引入最短舵角行驶的CommonUsage并更新项目引用

Co-authored-by: Cursor <cursoragent@cursor.com>

.gitignore

@@ -87,4 +87,6 @@ _ReSharper*/
 
 *.db
 *.sqlite
-*.sqlite3
+*.sqlite3
+
+*.csv

ClumsyPilot/ClumsyPilot.csproj

@@ -21,9 +21,6 @@
 </ItemGroup>
 
   <ItemGroup>
-    <Reference Include="CommonUsage">
-      <HintPath>ref\CommonUsage.dll</HintPath>
-    </Reference>
     <Reference Include="LessokajiWeaverUtilities">
       <HintPath>ref\LessokajiWeaverUtilities.dll</HintPath>
     </Reference>
@@ -39,6 +36,9 @@
     <Reference Include="FundamentalLib">
       <HintPath>ref\RefFundamentalLib.dll</HintPath>
     </Reference>
+    <Reference Include="CommonUsage">
+      <HintPath>..\ref\CommonUsage.dll</HintPath>
+    </Reference>
   </ItemGroup>
 
 </Project>

ClumsyPilot/MovementTests.cs

@@ -2,125 +2,619 @@ using ClumsyCore;
 using ClumsyCore.DTools;
 using ClumsyCore.Interfaces;
 using ClumsyCore.Pilot;
+using CommonUsage.Chassis;
 using MDCSToolBox.Commons.Controllers;
+using MDCSToolBox.Clumsy.Tracks;
+using MyParking.Shared;
 using System;
 using System.Numerics;
+using System.Threading;
 
 namespace MultiWheelC
 {
-    public abstract class DstTrackerTestBase : MovementTest
+    internal static class MovementTestPreparation
     {
-        public bool UseInteractivePick = true;
+        // 在测试正式开始前，将四个舵轮稳定回正到车体前向。
-        public float srcX;
+        public static bool AlignWheelsForward(
-        public float srcY;
+            ref DriveTask activeTask)
-        public float dstX;
-        public float dstY;
-        public float carDirectionBias;
-
-        private readonly Painter _painter = UI.GetPainter("DstTrackerTest");
-        private DriveTask _dt;
-
-        protected DstTrackerTestBase(float defaultCarDirectionBias)
         {
-            carDirectionBias = defaultCarDirectionBias;
+            var preparation = new PrepareWheelsForward();
-        }
+            var task = new DriveTask(preparation.Get());
+            activeTask = task;
 
