="ClumsyCore">
|
||||||
<HintPath>..\..\MultiWheelC\ref\RefClumsyCore.dll</HintPath>
|
<HintPath>..\..\MultiWheelC\ref\RefClumsyCore.dll</HintPath>
|
||||||
|
|||||||
Binary file not shown.
@@ -67,6 +67,8 @@ namespace MedullaAdapter
|
|||||||
[AsInitParam(desc = "MCU端口号")] public string MCUPort = "COM4";
|
[AsInitParam(desc = "MCU端口号")] public string MCUPort = "COM4";
|
||||||
[AsInitParam(desc = "遥控器速度上限")] public float TransmitterSpeedUpperLimit = 1.0f;
|
[AsInitParam(desc = "遥控器速度上限")] public float TransmitterSpeedUpperLimit = 1.0f;
|
||||||
[AsInitParam(desc = "遥控器速度下限")] public float TransmitterSpeedLowerLimit = 0.0f;
|
[AsInitParam(desc = "遥控器速度下限")] public float TransmitterSpeedLowerLimit = 0.0f;
|
||||||
|
[AsInitParam(desc = "实体遥控器SB模式防抖时间，单位ms")]
|
||||||
|
public int TransmitterModeDebounceMilliseconds = 200;
|
||||||
[AsInitParam(desc = "手动控制夹臂速度系数")] public float ManualArmSpeedFac = 1.0f;
|
[AsInitParam(desc = "手动控制夹臂速度系数")] public float ManualArmSpeedFac = 1.0f;
|
||||||
[AsInitParam(desc = "遥控转弯舵角同步限速宽度，单位为度")]
|
[AsInitParam(desc = "遥控转弯舵角同步限速宽度，单位为度")]
|
||||||
public float ManualSteeringAlignmentSigmaDegrees = 8.0f;
|
public float ManualSteeringAlignmentSigmaDegrees = 8.0f;
|
||||||
|
|||||||
@@ -11,6 +11,10 @@ namespace MedullaAdapter
|
|||||||
{
|
{
|
||||||
private bool _wasTransmitterControlling;
|
private bool _wasTransmitterControlling;
|
||||||
private DateTime _lastMoveTime = DateTime.Now;
|
private DateTime _lastMoveTime = DateTime.Now;
|
||||||
|
private DiverCartDefinition.ManualControlMode?
|
||||||
|
_pendingTransmitterControlMode;
|
||||||
|
private DateTime _pendingTransmitterControlModeSince =
|
||||||
|
DateTime.MinValue;
|
||||||
public override void Operation(int iteration)
|
public override void Operation(int iteration)
|
||||||
{
|
{
|
||||||
if (!cart.GhostMode && cart.State == -1) return;
|
if (!cart.GhostMode && cart.State == -1) return;
|
||||||
@@ -68,25 +72,70 @@ namespace MedullaAdapter
|
|||||||
// 更新红黄绿灯状态。
|
// 更新红黄绿灯状态。
|
||||||
UpdateLightMode();
|
UpdateLightMode();
|
||||||
}
|
}
|
||||||
|
// M层物理遥控器：只有SB档位连续稳定指定时间后才确认模式切换。
|
||||||
|
private bool TryGetStableTransmitterControlMode(
|
||||||
|
out DiverCartDefinition.ManualControlMode stableMode)
|
||||||
|
{
|
||||||
|
stableMode = cart.TransmitterControlMode;
|
||||||
|
|
||||||
|
DiverCartDefinition.ManualControlMode? requestedMode;
|
||||||
|
|
||||||
|
switch (cart.Transmitter_SB)
|
||||||
|
{
|
||||||
|
case TransmitterState.Mode0:
|
||||||
|
requestedMode =
|
||||||
|
DiverCartDefinition.ManualControlMode.Normal;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case TransmitterState.Mode1:
|
||||||
|
requestedMode =
|
||||||
|
DiverCartDefinition.ManualControlMode.Crab;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case TransmitterState.Mode2:
|
||||||
|
requestedMode =
|
||||||
|
DiverCartDefinition.ManualControlMode.Spin;
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
_pendingTransmitterControlMode = null;
|
||||||
|
_pendingTransmitterControlModeSince =
|
||||||
|
DateTime.MinValue;
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (_pendingTransmitterControlMode != requestedMode)
|
||||||
|
{
|
||||||
|
_pendingTransmitterControlMode = requestedMode;
|
||||||
|
_pendingTransmitterControlModeSince = DateTime.Now;
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
var debounceMilliseconds = Math.Max(
|
||||||
|
0,
|
||||||
|
cart.TransmitterModeDebounceMilliseconds);
|
||||||
|
|
||||||
|
if ((DateTime.Now -
|
||||||
|
_pendingTransmitterControlModeSince)
|
||||||
|
.TotalMilliseconds < debounceMilliseconds)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
stableMode = requestedMode.Value;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
// 物理遥控器设置
|
// 物理遥控器设置
|
||||||
public void TransmitterChassisControl()
|
public void TransmitterChassisControl()
|
||||||
{
|
{
|
||||||
var interval = DateTime.Now - cart.TransmitterLastTime;
|
var interval = DateTime.Now - cart.TransmitterLastTime;
|
||||||
switch (cart.Transmitter_SB)
|
|
||||||
|
if (!TryGetStableTransmitterControlMode(
|
||||||
|
out var stableControlMode))
|
||||||
{
|
{
|
||||||
case TransmitterState.Mode0:
|
// SB处于中间档或尚未稳定时立即停车，
|
||||||
cart.TransmitterControlMode =
|
// 保持当前模式，不下发新的模式目标角。
|
||||||
DiverCartDefinition.ManualControlMode.Normal;
|
|
||||||
break;
|
|
||||||
case TransmitterState.Mode1:
|
|
||||||
cart.TransmitterControlMode =
|
|
||||||
DiverCartDefinition.ManualControlMode.Crab;
|
|
||||||
break;
|
|
||||||
case TransmitterState.Mode2:
|
|
||||||
cart.TransmitterControlMode =
|
|
||||||
DiverCartDefinition.ManualControlMode.Spin;
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
cart.ManualControl(
|
cart.ManualControl(
|
||||||
cart.TransmitterControlMode,
|
cart.TransmitterControlMode,
|
||||||
0, 0, 0,
|
0, 0, 0,
|
||||||
@@ -95,6 +144,9 @@ namespace MedullaAdapter
|
|||||||
StopClampArms();
|
StopClampArms();
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
cart.TransmitterControlMode = stableControlMode;
|
||||||
|
|
||||||
// SA关闭后立即停车。
|
// SA关闭后立即停车。
|
||||||
if (!cart.Transmitter_SA)
|
if (!cart.Transmitter_SA)
|
||||||
{
|
{
|
||||||
|
|||||||
@@ -0,0 +1,70 @@
|
|||||||
|
|
||||||
|
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||||
|
# Visual Studio Version 17
|
||||||
|
VisualStudioVersion = 17.0.31903.59
|
||||||
|
MinimumVisualStudioVersion = 10.0.40219.1
|
||||||
|
Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "CommonUsage-MultiVehicleSync", "CommonUsage-MultiVehicleSync", "{2291F6EE-0AD9-D010-97BA-674682470F91}"
|
||||||
|
EndProject
|
||||||
|
Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "commonusage", "commonusage", "{0A043828-FC50-B2F1-03BD-49EF4E42C81C}"
|
||||||
|
EndProject
|
||||||
|
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "CommonUsage", "CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj", "{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}"
|
||||||
|
EndProject
|
||||||
|
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MedullaAdapter", "MedullaAdapter\MedullaAdapter.csproj", "{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}"
|
||||||
|
EndProject
|
||||||
|
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MultiWheelC", "MultiWheelC\MultiWheelC.csproj", "{29520219-FA63-4B59-AA80-91B4FFA0D9B1}"
|
||||||
|
EndProject
|
||||||
|
Global
|
||||||
|
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||||
|
Debug|Any CPU = Debug|Any CPU
|
||||||
|
Debug|x64 = Debug|x64
|
||||||
|
Debug|x86 = Debug|x86
|
||||||
|
Release|Any CPU = Release|Any CPU
|
||||||
|
Release|x64 = Release|x64
|
||||||
|
Release|x86 = Release|x86
|
||||||
|
EndGlobalSection
|
||||||
|
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Debug|x64.ActiveCfg = Debug|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Debug|x64.Build.0 = Debug|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Debug|x86.ActiveCfg = Debug|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Debug|x86.Build.0 = Debug|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Release|x64.ActiveCfg = Release|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Release|x64.Build.0 = Release|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Release|x86.ActiveCfg = Release|Any CPU
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41}.Release|x86.Build.0 = Release|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Debug|x64.ActiveCfg = Debug|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Debug|x64.Build.0 = Debug|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Debug|x86.ActiveCfg = Debug|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Debug|x86.Build.0 = Debug|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Release|x64.ActiveCfg = Release|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Release|x64.Build.0 = Release|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Release|x86.ActiveCfg = Release|Any CPU
|
||||||
|
{95F7BD98-C801-4E4E-B8A6-C0EFE3535C5C}.Release|x86.Build.0 = Release|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Debug|Any CPU.Build.0 = Debug|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Debug|x64.ActiveCfg = Debug|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Debug|x64.Build.0 = Debug|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Debug|x86.ActiveCfg = Debug|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Debug|x86.Build.0 = Debug|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Release|Any CPU.ActiveCfg = Release|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Release|Any CPU.Build.0 = Release|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Release|x64.ActiveCfg = Release|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Release|x64.Build.0 = Release|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Release|x86.ActiveCfg = Release|Any CPU
|
||||||
|
{29520219-FA63-4B59-AA80-91B4FFA0D9B1}.Release|x86.Build.0 = Release|Any CPU
|
||||||
|
EndGlobalSection
|
||||||
|
GlobalSection(SolutionProperties) = preSolution
|
||||||
|
HideSolutionNode = FALSE
|
||||||
|
EndGlobalSection
|
||||||
|
GlobalSection(NestedProjects) = preSolution
|
||||||
|
{0A043828-FC50-B2F1-03BD-49EF4E42C81C} = {2291F6EE-0AD9-D010-97BA-674682470F91}
|
||||||
|
{DAAF1A42-FA55-4FC0-8083-F5A2FEFE0A41} = {0A043828-FC50-B2F1-03BD-49EF4E42C81C}
|
||||||
|
EndGlobalSection
|
||||||
|
EndGlobal
|
||||||
@@ -8,10 +8,10 @@
|
|||||||
|
|
||||||
1. 先实现单台停车机器人小车的基本功能；
|
1. 先实现单台停车机器人小车的基本功能；
|
||||||
2. 在单车闭环稳定后逐步增加停车作业功能；
|
2. 在单车闭环稳定后逐步增加停车作业功能；
|
||||||
3. 基于仿真、台架和实车数据优化轨迹跟踪方法；
|
3. 基于台架和实车数据优化轨迹跟踪方法；
|
||||||
4. 最后再考虑多车通信、编队和协同控制。
|
4. 最后再考虑多车通信、编队和协同控制。
|
||||||
|
|
||||||
当前工作仍以**单车**为主，已经从基础框架搭建进入底盘联调、功能补充和跟踪实验阶段。多车配置仍位于 `PilotConfig.cs` 的 `#if false` 区域，`Shared/FleetKinematics.cs` 仍是占位文件，不能视为多车能力已经实现。
|
当前工作仍以**单车**为主，处于底盘联调、功能补充和跟踪实验阶段。多车配置位于 `MultiWheelC/PilotConfig.cs` 的 `#if false` 区域，`Shared/Fleet/FleetKinematics.cs` 仍是占位文件，不能视为多车能力已经实现。
|
||||||
|
|
||||||
| 阶段 | 当前状态 | 说明 |
|
| 阶段 | 当前状态 | 说明 |
|
||||||
| --- | --- | --- |
|
| --- | --- | --- |
|
||||||
@@ -22,18 +22,17 @@
|
|||||||
|
|
||||||
## 项目简介
|
## 项目简介
|
||||||
|
|
||||||
MyParking 是一个面向多轮停车机器人底盘的 C# 工程，覆盖上层运动动作、共享运动学、底层硬件适配、离线 Web 仿真和实验数据分析。
|
MyParking 是一个面向多轮停车机器人底盘的 C# 工程，覆盖上层运动动作、共享运动学、底层硬件适配和实验数据分析。
|
||||||
|
|
||||||
核心代码分为：
|
核心模块：
|
||||||
|
|
||||||
- `ClumsyPilot`：Clumsy 上层动作、轨迹跟踪和人工测试；
|
- `MultiWheelC`：Clumsy 上层（C 层）动作、轨迹跟踪、人工测试和实验记录；
|
||||||
- `MedullaAdapter`：Medulla 下层 MCU、CAN、串口、轮组、夹臂、遥控和报警适配；
|
- `MedullaAdapter`：Medulla 下层（M 层）MCU、CAN、串口、轮组、夹臂、遥控和报警适配；
|
||||||
- `Shared`：统一的二维坐标、底盘命令、坐标变换和多轮底盘适配；
|
- `Shared`：M/C 共享的二维坐标、底盘命令、坐标变换和多轮底盘适配（无独立 `.csproj`，由两端编译引入）；
|
||||||
- `CommonUsage-MultiVehicleSync/commonusage`：仓库内的 `CommonUsage` 底盘公共库源码；
|
- `CommonUsage-MultiVehicleSync/commonusage`：仓库内的 `CommonUsage` 底盘公共库源码；
|
||||||
- `Simulation`：基于 ASP.NET Core 的单车 Web 仿真器；
|
- `data_process`：轨迹实验与舵轮响应的 Python 分析工具。
|
||||||
- `data_process`：轨迹实验 CSV 的 Python 分析工具。
|