-        public override void TestStop()
+            try
-        {
-            _dt?.Stop();
-            _painter?.Clear();
-        }
-
-        public override void Test()
-        {
-            Vector2 p1;
-            Vector2 p2;
-            if (UseInteractivePick)
             {
-                p1 = UI.GetPoint("point1");
+                task.Wait();
-                p2 = UI.GetPoint("point2");
+                return preparation.Completed;
             }
-            else
+            catch (Exception ex)
-            {
-                p1 = new Vector2(srcX, srcY);
-                p2 = new Vector2(dstX, dstY);
-            }
-
-            _painter.Clear();
-            _dt = new DriveTask(new DstTracker
-            {
-                Src = p1,
-                Dst = p2,
-                CarDirectionBias = carDirectionBias,
-            }.Get());
-            _dt.Wait();
-        }
-    }
-
-    [MovementTest(name = "测试终点跟踪动作-前进")]
-    public sealed class DstTrackerForward : DstTrackerTestBase
-    {
-        public DstTrackerForward() : base(0f) { }
-    }
-
-    [MovementTest(name = "测试终点跟踪动作-后退")]
-    public sealed class DstTrackerBackward : DstTrackerTestBase
-    {
-        public DstTrackerBackward() : base(180f) { }
-    }
-
-    [MovementTest(name = "底盘旋转测试")]
-    public class RotateToAngleTest : MovementTest
-    {
-        private DriveTask _dt;
-
-        // 停止当前正在执行的底盘原地旋转任务。
-        public override void TestStop()
-        {
-            _dt?.Stop();
-        }
-
-        // 交互输入目标角度后执行底盘原地旋转测试。
-        public override void Test()
-        {
-            var input = UI.GetInput("输入旋转角度：");
-            if (!float.TryParse(input, out var angleTarget))
             {
                 Console.WriteLine(
-                    $"旋转测试输入无效：{input}");
+                    $"测试前舵轮回正失败：{ex.Message}");
+                return false;
+            }
+            finally
+            {
+                task.Stop();
+                if (ReferenceEquals(activeTask, task))
+                    activeTask = null;
+            }
+        }
+
+        // 只读取实际舵角，检查四个舵轮是否已与车头方向一致。
+        public static bool AreWheelsForward(
+            float toleranceDegrees = 2f)
+        {
+            var chassis =
+                PilotDefinition.Chassis as MultiWheelChassis;
+            if (chassis == null)
+            {
+                Console.WriteLine(
+                    "当前底盘不是MultiWheelChassis，无法检查舵轮方向。");
+                return false;
+            }
+
+            try
+            {
+                var adapter = new MultiWheelChassisAdapter(
+                    chassis,
+                    PilotDefinition.Self.CarNum);
+                var toleranceRadians =
+                    toleranceDegrees * Math.PI / 180.0;
+
+                if (adapter.AreParallelWheelsAligned(
+                        0.0,
+                        toleranceRadians))
+                {
+                    return true;
+                }
+
+                Console.WriteLine(
+                    "四个舵轮尚未与车头方向一致，请先执行“准备：四个舵轮与车头方向一致”。");
+                return false;
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine(
+                    $"检查舵轮方向失败：{ex.Message}");
+                return false;
+            }
+        }
+    }
+
+    [MovementTest(name = "准备：四个舵轮与车头方向一致")]
+    public class AlignWheelsForwardTest : MovementTest
+    {
+        private DriveTask _task;
+
+        // 单独将四个舵轮转到车体前向0°并等待实际反馈稳定到位。
+        public override void Test()
+        {
+            MovementTestPreparation.AlignWheelsForward(
+                ref _task);
+        }
+
+        // 停止正在执行的舵轮回正任务并清零底盘运动命令。
+        public override void TestStop()
+        {
+            _task?.Stop();
+            _task = null;
+        }
+    }
+
+    [MovementTest(name = "测试连续前进4m")]
+    public class TestForward4m : MovementTest
+    {
+        public float DistanceMillimeters = 4000f; // 测试距离，单位mm。
+        public float CruiseSpeed = 0.3f;  // 巡航速度上限，单位m/s。
+        public int TrialNumber = 1; // 重复实验编号。
+        private DriveTask _task;
+        private TrackingExperimentRecorder _recorder;
+        // 从当前Detour位置沿车头方向生成4m连续直线并记录测试数据。
+        public override void Test()
+        {
+            if (!MovementTestPreparation.AreWheelsForward())
+            {
                 return;
             }
-            // 防止重复启动测试时，上一项旋转任务仍在运行。
-            _dt?.Stop();
-            var task = new DriveTask(
-                new MultiWheelRotateInPlace
-                {
-                    AngleTarget = angleTarget,
 