|
||||||
|
|
||||||
仓库中没有 ROS/ROS 2 或 Docker 配置。
|
仓库中没有 ROS/ROS 2、Docker 或 Web 仿真项目。插件由 Clumsy / Medulla 宿主加载，不能通过 `dotnet run` 独立启动。
|
||||||
|
|
||||||
## 当前已接入能力
|
## 当前已接入能力
|
||||||
|
|
||||||
@@ -48,7 +47,6 @@ MyParking 是一个面向多轮停车机器人底盘的 C# 工程，覆盖上层
|
|||||||
| 驱动与反馈 | 8 个驱动电机和 4 个舵轮的命令、速度/位置/舵角反馈及远程帧状态 |
|
| 驱动与反馈 | 8 个驱动电机和 4 个舵轮的命令、速度/位置/舵角反馈及远程帧状态 |
|
||||||
| 车辆状态 | 急停、启停、抱闸、灯光、电池 SOC/SOH 和驱动使能状态 |
|
| 车辆状态 | 急停、启停、抱闸、灯光、电池 SOC/SOH 和驱动使能状态 |
|
||||||
| 诊断 | CAN 轮速事件与周期快照 CSV、轨迹实验 CSV、控制命令和 Detour 位姿记录 |
|
| 诊断 | CAN 轮速事件与周期快照 CSV、轨迹实验 CSV、控制命令和 Detour 位姿记录 |
|
||||||
| 仿真 | 浏览器二维车辆显示、模式按钮、手动控制、车辆配置、复位和 REST API |
|
|
||||||
|
|
||||||
以上表示代码和测试入口已经存在，不等同于所有工况均已完成实车验收。
|
以上表示代码和测试入口已经存在，不等同于所有工况均已完成实车验收。
|
||||||
|
|
||||||
@@ -58,7 +56,7 @@ MyParking 是一个面向多轮停车机器人底盘的 C# 工程，覆盖上层
|
|||||||
Clumsy 宿主
|
Clumsy 宿主
|
||||||
│
|
│
|
||||||
▼
|
▼
|
||||||
ClumsyPilot ───────────────┐
|
MultiWheelC ───────────────┐
|
||||||
│ │
|
│ │
|
||||||
▼ │ 实验 CSV
|
▼ │ 实验 CSV
|
||||||
Shared / CommonUsage ├──────────► data_process
|
Shared / CommonUsage ├──────────► data_process
|
||||||
@@ -74,35 +72,46 @@ mcu_serial_bridge.dll │
|
|||||||
│ │
|
│ │
|
||||||
▼ │
|
▼ │
|
||||||
MCU ─► CAN / Serial / IO ──┘
|
MCU ─► CAN / Serial / IO ──┘
|
||||||
|
|
||||||
Simulation ─► Shared 数据类型 ─► 浏览器仿真界面
|
|
||||||
```
|
```
|
||||||
|
|
||||||
`ClumsyPilot` 和 `MedullaAdapter` 生成插件类库，需要由对应宿主加载；`Simulation` 是可以独立启动的 ASP.NET Core Web 项目。
|
`MultiWheelC` 与 `MedullaAdapter` 生成插件类库，需由对应宿主加载。`CommonUsage` 是独立底盘库，不反向依赖 `Shared`、M 层或 C 层。
|
||||||
|
|
||||||
|
## 坐标系与单位
|
||||||
|
|
||||||
|
- `Shared` 统一使用 SI 单位：m、m/s、rad、rad/s。
|
||||||
|
- 车体坐标系：X 向前、Y 向左、逆时针为正。
|
||||||
|
- 旧接口单位只在边界处转换。
|
||||||
|
- 角度归一化、最短角差和度弧度转换统一使用 `Shared/Mathematics/AngleMath.cs`。
|
||||||
|
- 弧度归一化范围为 `[-π, π)`，度归一化范围为 `[-180°, 180°)`。
|
||||||
|
- 车辆航向可用圆周最短角差；受 `[-120°, 120°]` 限制的机械舵角误差必须直接使用目标值减实际值。
|
||||||
|
|
||||||
## 目录说明
|
## 目录说明
|
||||||
|
|
||||||
```text
|
```text
|
||||||
MyParking/
|
MyParking/
|
||||||
├── ParkingRobot.sln
|
├── ParkingRobot.sln # 根解决方案（CommonUsage / M / C）
|
||||||
├── ClumsyPilot/ # 上层动作、跟踪、测试和实验记录
|
├── build-and-package.ps1 # 官方构建与 M/C 打包脚本
|
||||||
├── MedullaAdapter/ # MCU、CAN、轮组、夹臂、遥控和报警
|
├── AGENTS.md # 协作与代码规范
|
||||||
├── Shared/ # 共享命令、坐标变换和底盘适配
|
├── MultiWheelC/ # C 层动作、跟踪、测试和实验记录
|
||||||
|
├── MedullaAdapter/ # M 层 MCU、CAN、轮组、夹臂、遥控和报警
|
||||||
|
├── Shared/ # 共享模型、数学方法和底盘适配
|
||||||
├── CommonUsage-MultiVehicleSync/
|
├── CommonUsage-MultiVehicleSync/
|
||||||
│ └── commonusage/ # CommonUsage 公共底盘库源码
|
│ └── commonusage/ # CommonUsage 公共底盘库源码
|
||||||
├── Simulation/ # .NET 8 Web 仿真器
|
├── ref/ # 构建生成的 CommonUsage.dll（勿手工覆盖）
|
||||||
│ ├── Commands/ # 可由特性自动发现的仿真动作
|
├── data_process/
|
||||||
│ ├── Core/ # 仿真车辆、舵轮、时钟和世界
|
│ ├── 轨迹测试处理/ # 轨迹对比、误差、速度与角速度绘图
|
||||||
│ ├── Models/ # Web API DTO
|
│ └── 电机响应处理/ # 舵轮响应快照分析
|
||||||
│ └── wwwroot/ # 浏览器界面
|
├── docs/
|
||||||
├── data_process/ # Python 实验绘图脚本
|
│ ├── SteeringConstraintDesign.md # 舵轮限位设计讨论
|
||||||
├── ref/ # 两个插件共同使用的 CommonUsage.dll
|
│ ├── chassis参考.json # 底盘参数样例
|
||||||
├── 测试方案.txt # 单车轨迹实验方案
|
│ ├── 测试方案.txt # 单车轨迹实验方案
|
||||||
├── 记录.txt # 项目调试记录
|
│ └── 记录.txt # 项目调试记录
|
||||||
└── 电机记录.txt # 电机调试记录
|
└── output/ # 打包输出（gitignore）
|
||||||
|
├── M/ # MedullaAdapter.dll + CommonUsage.dll
|
||||||
|
└── C/ # MultiWheelC.dll + CommonUsage.dll
|
||||||
```
|
```
|
||||||
|
|
||||||
根目录的 `ParkingRobot.sln` 当前只包含 `ClumsyPilot` 和 `MedullaAdapter`；`CommonUsage` 与 `Simulation` 需要分别构建。
|
根目录 `ParkingRobot.sln` 包含 `CommonUsage`、`MedullaAdapter` 和 `MultiWheelC`，便于在 Visual Studio 中打开整仓。`Shared` 无独立项目，由 M/C 编译引入。部署打包仍以 `build-and-package.ps1` 为准。
|
||||||
|
|
||||||
## 开发环境与依赖
|
## 开发环境与依赖
|
||||||
|
|
||||||
@@ -111,74 +120,62 @@ MyParking/
|
|||||||
- Python 环境，用于可选的实验数据绘图；
|
- Python 环境，用于可选的实验数据绘图；
|
||||||
- Clumsy / Medulla 内部框架程序集，位于各项目的 `ref` 目录；
|
- Clumsy / Medulla 内部框架程序集，位于各项目的 `ref` 目录；
|
||||||
- 实机所需的 `mcu_serial_bridge.dll`，当前仓库中未包含该文件；
|
- 实机所需的 `mcu_serial_bridge.dll`，当前仓库中未包含该文件；
|
||||||
- 能够加载 `ClumsyPilot.dll` 和 `MedullaAdapter.dll` 的匹配版本宿主程序，当前仓库中未包含宿主。
|
- 能够加载 `MultiWheelC.dll` 和 `MedullaAdapter.dll` 的匹配版本宿主程序，当前仓库中未包含宿主。
|
||||||
|
|
||||||
主要 NuGet/Python 依赖：
|
主要依赖：
|
||||||
|
|
||||||
- `ClumsyPilot`：`Newtonsoft.Json 13.0.3`、`System.Numerics.Vectors 4.6.1`；
|
- `MultiWheelC`（`netstandard2.0`）：`Newtonsoft.Json 13.0.3`、`System.Numerics.Vectors 4.6.1`；
|
||||||
- `CommonUsage`：`MQTTnet 4.3.7.1207`、`Newtonsoft.Json 13.0.3` 等；
|
- `MedullaAdapter`（`net8.0`）：无 NuGet PackageReference，依赖本地 `ref` 程序集；
|
||||||
- `data_process`：NumPy、pandas、Matplotlib、SciPy。
|
- `CommonUsage`（`netstandard2.0`）：`MQTTnet 4.3.7.1207`、`Newtonsoft.Json 13.0.3` 等；
|
||||||
|
- `data_process`：见各子目录 `requirements.txt`。
|
||||||
|
|
||||||
## 编译
|
## 编译与打包
|
||||||
|
|
||||||
### 1. 构建 CommonUsage
|
在 `MyParking` 目录执行官方脚本（默认 Debug）：
|
||||||
|
|
||||||
修改公共底盘库后，先执行：
|
```powershell
|
||||||
|
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1
|
||||||
|
```
|
||||||
|
|
||||||
|
Release 构建：
|
||||||
|
|
||||||
|
```powershell
|
||||||
|
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1 -Configuration Release
|
||||||
|
```
|
||||||
|
|
||||||
|
脚本流程：
|
||||||
|
|
||||||
|
1. 构建 `CommonUsage`，并将 `CommonUsage.dll` 复制到根目录 `ref/`；
|
||||||
|
2. 构建 `MedullaAdapter` 和 `MultiWheelC`；
|
||||||
|
3. 将 M/C 产物分别打包到 `output/M` 和 `output/C`，两边使用同一份 `CommonUsage.dll`。
|
||||||
|
|
||||||
|
首次克隆或依赖变更后，如遇 `--no-restore` 失败，可先恢复依赖再打包：
|
||||||
|
|
||||||
```powershell
|
```powershell
|
||||||
dotnet restore CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj
|
dotnet restore CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj
|
||||||
dotnet build CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj -c Debug
|
dotnet restore MedullaAdapter\MedullaAdapter.csproj
|
||||||
|
dotnet restore MultiWheelC\MultiWheelC.csproj
|
||||||
```
|
```
|
||||||
|
|
||||||
该项目的构建目标会把生成的 `CommonUsage.dll` 复制到根目录 `ref`。
|
主要中间输出：
|
||||||
|
|
||||||
### 2. 构建实车插件
|
|
||||||
|
|
||||||
```powershell
|
|
||||||
dotnet restore ParkingRobot.sln
|
|
||||||
dotnet build ParkingRobot.sln -c Debug
|
|
||||||
```
|
|
||||||
|
|
||||||
主要输出：
|
|
||||||
|
|
||||||
```text
|
```text
|
||||||
ClumsyPilot/build/Clumsy/ClumsyPilot.dll
|
|
||||||
MedullaAdapter/build/Medulla/plugins/MedullaAdapter.dll
|
MedullaAdapter/build/Medulla/plugins/MedullaAdapter.dll
|
||||||
|
MultiWheelC/build/Clumsy/MultiWheelC.dll
|
||||||
```
|
```
|
||||||
|
|
||||||
### 3. 构建 Web 仿真器
|
不要直接编辑 `bin`、`obj`、`build`、`output` 中的产物，也不要手工覆盖 `ref/CommonUsage.dll`。
|
||||||
|
|
||||||
```powershell
|
|
||||||
dotnet restore Simulation\MyParking.Simulation.csproj
|
|
||||||
dotnet build Simulation\MyParking.Simulation.csproj -c Debug
|
|
||||||
```
|
|
||||||
|
|
||||||
## 启动 Web 仿真
|
|
||||||
|
|
||||||
```powershell
|
|
||||||
dotnet run --project Simulation\MyParking.Simulation.csproj --launch-profile http
|
|
||||||
```
|
|
||||||
|
|
||||||
浏览器访问：
|
|
||||||
|
|
||||||
```text
|
|
||||||
http://localhost:5203
|
|
||||||
```
|
|
||||||
|
|
||||||
仿真界面提供正常、左蟹行、右蟹行、自转、前进、后退、左转、右转、停止和复位动作，并可修改车辆布局及手动控制输入。主要 API 包括：
|
|
||||||
|
|
||||||
- `GET /api/vehicles`
|
|
||||||
- `GET /api/actions`
|
|
||||||
- `GET/POST /api/configuration`
|
|
||||||
- `POST /api/vehicles/{vehicleId}/commands/{command}`
|
|
||||||
- `POST /api/vehicles/{vehicleId}/manual-control`
|
|
||||||
- `POST /api/reset`
|
|
||||||
|
|
||||||
`Simulation/Commands/MySimulationTests.cs` 给出了自定义仿真动作示例；为静态方法添加 `SimulationAction` 特性后，调度器会自动发现并在网页生成对应动作。
|
|
||||||
|
|
||||||
## 实车运行与 MCU 配置
|
## 实车运行与 MCU 配置
|
||||||
|
|
||||||
实车插件不能通过 `dotnet run` 独立启动。需要由匹配版本的 Clumsy/Medulla 宿主加载两个 DLL。宿主版本、部署目录和完整启动步骤尚未随仓库提供，待补充。
|
实车插件不能通过 `dotnet run` 独立启动，需要由匹配版本的 Clumsy / Medulla 宿主分别加载：
|
||||||
|
|
||||||
|
```text
|
||||||
|
output/C/MultiWheelC.dll
|
||||||
|
output/M/MedullaAdapter.dll
|
||||||
|
```
|
||||||
|
|
||||||
|
宿主版本、部署目录和完整启动步骤尚未随仓库提供，待补充。
|
||||||
|
|
||||||
当前源码中的 MCU 默认参数：
|
当前源码中的 MCU 默认参数：
|
||||||
|
|
||||||
@@ -192,13 +189,13 @@ http://localhost:5203
|
|||||||
| 自转最大角速度 | `30 deg/s` |
|
| 自转最大角速度 | `30 deg/s` |
|
||||||
| 轮速诊断目录 | `logs\wheel-speed` |
|
| 轮速诊断目录 | `logs\wheel-speed` |
|
||||||
|
|
||||||
当前工作区存在 `chassis.json` 底盘参数样例，但源码中尚未发现自动加载该文件的入口；实车参数仍应以宿主实际配置为准。
|
`docs/chassis参考.json` 是底盘参数样例；源码中尚未发现自动加载该文件的入口，实车参数仍应以宿主实际配置为准。
|
||||||
|
|
||||||
实机测试前必须确认端口、车号、舵轮零位与限位、速度单位、驱动方向、夹臂限位和急停链路。建议先架空驱动轮或在隔离区域低速测试，并保留独立可靠的物理急停，不能只依赖软件停车。
|
实机测试前必须确认端口、车号、舵轮零位与限位、速度单位、驱动方向、夹臂限位和急停链路。建议先架空驱动轮或在隔离区域低速、短距离测试，并保留独立可靠的物理急停，不能只依赖软件停车。
|
||||||
|
|
||||||
## 单车测试入口
|
## 单车测试入口
|
||||||
|
|
||||||
`ClumsyPilot/MovementTests.cs` 当前注册：
|
`MultiWheelC/MovementTests.cs` 当前注册：
|
||||||
|
|
||||||
- `准备：四个舵轮与车头方向一致`
|
- `准备：四个舵轮与车头方向一致`
|
||||||
- `SendMotion：连续前进4m`
|
- `SendMotion：连续前进4m`
|
||||||
@@ -227,25 +224,29 @@ Medulla 的轮速诊断可通过 `StartWheelSpeedDiagnostic` / `StopWheelSpeedDi
|
|||||||
logs/wheel-speed/
|
logs/wheel-speed/
|
||||||
```
|
```
|
||||||
|
|
||||||
在自行管理的 Python 环境中安装依赖：
|
### 轨迹测试处理
|
||||||
|
|
||||||
```powershell
|
```powershell
|
||||||
python -m pip install -r data_process\requirements.txt
|
python -m pip install -r data_process\轨迹测试处理\requirements.txt
|
||||||
|
python data_process\轨迹测试处理\run_all_plots.py "路径\实验1.csv" "路径\实验2.csv" --output-dir "路径\plots"
|
||||||
```
|
```
|
||||||
|
|
||||||
对一份或多份轨迹 CSV 同时生成轨迹对比、跟踪误差、速度响应和角速度命令图：
|
默认重采样频率为 `20 Hz`，滤波窗口为 `0.55 s`，可通过 `--frequency` 和 `--window` 调整。
|
||||||
|
|
||||||
|
### 电机响应处理
|
||||||
|
|
||||||
```powershell
|
```powershell
|
||||||
python data_process\run_all_plots.py "路径\实验1.csv" "路径\实验2.csv" --output-dir "路径\plots"
|
python -m pip install -r data_process\电机响应处理\requirements.txt
|
||||||
|
python data_process\电机响应处理\plot_steering_response.py
|
||||||
```
|
```
|
||||||
|
|
||||||
不传 CSV 路径时，脚本会查找 `data_process` 目录中的 CSV。默认重采样频率为 `20 Hz`，滤波窗口为 `0.55 s`，可通过 `--frequency` 和 `--window` 调整。
|
默认读取 `logs\wheel-speed` 中最新的 `*_snapshot.csv`。详见 [`data_process/电机响应处理/README.md`](data_process/电机响应处理/README.md)。
|
||||||
|
|
||||||
## 尚未完成或需要继续验证
|
## 尚未完成或需要继续验证
|
||||||
|
|
||||||
- 雷达点云、轮胎识别、自动钻车、车辆释放和完整停车作业状态机；
|
- 雷达点云、轮胎识别、自动钻车、车辆释放和完整停车作业状态机；
|
||||||
- 当前运动和夹臂功能的完整实车验收、故障注入及长期稳定性测试；
|
- 当前运动和夹臂功能的完整实车验收、故障注入及长期稳定性测试；
|
||||||
- 舵轮软限位预测和自动车身重定向；`SteeringConstraintManager.cs` 当前主要是设计记录；
|
- 舵轮软限位预测和自动车身重定向；当前仅有设计文档 [`docs/SteeringConstraintDesign.md`](docs/SteeringConstraintDesign.md)；
|
||||||
- 自动化单元测试和持续集成；
|
- 自动化单元测试和持续集成；
|
||||||
- 多车通信、编队、同步和安全降级；`FleetKinematics.cs` 当前仅为占位；
|
- 多车通信、编队、同步和安全降级；`FleetKinematics.cs` 当前仅为占位；
|
||||||
- 宿主版本、插件部署目录、配置文件位置和发布流程。
|
- 宿主版本、插件部署目录、配置文件位置和发布流程。
|
||||||
@@ -253,12 +254,14 @@ python data_process\run_all_plots.py "路径\实验1.csv" "路径\实验2.csv" -
|
|||||||
## 参与开发
|
## 参与开发
|
||||||
|
|
||||||
1. 当前改动优先服务于单车闭环、停车功能和跟踪质量，不提前启用多车代码；
|
1. 当前改动优先服务于单车闭环、停车功能和跟踪质量，不提前启用多车代码；
|
||||||
2. 保持上层动作、共享运动学、底层硬件协议和仿真模块的边界；
|
2. 保持 `CommonUsage`、`Shared`、`MedullaAdapter`、`MultiWheelC` 的模块边界；
|
||||||