-                    PidparamsRead = () => new PIDParams
+            var location = DetourInterface.getCartLocation();
-                    {
+            if (double.IsNaN(location.x) ||
-                        Kp = PilotDefinition.Conf.InPlaceRotateKp,
+                double.IsInfinity(location.x) ||
-                        Ki = PilotDefinition.Conf.InPlaceRotateKi,
+                double.IsNaN(location.y) ||
-                        Kd = PilotDefinition.Conf.InPlaceRotateKd,
+                double.IsInfinity(location.y) ||
-                        DeadZone = PilotDefinition.Conf.InPlaceRotateArriveDeg,
+                double.IsNaN(location.th) ||
-                        SpeedAccPerSec = PilotDefinition.Conf.InPlaceRotateAcc,
+                double.IsInfinity(location.th))
-                        OutputUpperThreshold = PilotDefinition.Conf.InPlaceRotateMaxSpeed,
+            {
-                        MaxI = PilotDefinition.Conf.InPlaceRotateMaxI,
+                Console.WriteLine(
-                    }
+                    "Detour当前位姿无效，取消连续前进4m测试。");
+                return;
+            }
+            var source = new Vector2((float)location.x, (float)location.y);
+            // Detour航向单位是度，三角函数需要弧度。
+            var headingRadians = location.th * Math.PI / 180.0;
+            var destination = new Vector2(
+                source.X + DistanceMillimeters * (float)Math.Cos(headingRadians),
+                source.Y + DistanceMillimeters * (float)Math.Sin(headingRadians));
+            _recorder =
+                        new TrackingExperimentRecorder(
+                            controllerName: "Stanley",
+                            trajectoryName: "Straight4m",
+                            trialNumber: TrialNumber,
+                            referenceStart: source,
+                            referenceEnd: destination,
+                            referenceSpeed: CruiseSpeed);
+            _recorder.Start();
+            try
+            {
+                _task = new DriveTask(
+                new DstTracker
+                {
+                    Src = source,
+                    Dst = destination,
+                    CarDirectionBias = 0f,
+                    MaxSpeed = CruiseSpeed
                 }.Get());
-            _dt = task;
+                _task.Wait();
+                // 保留少量停车后数据，便于观察速度是否回到零。
+                Thread.Sleep(300);
+            }
+            finally
+            {
+                _task?.Stop();
+                _recorder?.UpdateCommand(0f, 0f);
+                _recorder?.StopAndSave();
+                _task = null;
+                _recorder = null;
+            }
+        }
+
+        public override void TestStop()
+        {
+            _task?.Stop();
+            _recorder?.UpdateCommand(0f, 0f);
+            _recorder?.StopAndSave();
+        }
+    }
+
+    [MovementTest(name = "测试原地自转90°")]
+    public class TestRotate90 : MovementTest
+    {
+        public float RelativeAngleDegrees = 90f; // 相对当前航向的旋转角度，逆时针为正。
+        public float MaxAngularSpeedDegreesPerSecond = 20f; // PID输出的最大角速度。
+        public int TrialNumber = 1; // 重复实验编号。
+
+        private DriveTask _task;
+        private TrackingExperimentRecorder _recorder;
+
+        // 从当前Detour航向开始，原地相对旋转指定角度并记录实验数据。
+        public override void Test()
+        {
+            if (float.IsNaN(RelativeAngleDegrees) ||
+                float.IsInfinity(RelativeAngleDegrees) ||
+                float.IsNaN(MaxAngularSpeedDegreesPerSecond) ||
+                float.IsInfinity(MaxAngularSpeedDegreesPerSecond) ||
+                MaxAngularSpeedDegreesPerSecond <= 0f)
+            {
+                Console.WriteLine("原地旋转测试参数无效。");
+                return;
+            }
+
+            var location = DetourInterface.getCartLocation();
+            if (double.IsNaN(location.x) ||
+                double.IsInfinity(location.x) ||
+                double.IsNaN(location.y) ||
+                double.IsInfinity(location.y) ||
+                double.IsNaN(location.th) ||
+                double.IsInfinity(location.th))
+            {
+                Console.WriteLine(
+                    "Detour当前位姿无效，取消原地旋转测试。");
+                return;
+            }
+
+            var rotationCenter =
+                new Vector2((float)location.x, (float)location.y);
+            var targetWorldAngle =
+                NormalizeDegrees(
+                    (float)location.th + RelativeAngleDegrees);
+
+            _recorder = new TrackingExperimentRecorder(
+                controllerName: "InPlaceRotatePID",
+                trajectoryName: "Rotate90",
+                trialNumber: TrialNumber,
+                referenceStart: rotationCenter,
+                referenceEnd: rotationCenter,
+                referenceSpeed:
+                    MaxAngularSpeedDegreesPerSecond);
+            _recorder.Start();
+
+            try
+            {
+                _task = new DriveTask(
+                    new MultiWheelRotateInPlace
+                    {
+                        // MultiWheelRotateInPlace接收世界坐标系绝对航向。
+                        AngleTarget = targetWorldAngle,
+                        PidparamsRead = () => new PIDParams