3. 新增参数时注明坐标系、单位、默认值、车型和安全范围；
|
3. 新增参数时注明坐标系、单位、默认值、车型和安全范围；
|
||||||
4. 提交前构建受影响的项目，并记录仿真、台架或实车验证条件；
|
4. 修改相关项目后运行 `build-and-package.ps1`，并确认 M/C 部署包使用同一份 `CommonUsage.dll`；
|
||||||
5. 修改 `CommonUsage` 后同步更新根目录 `ref/CommonUsage.dll`；
|
5. 未经明确要求，不改变速度或舵角符号、CAN ID、遥控器映射、机械限位和模式切换策略；
|
||||||
6. 分支、评审和发布流程待团队补充。
|
6. 分支、评审和发布流程待团队补充。
|
||||||
|
|
||||||
|
更细的协作约定见 [`AGENTS.md`](AGENTS.md)。
|
||||||
|
|
||||||
## 许可证
|
## 许可证
|
||||||
|
|
||||||
仓库中暂未提供许可证文件。使用和分发范围请遵循公司内部规定。
|
仓库中暂未提供许可证文件。使用和分发范围请遵循公司内部规定。
|
||||||
|
|||||||
+95
-92
@@ -8,10 +8,10 @@ This repository is a rewrite of the parking-robot control software. Development
|
|||||||
|
|
||||||
1. Implement the basic functions of one parking robot first;
|
1. Implement the basic functions of one parking robot first;
|
||||||
2. Add parking-operation features after the single-robot loop is stable;
|
2. Add parking-operation features after the single-robot loop is stable;
|
||||||
3. Improve tracking with simulation, bench, and physical-vehicle data;
|
3. Improve tracking with bench and physical-vehicle data;
|
||||||
4. Consider multi-robot communication, formation, and coordination last.
|
4. Consider multi-robot communication, formation, and coordination last.
|
||||||
|
|
||||||
The current work remains focused on the **single robot** and has progressed from framework construction to chassis integration, feature development, and tracking experiments. Multi-robot settings remain inside the `#if false` section of `PilotConfig.cs`, while `Shared/FleetKinematics.cs` is still a placeholder. These files do not represent an implemented multi-robot system.
|
The current work remains focused on the **single robot** and is in chassis integration, feature development, and tracking experiments. Multi-robot settings remain inside the `#if false` section of `MultiWheelC/PilotConfig.cs`, while `Shared/Fleet/FleetKinematics.cs` is still a placeholder. These files do not represent an implemented multi-robot system.
|
||||||
|
|
||||||
| Stage | Current status | Notes |
|
| Stage | Current status | Notes |
|
||||||
| --- | --- | --- |
|
| --- | --- | --- |
|
||||||
@@ -22,18 +22,17 @@ The current work remains focused on the **single robot** and has progressed from
|
|||||||
|
|
||||||
## Overview
|
## Overview
|
||||||
|
|
||||||
MyParking is a C# project for a multi-wheel parking-robot chassis. It covers upper-layer actions, shared kinematics, lower-layer hardware adaptation, an offline Web simulator, and experiment-data analysis.
|
MyParking is a C# project for a multi-wheel parking-robot chassis. It covers upper-layer actions, shared kinematics, lower-layer hardware adaptation, and experiment-data analysis.
|
||||||
|
|
||||||
The main components are:
|
Main modules:
|
||||||
|
|
||||||
- `ClumsyPilot`: Clumsy actions, tracking, and manual tests;
|
- `MultiWheelC`: Clumsy upper layer (C layer) for actions, tracking, manual tests, and experiment recording;
|
||||||
- `MedullaAdapter`: Medulla MCU, CAN, serial, wheel, clamp, remote-control, and alarm adaptation;
|
- `MedullaAdapter`: Medulla lower layer (M layer) for MCU, CAN, serial, wheel, clamp, remote-control, and alarm adaptation;
|
||||||
- `Shared`: common 2D coordinates, chassis commands, frame transforms, and multi-wheel adaptation;
|
- `Shared`: M/C-shared 2D coordinates, chassis commands, frame transforms, and multi-wheel adaptation (no standalone `.csproj`; compiled into both ends);
|
||||||
- `CommonUsage-MultiVehicleSync/commonusage`: in-repository source for the `CommonUsage` chassis library;
|
- `CommonUsage-MultiVehicleSync/commonusage`: in-repository source for the `CommonUsage` chassis library;
|
||||||
- `Simulation`: an ASP.NET Core single-robot Web simulator;
|
- `data_process`: Python tools for tracking experiments and steering-response analysis.
|
||||||
- `data_process`: Python tools for tracking-experiment CSV files.
|
|
||||||
|
|
||||||
No ROS/ROS 2 or Docker configuration is present.
|
No ROS/ROS 2, Docker, or Web simulator project is present. The plugins are loaded by Clumsy / Medulla hosts and cannot be started independently with `dotnet run`.
|
||||||
|
|
||||||
## Currently Integrated Capabilities
|
## Currently Integrated Capabilities
|
||||||
|
|
||||||
@@ -48,7 +47,6 @@ No ROS/ROS 2 or Docker configuration is present.
|
|||||||
| Drive and feedback | Commands and speed/position/steering feedback for eight drive motors and four steer modules, plus remote-frame state |
|
| Drive and feedback | Commands and speed/position/steering feedback for eight drive motors and four steer modules, plus remote-frame state |
|
||||||
| Vehicle state | Emergency stop, start/stop, brake, lights, battery SOC/SOH, and drive-enable state |
|
| Vehicle state | Emergency stop, start/stop, brake, lights, battery SOC/SOH, and drive-enable state |
|
||||||
| Diagnostics | CAN wheel-speed events, periodic snapshot CSVs, tracking CSVs, command recording, and Detour pose recording |
|
| Diagnostics | CAN wheel-speed events, periodic snapshot CSVs, tracking CSVs, command recording, and Detour pose recording |
|
||||||
| Simulation | Browser-based 2D display, mode actions, manual control, vehicle configuration, reset, and REST APIs |
|
|
||||||
|
|
||||||
The presence of code and test entries does not mean every operating condition has passed physical acceptance testing.
|
The presence of code and test entries does not mean every operating condition has passed physical acceptance testing.
|
||||||
|
|
||||||
@@ -58,7 +56,7 @@ The presence of code and test entries does not mean every operating condition ha
|
|||||||
Clumsy host
|
Clumsy host
|
||||||
│
|
│
|
||||||
▼
|
▼
|
||||||
ClumsyPilot ───────────────┐
|
MultiWheelC ───────────────┐
|
||||||
│ │
|
│ │
|
||||||
▼ │ experiment CSV
|
▼ │ experiment CSV
|
||||||
Shared / CommonUsage ├──────────► data_process
|
Shared / CommonUsage ├──────────► data_process
|
||||||
@@ -74,35 +72,46 @@ mcu_serial_bridge.dll │
|
|||||||
│ │
|
│ │
|
||||||
▼ │
|
▼ │
|
||||||
MCU ─► CAN / Serial / IO ──┘
|
MCU ─► CAN / Serial / IO ──┘
|
||||||
|
|
||||||
Simulation ─► Shared data types ─► browser simulator
|
|
||||||
```
|
```
|
||||||
|
|
||||||
`ClumsyPilot` and `MedullaAdapter` build as plugin libraries that require their respective hosts. `Simulation` is an independently runnable ASP.NET Core Web project.
|
`MultiWheelC` and `MedullaAdapter` build as plugin libraries that require their respective hosts. `CommonUsage` is an independent chassis library and must not depend back on `Shared`, the M layer, or the C layer.
|
||||||
|
|
||||||
|
## Coordinates and Units
|
||||||
|
|
||||||
|
- `Shared` uses SI units: m, m/s, rad, rad/s.
|
||||||
|
- Body frame: X forward, Y left, counterclockwise positive.
|
||||||
|
- Legacy API units are converted only at boundaries.
|
||||||
|
- Angle normalization, shortest angular difference, and degree/radian conversion use `Shared/Mathematics/AngleMath.cs`.
|
||||||
|
- Radian normalization range is `[-π, π)`; degree normalization range is `[-180°, 180°)`.
|
||||||
|
- Vehicle heading may use the shortest circular difference; mechanical steering error under the `[-120°, 120°]` limit must use target minus actual directly.
|
||||||
|
|
||||||
## Repository Layout
|
## Repository Layout
|
||||||
|
|
||||||
```text
|
```text
|
||||||
MyParking/
|
MyParking/
|
||||||
├── ParkingRobot.sln
|
├── ParkingRobot.sln # Root solution (CommonUsage / M / C)
|
||||||
├── ClumsyPilot/ # Upper-layer actions, tracking, tests, and recording
|
├── build-and-package.ps1 # Official build and M/C packaging script
|
||||||
├── MedullaAdapter/ # MCU, CAN, wheel, clamp, remote, and alarms
|
├── AGENTS.md # Collaboration and coding rules
|
||||||
├── Shared/ # Shared commands, frame transforms, and chassis adapter
|
├── MultiWheelC/ # C-layer actions, tracking, tests, and recording
|
||||||
|
├── MedullaAdapter/ # M-layer MCU, CAN, wheel, clamp, remote, and alarms
|
||||||
|
├── Shared/ # Shared models, math, and chassis adapter
|
||||||
├── CommonUsage-MultiVehicleSync/
|
├── CommonUsage-MultiVehicleSync/
|
||||||
│ └── commonusage/ # CommonUsage chassis-library source
|
│ └── commonusage/ # CommonUsage chassis-library source
|
||||||
├── Simulation/ # .NET 8 Web simulator
|
├── ref/ # Generated CommonUsage.dll (do not overwrite by hand)
|
||||||
│ ├── Commands/ # Attribute-discovered simulation actions
|
├── data_process/
|
||||||
│ ├── Core/ # Vehicles, steer wheels, clock, and world
|
│ ├── 轨迹测试处理/ # Trajectory comparison, error, speed, and yaw plots
|
||||||
│ ├── Models/ # Web API DTOs
|
│ └── 电机响应处理/ # Steering-response snapshot analysis
|
||||||
│ └── wwwroot/ # Browser UI
|
├── docs/
|
||||||
├── data_process/ # Python experiment-plotting scripts
|
│ ├── SteeringConstraintDesign.md # Steering-limit design notes
|
||||||
├── ref/ # CommonUsage.dll shared by both plugins
|
│ ├── chassis参考.json # Sample chassis parameters
|
||||||
├── 测试方案.txt # Single-robot tracking experiment plan
|
│ ├── 测试方案.txt # Single-robot tracking experiment plan
|
||||||
├── 记录.txt # Project debugging notes
|
│ └── 记录.txt # Project debugging notes
|
||||||
└── 电机记录.txt # Motor debugging notes
|
└── output/ # Packaging output (gitignored)
|
||||||
|
├── M/ # MedullaAdapter.dll + CommonUsage.dll
|
||||||
|
└── C/ # MultiWheelC.dll + CommonUsage.dll
|
||||||
```
|
```
|
||||||
|
|
||||||
The root `ParkingRobot.sln` currently contains only `ClumsyPilot` and `MedullaAdapter`. Build `CommonUsage` and `Simulation` separately.
|
The root `ParkingRobot.sln` includes `CommonUsage`, `MedullaAdapter`, and `MultiWheelC` for opening the repo in Visual Studio. `Shared` has no standalone project and is compiled into the M/C projects. Packaging still uses `build-and-package.ps1`.
|
||||||
|
|
||||||
## Development Environment and Dependencies
|
## Development Environment and Dependencies
|
||||||
|
|
||||||
@@ -111,74 +120,62 @@ The root `ParkingRobot.sln` currently contains only `ClumsyPilot` and `MedullaAd
|
|||||||
- A Python environment for optional experiment plotting;
|
- A Python environment for optional experiment plotting;
|
||||||
- Internal Clumsy / Medulla framework assemblies under each project's `ref` directory;
|
- Internal Clumsy / Medulla framework assemblies under each project's `ref` directory;
|
||||||
- `mcu_serial_bridge.dll` for physical operation; this file is not currently in the repository;
|
- `mcu_serial_bridge.dll` for physical operation; this file is not currently in the repository;
|
||||||
- Compatible hosts capable of loading `ClumsyPilot.dll` and `MedullaAdapter.dll`; the hosts are not included.
|
- Compatible hosts capable of loading `MultiWheelC.dll` and `MedullaAdapter.dll`; the hosts are not included.
|
||||||
|
|
||||||
Primary NuGet/Python dependencies:
|
Primary dependencies:
|
||||||
|
|
||||||
- `ClumsyPilot`: `Newtonsoft.Json 13.0.3` and `System.Numerics.Vectors 4.6.1`;
|
- `MultiWheelC` (`netstandard2.0`): `Newtonsoft.Json 13.0.3` and `System.Numerics.Vectors 4.6.1`;
|
||||||
- `CommonUsage`: `MQTTnet 4.3.7.1207`, `Newtonsoft.Json 13.0.3`, and related packages;
|
- `MedullaAdapter` (`net8.0`): no NuGet PackageReferences; depends on local `ref` assemblies;
|
||||||
- `data_process`: NumPy, pandas, Matplotlib, and SciPy.
|
- `CommonUsage` (`netstandard2.0`): `MQTTnet 4.3.7.1207`, `Newtonsoft.Json 13.0.3`, and related packages;
|
||||||
|
- `data_process`: see each subdirectory's `requirements.txt`.
|
||||||
|
|
||||||
## Build
|
## Build and Packaging
|
||||||
|
|
||||||
### 1. Build CommonUsage
|
From the `MyParking` directory, run the official script (Debug by default):
|
||||||
|
|
||||||
After changing the common chassis library, run:
|
```powershell
|
||||||
|
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1
|
||||||
|
```
|
||||||
|
|
||||||
|
Release build:
|
||||||
|
|
||||||
|
```powershell
|
||||||
|
powershell -NoProfile -ExecutionPolicy Bypass -File .\build-and-package.ps1 -Configuration Release
|
||||||
|
```
|
||||||
|
|
||||||
|
Script flow:
|
||||||
|
|
||||||
|
1. Build `CommonUsage` and copy `CommonUsage.dll` to the root `ref/` directory;
|
||||||
|
2. Build `MedullaAdapter` and `MultiWheelC`;
|
||||||
|
3. Package M/C outputs into `output/M` and `output/C`, both using the same `CommonUsage.dll`.
|
||||||
|
|
||||||
|
After a fresh clone or dependency change, if `--no-restore` fails, restore first and then package:
|
||||||
|
|
||||||
```powershell
|
```powershell
|
||||||
dotnet restore CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj
|
dotnet restore CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj
|
||||||
dotnet build CommonUsage-MultiVehicleSync\commonusage\CommonUsage.csproj -c Debug
|
dotnet restore MedullaAdapter\MedullaAdapter.csproj
|
||||||
|
dotnet restore MultiWheelC\MultiWheelC.csproj
|
||||||
```
|
```
|
||||||
|
|
||||||
The project includes a build target that copies the generated `CommonUsage.dll` to the root `ref` directory.