+                        {
+                            Kp =
+                                PilotDefinition.Conf.InPlaceRotateKp,
+                            Ki =
+                                PilotDefinition.Conf.InPlaceRotateKi,
+                            Kd =
+                                PilotDefinition.Conf.InPlaceRotateKd,
+                            DeadZone =
+                                PilotDefinition.Conf
+                                    .InPlaceRotateArriveDeg,
+                            SpeedAccPerSec =
+                                PilotDefinition.Conf.InPlaceRotateAcc,
+                            OutputUpperThreshold =
+                                MaxAngularSpeedDegreesPerSecond,
+                            MaxI =
+                                PilotDefinition.Conf.InPlaceRotateMaxI
+                        },
+                        CommandAngularSpeedObserver =
+                            commandAngularSpeed =>
+                                _recorder?.UpdateCommand(
+                                    0f,
+                                    commandAngularSpeed)
+                    }.Get());
+
+                _task.Wait();
+
+                // 保留少量停止后的样本，用于观察角速度是否回到零。
+                Thread.Sleep(300);
+            }
+            finally
+            {
+                _task?.Stop();
+                _recorder?.UpdateCommand(0f, 0f);
+                _recorder?.StopAndSave();
+                _task = null;
+                _recorder = null;
+            }
+        }
+
+        // 停止原地旋转并保存当前已经采集的实验数据。
+        public override void TestStop()
+        {
+            _task?.Stop();
+            _recorder?.UpdateCommand(0f, 0f);
+            _recorder?.StopAndSave();
+        }
+
+        // 将世界航向归一化到大约[-180°,180°]。
+        private static float NormalizeDegrees(float angleDegrees)
+        {
+            return (float)(
+                angleDegrees -
+                Math.Round(angleDegrees / 360.0) * 360.0);
+        }
+    }
+
+    [MovementTest(name = "测试左转90°圆弧")]
+    public class TestArcMovement : MovementTest
+    {
+        public float RadiusMillimeters = 2000f; // 左转圆的半径，单位mm。
+        public float CruiseSpeed = 0.3f; // 圆周运动速度上限，单位m/s。
+        public int TrialNumber = 1; // 重复实验编号。
+
+        private DriveTask _task;
+        private TrackingExperimentRecorder _recorder;
+
+        // 从当前位姿开始，沿半径2m的圆弧向左转弯90°。
+        public override void Test()
+        {
+            if (float.IsNaN(RadiusMillimeters) ||
+                float.IsInfinity(RadiusMillimeters) ||
+                RadiusMillimeters <= 0f ||
+                float.IsNaN(CruiseSpeed) ||
+                float.IsInfinity(CruiseSpeed) ||
+                CruiseSpeed <= 0f)
+            {
+                Console.WriteLine("圆弧运动测试参数无效。");
+                return;
+            }
+
+            if (!MovementTestPreparation.AreWheelsForward())
+            {
+                return;
+            }
+
+            var location = DetourInterface.getCartLocation();
+            if (double.IsNaN(location.x) ||
+                double.IsInfinity(location.x) ||
+                double.IsNaN(location.y) ||
+                double.IsInfinity(location.y) ||
+                double.IsNaN(location.th) ||
+                double.IsInfinity(location.th))
+            {
+                Console.WriteLine(
+                    "Detour当前位姿无效，取消圆弧运动测试。");
+                return;
+            }
+
+            var source =
+                new Vector2((float)location.x, (float)location.y);
+            var headingRadians =
+                location.th * Math.PI / 180.0;
+
+            // 根据世界航向求车体左法向，左转圆心位于车辆左侧。
+            var center = new Vector2(
+                source.X -
+                    RadiusMillimeters *
+                    (float)Math.Sin(headingRadians),
+                source.Y +
+                    RadiusMillimeters *
+                    (float)Math.Cos(headingRadians));
+
+            // 从圆心指向车辆起点的极角，比车辆切线航向小90°。
+            var startRadialAngleDegrees =
+                (float)location.th - 90f;
+
+            var controller = new ChassisController
+            {
+                BaseSpeed = CruiseSpeed
+            }.Get();
+            controller.FinishSpeed = 0f;
+
+            var arc = new CircularArcTrack(
+                center,
+                RadiusMillimeters,
+                startRadialAngleDegrees,
+                startRadialAngleDegrees + 90f,
+                direction: 1)
+            {
+                Speed = CruiseSpeed,
+                CarDirectionBias = 0f
+            };
+
+            if (!controller.AddTrack(arc, "LeftArc90Degrees"))
+            {
+                Console.WriteLine(
+                    "左转90°圆弧轨迹添加失败，取消测试。");
+                return;
+            }
+
+            _recorder = new TrackingExperimentRecorder(
+                controllerName: "GeometricController",
+                trajectoryName:
+                    $"LeftArc90_R{RadiusMillimeters:0}mm",
+                trialNumber: TrialNumber,
+                referenceStart: source,
+                referenceEnd: source,
+                referenceSpeed: CruiseSpeed);
+            _recorder.Start();