|
Primary intermediate outputs:
|
||||||
|
|
||||||
### 2. Build Physical-Robot Plugins
|
|
||||||
|
|
||||||
```powershell
|
|
||||||
dotnet restore ParkingRobot.sln
|
|
||||||
dotnet build ParkingRobot.sln -c Debug
|
|
||||||
```
|
|
||||||
|
|
||||||
Primary outputs:
|
|
||||||
|
|
||||||
```text
|
```text
|
||||||
ClumsyPilot/build/Clumsy/ClumsyPilot.dll
|
|
||||||
MedullaAdapter/build/Medulla/plugins/MedullaAdapter.dll
|
MedullaAdapter/build/Medulla/plugins/MedullaAdapter.dll
|
||||||
|
MultiWheelC/build/Clumsy/MultiWheelC.dll
|
||||||
```
|
```
|
||||||
|
|
||||||
### 3. Build the Web Simulator
|
Do not edit artifacts under `bin`, `obj`, `build`, or `output`, and do not manually overwrite `ref/CommonUsage.dll`.
|
||||||
|
|
||||||
```powershell
|
|
||||||
dotnet restore Simulation\MyParking.Simulation.csproj
|
|
||||||
dotnet build Simulation\MyParking.Simulation.csproj -c Debug
|
|
||||||
```
|
|
||||||
|
|
||||||
## Run the Web Simulator
|
|
||||||
|
|
||||||
```powershell
|
|
||||||
dotnet run --project Simulation\MyParking.Simulation.csproj --launch-profile http
|
|
||||||
```
|
|
||||||
|
|
||||||
Open:
|
|
||||||
|
|
||||||
```text
|
|
||||||
http://localhost:5203
|
|
||||||
```
|
|
||||||
|
|
||||||
The UI provides normal, left-crab, right-crab, spin, forward, backward, left-turn, right-turn, stop, and reset actions. It also supports vehicle-layout configuration and manual-control input. Main APIs include:
|
|
||||||
|
|
||||||
- `GET /api/vehicles`
|
|
||||||
- `GET /api/actions`
|
|
||||||
- `GET/POST /api/configuration`
|
|
||||||
- `POST /api/vehicles/{vehicleId}/commands/{command}`
|
|
||||||
- `POST /api/vehicles/{vehicleId}/manual-control`
|
|
||||||
- `POST /api/reset`
|
|
||||||
|
|
||||||
`Simulation/Commands/MySimulationTests.cs` contains an example custom action. Add the `SimulationAction` attribute to a static method to have it discovered by the dispatcher and exposed in the Web UI.
|
|
||||||
|
|
||||||
## Physical Runtime and MCU Configuration
|
## Physical Runtime and MCU Configuration
|
||||||
|
|
||||||
The physical-robot plugins cannot be started independently with `dotnet run`. Compatible Clumsy/Medulla hosts must load both DLLs. The required host versions, deployment directories, and complete startup procedure have not yet been provided.
|
The physical-robot plugins cannot be started independently with `dotnet run`. Compatible Clumsy / Medulla hosts must load:
|
||||||
|
|
||||||
|
```text
|
||||||
|
output/C/MultiWheelC.dll
|
||||||
|
output/M/MedullaAdapter.dll
|
||||||
|
```
|
||||||
|
|
||||||
|
The required host versions, deployment directories, and complete startup procedure have not yet been provided.
|
||||||
|
|
||||||
MCU defaults confirmed from the current source:
|
MCU defaults confirmed from the current source:
|
||||||
|
|
||||||
@@ -192,13 +189,13 @@ MCU defaults confirmed from the current source:
|
|||||||
| Maximum spin rate | `30 deg/s` |
|
| Maximum spin rate | `30 deg/s` |
|
||||||
| Wheel-speed diagnostic directory | `logs\wheel-speed` |
|
| Wheel-speed diagnostic directory | `logs\wheel-speed` |
|
||||||
|
|
||||||
A `chassis.json` chassis-parameter example is present in the current workspace, but no automatic loader for it was found in the source. Treat the actual host configuration as authoritative.
|
`docs/chassis参考.json` is a chassis-parameter example. No automatic loader for it was found in the source. Treat the actual host configuration as authoritative.
|
||||||
|
|
||||||
Before physical testing, verify the port, vehicle ID, steering zero and limits, speed units, motor direction, clamp limits, and emergency-stop chain. Begin with lifted drive wheels or a segregated low-speed test area and retain an independent physical emergency stop; never rely on software stopping alone.
|
Before physical testing, verify the port, vehicle ID, steering zero and limits, speed units, motor direction, clamp limits, and emergency-stop chain. Begin with lifted drive wheels or a segregated low-speed, short-distance test area and retain an independent physical emergency stop; never rely on software stopping alone.
|
||||||
|
|
||||||
## Single-Robot Test Entries
|
## Single-Robot Test Entries
|
||||||
|
|
||||||
`ClumsyPilot/MovementTests.cs` currently registers:
|
`MultiWheelC/MovementTests.cs` currently registers:
|
||||||
|
|
||||||
- `准备：四个舵轮与车头方向一致`
|
- `准备：四个舵轮与车头方向一致`
|
||||||
- `SendMotion：连续前进4m`
|
- `SendMotion：连续前进4m`
|
||||||
@@ -227,25 +224,29 @@ Medulla wheel-speed diagnostics can be controlled with the `StartWheelSpeedDiagn
|
|||||||
logs/wheel-speed/
|
logs/wheel-speed/
|
||||||
```
|
```
|
||||||
|
|
||||||
Install dependencies in a Python environment managed by your team:
|
### Trajectory processing
|
||||||
|
|
||||||
```powershell
|
```powershell
|
||||||
python -m pip install -r data_process\requirements.txt
|
python -m pip install -r data_process\轨迹测试处理\requirements.txt
|
||||||
|
python data_process\轨迹测试处理\run_all_plots.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots"
|
||||||
```
|
```
|
||||||
|
|
||||||
Generate trajectory comparison, tracking error, speed response, and angular-command plots for one or more CSV files:
|
The default resampling frequency is `20 Hz`, and the default filter window is `0.55 s`; use `--frequency` and `--window` to change them.
|
||||||
|
|
||||||
|
### Steering-response processing
|
||||||
|
|
||||||
```powershell
|
```powershell
|
||||||
python data_process\run_all_plots.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots"
|
python -m pip install -r data_process\电机响应处理\requirements.txt
|
||||||
|
python data_process\电机响应处理\plot_steering_response.py
|
||||||
```
|
```
|
||||||
|
|
||||||
When no CSV path is supplied, the scripts search the `data_process` directory. The default resampling frequency is `20 Hz`, and the default filter window is `0.55 s`; use `--frequency` and `--window` to change them.
|
By default this reads the latest `*_snapshot.csv` under `logs\wheel-speed`. See [`data_process/电机响应处理/README.md`](data_process/电机响应处理/README.md).
|
||||||
|
|
||||||
## Incomplete or Pending Validation
|
## Incomplete or Pending Validation
|
||||||
|
|
||||||
- Lidar point clouds, tire recognition, automatic vehicle entry, vehicle release, and the complete parking-operation state machine;
|
- Lidar point clouds, tire recognition, automatic vehicle entry, vehicle release, and the complete parking-operation state machine;
|
||||||
- Full physical acceptance, fault injection, and long-duration testing for current motion and clamp functions;
|
- Full physical acceptance, fault injection, and long-duration testing for current motion and clamp functions;
|
||||||
- Steering soft-limit prediction and automatic body reorientation; `SteeringConstraintManager.cs` currently contains mainly design notes;
|
- Steering soft-limit prediction and automatic body reorientation; only the design document [`docs/SteeringConstraintDesign.md`](docs/SteeringConstraintDesign.md) exists today;
|
||||||
- Automated unit tests and continuous integration;
|
- Automated unit tests and continuous integration;
|
||||||
- Multi-robot communication, formation, synchronization, and safety fallback; `FleetKinematics.cs` is currently only a placeholder;
|
- Multi-robot communication, formation, synchronization, and safety fallback; `FleetKinematics.cs` is currently only a placeholder;
|
||||||
- Host versions, plugin deployment directories, configuration-file locations, and the release process.
|
- Host versions, plugin deployment directories, configuration-file locations, and the release process.
|
||||||
@@ -253,12 +254,14 @@ When no CSV path is supplied, the scripts search the `data_process` directory. T
|
|||||||
## Contributing
|
## Contributing
|
||||||
|
|
||||||
1. Prioritize single-robot closed-loop behavior, parking functions, and tracking quality; do not enable multi-robot code prematurely.
|
1. Prioritize single-robot closed-loop behavior, parking functions, and tracking quality; do not enable multi-robot code prematurely.
|
||||||
2. Preserve the boundaries between upper-layer actions, shared kinematics, hardware protocols, and simulation.
|
2. Preserve the boundaries among `CommonUsage`, `Shared`, `MedullaAdapter`, and `MultiWheelC`.
|
||||||
3. Document coordinate frames, units, defaults, applicable vehicle types, and safe ranges for new parameters.
|
3. Document coordinate frames, units, defaults, applicable vehicle types, and safe ranges for new parameters.
|
||||||
4. Build every affected project before submission and record the simulation, bench, or physical-test conditions.
|
4. After changing the related projects, run `build-and-package.ps1` and confirm that the M/C packages use the same `CommonUsage.dll`.
|
||||||
5. After changing `CommonUsage`, update the root `ref/CommonUsage.dll`.
|
5. Do not change velocity or steering signs, CAN IDs, remote-control mappings, mechanical limits, or mode-switch policy unless explicitly requested.
|
||||||
6. The team still needs to document its branch, review, and release processes.
|
6. The team still needs to document its branch, review, and release processes.
|
||||||
|
|
||||||
|
See [`AGENTS.md`](AGENTS.md) for more detailed collaboration rules.
|
||||||
|
|
||||||
## License
|
## License
|
||||||
|
|
||||||
No license file is currently included. Use and distribution must follow internal company policy.
|
No license file is currently included. Use and distribution must follow internal company policy.
|
||||||
|
|||||||
@@ -291,7 +291,8 @@ namespace MyParking.Shared
|
|||||||
vxMetersPerSecond,
|
vxMetersPerSecond,
|
||||||
vyMetersPerSecond,
|
vyMetersPerSecond,
|
||||||
omegaDegreesPerSecond,
|
omegaDegreesPerSecond,
|
||||||
interval);
|
interval,
|
||||||
|
enableDifferentialSteerFeedforward: true);
|
||||||
if (!success)
|
if (!success)
|
||||||
{
|
{
|
||||||
// 防止分解失败后继续执行上一条运动命令。
|
// 防止分解失败后继续执行上一条运动命令。
|
||||||
|
|||||||
@@ -0,0 +1,95 @@
|
|||||||
|
{
|
||||||
|
"MaxManualSpeed": 0.3,
|
||||||
|
"MaxManualAngularSpeed": 45.0,
|
||||||
|
"test3": 24,
|
||||||
|
"trigger": 0,
|
||||||
|
"ManualArmSpeedFac": 5.0,
|
||||||
|
"CarNum": 1,
|
||||||
|
"MusicVolume": 5,
|
||||||
|
"LeftArmLowerPos": -76358,
|
||||||
|
"LeftArmUpperPos": 38224,
|
||||||
|
"RightArmLowerPos": -41976,
|
||||||
|
"RightArmUpperPos": 73519,
|
||||||
|
"MCUPort": "COM3",
|
||||||
|
"TransmitterSpeedUpperLimit": 1.0,
|
||||||
|
"TransmitterSpeedLowerLimit": 0.0,
|
||||||
|
"ThBiasLeftFront": -342.0,
|
||||||
|
"ThBiasLeftRear": -185.35,
|
||||||
|
"ThBiasRightFront": -58.5,
|
||||||
|
"ThBiasRightRear": -1198.85,
|
||||||
|
"TurnAccSpeed": 1000.0,
|
||||||
|
"MaxManualTheta": 45.0,
|
||||||
|
"IsDiffSteer": true,
|
||||||
|
"ManualThetaPow": 2.0,
|
||||||
|
"DiffSteerKp": 0.003,
|
||||||
|
"DiffSteerKi": 0.0,
|
||||||
|
"DiffSteerKd": 0.0,
|
||||||
|
"DiffSteerMaxI": 0.0,
|
||||||
|
"DiffSteerThresh": 0.3,
|
||||||
|
"DiffSteerDeadZone": 0.1,
|
||||||
|
"DiffSteerSpeedAcc": 1.0,
|
||||||
|
"Ghost_ActualSpeedLeftFront_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedLeftFront_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedLeftRear_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedLeftRear_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedRightFront_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedRightFront_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedRightRear_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedRightRear_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedLeftFrontLeft_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedLeftFrontLeft_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedLeftFrontRight_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedLeftFrontRight_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedLeftRearLeft_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedLeftRearLeft_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedLeftRearRight_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedLeftRearRight_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedRightFrontLeft_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedRightFrontLeft_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedRightFrontRight_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedRightFrontRight_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedRightRearLeft_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedRightRearLeft_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualSpeedRightRearRight_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualSpeedRightRearRight_GhostPIDUpdater_threshold": 200.0,
|
||||||
|
"Ghost_ActualThLeftFront_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualThLeftFront_GhostPIDUpdater_threshold": 5.0,
|
||||||
|
"Ghost_ActualThLeftRear_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualThLeftRear_GhostPIDUpdater_threshold": 5.0,
|
||||||
|
"Ghost_ActualThRightFront_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualThRightFront_GhostPIDUpdater_threshold": 5.0,
|
||||||
|
"Ghost_ActualThRightRear_GhostPIDUpdater_kp": 0.5,
|
||||||
|
"Ghost_ActualThRightRear_GhostPIDUpdater_threshold": 5.0,
|
||||||
|
"WheelAngleChangeLimit": 20.0,
|
||||||
|
"ElectricDebugMode": false,
|
||||||
|
"PostGPSToDetour": false,
|
||||||
|
"GPSBaseLongitude": 0.0,
|
||||||
|
"GPSBaseLatitude": 0.0,
|
||||||
|
"GPSInCarX": 0.0,
|
||||||
|
"GPSInCarY": 0.0,
|
||||||
|
"GPSInCarTh": 0.0,
|
||||||
|
"LowBatteryAlarmThreshold": 15.0,
|
||||||
|
"LowBatteryStopThreshold": 10.0,
|
||||||
|
"GhostMode": false,
|
||||||
|
"QrMode": false,
|
||||||
|
"GhostEnableSimBattery": false,
|
||||||
|
"GhostTimeBatteryFac": 600.0,
|
||||||
|
"ReductionRatio": 1.74,
|
||||||
|
"WheelDiameter": 165.0,
|
||||||
|
"CloseMusic": false,
|
||||||
|
"IOObstaclSlowFac": 0.5,
|
||||||
|
"ManualSpeed": 0.2,
|
||||||
|
"ManualRotateSpeed": 10.0,
|
||||||
|
"GamepadRotateSpeed": 1.0,
|
||||||
|
"RecoveryTime": 2000.0,
|
||||||
|
"ManualModeArea": 0,
|
||||||
|
"ManualModeIOArea": 1,
|
||||||
|
"UseLessTag": true,
|
||||||
|
"MaxAngularSpeed": 75.0,
|
||||||
|
"SafetyRelayShielded": false,
|
||||||
|
"SafetyRelayShieldedRleaseTime": 30,
|
||||||
|
"RotateIoArea": 16,
|
||||||
|
"ChargeMaxThreshold": 95.0,
|
||||||
|
"TransmitterCOMNum": "COM5",
|
||||||
|
"UseTransmitter": true
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user