+
+            try
+            {
+                _task = new DriveTask(controller.Track());
+                _task.Wait();
+
+                // 保留少量停车后的样本，用于观察速度是否回到零。
+                Thread.Sleep(300);
+            }
+            finally
+            {
+                _task?.Stop();
+                _recorder?.UpdateCommand(0f, 0f);
+                _recorder?.StopAndSave();
+                _task = null;
+                _recorder = null;
+            }
+        }
+
+        // 停止圆弧运动并保存当前已经采集的实验数据。
+        public override void TestStop()
+        {
+            _task?.Stop();
+            _recorder?.UpdateCommand(0f, 0f);
+            _recorder?.StopAndSave();
+        }
+    }
+
+    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; }
+
+        // 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;
+            }
+
+            // 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;
+
             try
             {
                 task.Wait();
             }
             finally
             {
-                // 防止旧任务结束时，错误清除后来启动的新任务。
+                PilotDefinition.Self.SpeedLeftArm = 0f;
-                if (ReferenceEquals(_dt, task))
+                PilotDefinition.Self.SpeedRightArm = 0f;
-                {
+                if (ReferenceEquals(_task, task))
-                    _dt = null;
+                    _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;
+        }
     }
+
+    [MovementTest(name = "夹臂关闭测试")]
+    public sealed class TestClampOpenMovement
+        : ClampMovementTestBase
+    {
+        protected override bool Close => false;
+    }
+
+    [MovementTest(name = "夹臂启动测试")]
+    public sealed class TestClampCloseMovement
+        : ClampMovementTestBase
+    {
+        protected override bool Close => true;
+    }
+
 }
+
+
+
+
+
+
+#region 旧版测试
+// public abstract class DstTrackerTestBase : MovementTest
+// {
+//     public bool UseInteractivePick = true;
+//     public float srcX;
+//     public float srcY;
+//     public float dstX;
+//     public float dstY;
+//     public float carDirectionBias;
+
+//     private readonly Painter _painter = UI.GetPainter("DstTrackerTest");
+//     private DriveTask _dt;
+
+//     protected DstTrackerTestBase(float defaultCarDirectionBias)
+//     {
+//         carDirectionBias = defaultCarDirectionBias;
+//     }
+
+//     public override void TestStop()
+//     {
+//         _dt?.Stop();
+//         _painter?.Clear();
+//     }
+
+//     public override void Test()
+//     {
+//         Vector2 p1;
+//         Vector2 p2;
+//         if (UseInteractivePick)
+//         {
+//             p1 = UI.GetPoint("point1");
+//             p2 = UI.GetPoint("point2");
+//         }
+//         else
+//         {
+//             p1 = new Vector2(srcX, srcY);
+//             p2 = new Vector2(dstX, dstY);
+//         }
+
+//         _painter.Clear();
+//         _dt = new DriveTask(new DstTracker
+//         {
+//             Src = p1,
+//             Dst = p2,
+//             CarDirectionBias = carDirectionBias,
+//         }.Get());
+//         _dt.Wait();
+//     }
+// }
+
+// [MovementTest(name = "测试终点跟踪动作-前进")]
+// public sealed class DstTrackerForward : DstTrackerTestBase
+// {
+//     public DstTrackerForward() : base(0f) { }
+// }
+
+// [MovementTest(name = "测试终点跟踪动作-后退")]
+// public sealed class DstTrackerBackward : DstTrackerTestBase
+// {
+//     public DstTrackerBackward() : base(180f) { }
+// }
+
+// [MovementTest(name = "底盘旋转测试")]
+// public class RotateToAngleTest : MovementTest
+// {
+//     private DriveTask _dt;
+
+//     // 停止当前正在执行的底盘原地旋转任务。
+//     public override void TestStop()
+//     {
+//         _dt?.Stop();
+//     }
+
+//     // 交互输入目标角度后执行底盘原地旋转测试。
+//     public override void Test()
+//     {
+//         var input = UI.GetInput("输入旋转角度：");
+//         if (!float.TryParse(input, out var angleTarget))
+//         {
+//             Console.WriteLine(
+//                 $"旋转测试输入无效：{input}");
+//             return;
+//         }
+//         // 防止重复启动测试时，上一项旋转任务仍在运行。
+//         _dt?.Stop();
+//         var task = new DriveTask(
+//             new MultiWheelRotateInPlace
+//             {
+//                 AngleTarget = angleTarget,
+
+//                 PidparamsRead = () => new PIDParams
+//                 {
+//                     Kp = PilotDefinition.Conf.InPlaceRotateKp,
+//                     Ki = PilotDefinition.Conf.InPlaceRotateKi,
+//                     Kd = PilotDefinition.Conf.InPlaceRotateKd,
+//                     DeadZone = PilotDefinition.Conf.InPlaceRotateArriveDeg,
+//                     SpeedAccPerSec = PilotDefinition.Conf.InPlaceRotateAcc,
+//                     OutputUpperThreshold = PilotDefinition.Conf.InPlaceRotateMaxSpeed,
+//                     MaxI = PilotDefinition.Conf.InPlaceRotateMaxI,
+//                 }
+//             }.Get());
+//         _dt = task;
+//         try
+//         {
+//             task.Wait();
+//         }
+//         finally
+//         {
+//             // 防止旧任务结束时，错误清除后来启动的新任务。
+//             if (ReferenceEquals(_dt, task))
+//             {
+//                 _dt = null;
+//             }
+//         }
+//     }
+// }
+
+#endregion

ClumsyPilot/Movements.cs

@@ -11,44 +11,92 @@ using System.Collections.Generic;
 using System.Drawing;
 using System.Numerics;
 using System.Threading;
+using FundamentalLib;
+using MyParking.Shared;
 
 namespace MultiWheelC
 {
-    public class DstTracker : MovementDefinition
+    // C层测试准备：停车并等待四个舵轮稳定回到车体前向0°。
+    public class PrepareWheelsForward : MovementDefinition
     {
-        public Vector2 Src;
+        public float ToleranceDegrees = 2f;
-        public Vector2 Dst;
+        public float StableSeconds = 0.3f;
-        public float CarDirectionBias = 0f;
+        public float TimeoutSeconds = 10f;
-        public Painter Painter = UI.GetPainter("DstTracker");
+        public bool Completed { get; private set; }
+
         public override IEnumerable<bool> Get()
         {
-            var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
+            var chassis =
-            DriveTask task = null;
+                PilotDefinition.Chassis as MultiWheelChassis;
+            if (chassis == null)
+            {
+                throw new InvalidOperationException(
+                    "当前底盘不是MultiWheelChassis，无法执行舵轮回正。");
+            }
+
+            var adapter = new MultiWheelChassisAdapter(
+                chassis,
+                PilotDefinition.Self.CarNum);
+            var toleranceRadians =
+                ToleranceDegrees * Math.PI / 180.0;
+            var startTime = DateTime.UtcNow;
+            DateTime? alignedSince = null;
+
+            Completed = false;
+            if (!adapter.PrepareParallelDirection(0.0))
+            {
+                throw new InvalidOperationException(
+                    "无法将所有舵轮下发到车体前向0°。");
+            }
+
             try
             {
-                Console.WriteLine($"DstTracker src:({Src.X:F2}, {Src.Y:F2}) dst:({Dst.X:F2}, {Dst.Y:F2})");
+                while (true)
-                Painter.DrawLine(Color.Cyan, Src.X, Src.Y, Dst.X, Dst.Y, width: 3);
-
-                var tracker = new ChassisController().Get();
-                var linePath = new LineTrack(Src, Dst)
                 {
-                    CarDirectionBias = CarDirectionBias,
+                    var aligned =
-                    Speed = PilotDefinition.Conf.DstTrackerMaxSpeed
+                        adapter.AreParallelWheelsAligned(
-                };
+                            0.0,
-                tracker.AddTrack(linePath);
+                            toleranceRadians);
-                task = new DriveTask(tracker.Track());
+
-                task.Wait();
+                    if (aligned)
-                yield return false;
+                    {
+                        if (!alignedSince.HasValue)
+                            alignedSince = DateTime.UtcNow;
+
+                        if ((DateTime.UtcNow -
+                             alignedSince.Value).TotalSeconds >=
+                            StableSeconds)
+                        {
+                            Completed = true;
+                            yield break;
+                        }
+                    }
+                    else
+                    {
+                        alignedSince = null;
+                    }
+
+                    if (TimeoutSeconds > 0f &&
+                        (DateTime.UtcNow - startTime).TotalSeconds >
+                        TimeoutSeconds)
+                    {
+                        throw new TimeoutException(
+                            $"舵轮回正超过{TimeoutSeconds:F1}s，" +
+                            "测试已经取消。");
+                    }
+
+                    yield return true;
+                }
             }
             finally
             {
-                task?.Stop();
+                // 只清零驱动速度，保留已经下发的0°舵角。
-                chassis.SendXYThSpeed(0f, 0f, 0f);
+                adapter.StopImmediately();
             }
         }
-
     }
 
+    #region 功能项
     public class Sleep : MovementDefinition
     {
         public float Second = 2f;
@@ -71,7 +119,303 @@ namespace MultiWheelC
             yield return false;
         }
     }
+    public class DriverAble : MovementDefinition
+    {
+        public int WaitTimeoutMs = 2000;
+        public int PollIntervalMs = 50;
 
+        // C层单车硬件：请求全部驱动轮复位并恢复使能。
+        public override IEnumerable<bool> Get()
+        {
+            PilotDefinition.Self.ResetFromC = true;
+
+            try
+            {
+                var start = DateTime.Now;
+                var timeoutMs = Math.Max(0, WaitTimeoutMs);
+                var pollMs = Math.Max(1, PollIntervalMs);
+
+                // 至少保留一个调度周期，确保M层能收到复位请求。
+                yield return true;
+
+                while (!PilotDefinition.Self.WheelAbleState &&
+                        (DateTime.Now - start).TotalMilliseconds < timeoutMs)
+                {
+                    Thread.Sleep(pollMs);
+                    yield return true;
+                }
+            }
+            finally
+            {
+                PilotDefinition.Self.ResetFromC = false;
+            }
+        }
+    }
+    public class DriverDisable : MovementDefinition
+    {
+        public int WaitTimeoutMs = 3000;
+        public int PollIntervalMs = 20;
+
+        // C层单车硬件：请求驱动轮退出使能，并等待M层状态反馈。
+        public override IEnumerable<bool> Get()
+        {
+            var timeoutMs = Math.Max(0, WaitTimeoutMs);
+            var pollMs = Math.Max(1, PollIntervalMs);
+            var startTime = DateTime.UtcNow;
+            var success = false;
+
+            PilotDefinition.Self.DisableFromC = true;
+
+            try
+            {
+                // 至少保持一个C层调度周期，确保M层能收到下使能请求。
+                yield return true;
+
+                success = !PilotDefinition.Self.WheelAbleState;
+
+                while (!success &&
+                        (DateTime.UtcNow - startTime).TotalMilliseconds <
+                            timeoutMs)
+                {
+                    Thread.Sleep(pollMs);
+
+                    success =
+                        !PilotDefinition.Self.WheelAbleState;
+
+                    if (!success)
+                    {
+                        yield return true;
+                    }
+                }
+            }
+            finally
+            {
+                // 无论正常完成、超时、异常还是任务被停止，都撤销请求。
+                PilotDefinition.Self.DisableFromC = false;
+            }
+            if (success)
+            {
+                Console.WriteLine(
+                    $"驱动器下使能完成，" +
+                    $"WheelAbleState=" +
+                    $"{PilotDefinition.Self.WheelAbleState}");
+            }
+            else
+            {
+                Console.WriteLine(
+                    $"驱动器下使能超时，" +
+                    $"WheelAbleState=" +
+                    $"{PilotDefinition.Self.WheelAbleState}，" +
+                    $"等待{timeoutMs}ms");
+            }
+            yield return false;
+        }
+    }
+    #endregion
+
+    #region 直线运动
+    //在世界坐标系下，从路径起点追踪到终点并停车
+    public class DstTracker : MovementDefinition
+    {
+        public Vector2 Src;
+        public Vector2 Dst;
+        // 本次轨迹的巡航速度上限，单位m/s。
+        public float MaxSpeed = PilotDefinition.Conf.DstTrackerMaxSpeed;
+        public float CarDirectionBias = 0f;
+        public Painter Painter = UI.GetPainter("DstTracker");
+        public override IEnumerable<bool> Get()
+        {
+            var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
+            DriveTask task = null;
+            try
+            {
+                Console.WriteLine($"DstTracker src:({Src.X:F2}, {Src.Y:F2}) dst:({Dst.X:F2}, {Dst.Y:F2})");
+                Painter.DrawLine(Color.Cyan, Src.X, Src.Y, Dst.X, Dst.Y, width: 3);
+
+                var tracker = new ChassisController
+                {
+                    BaseSpeed = MaxSpeed
+                }.Get();
+                // 要求路径末端速度下降到零。
+                tracker.FinishSpeed = 0f;
+                var linePath = new LineTrack(Src, Dst)
+                {
+                    CarDirectionBias = CarDirectionBias,
+                    Speed = MaxSpeed
+                };
+                tracker.AddTrack(linePath);
+                task = new DriveTask(tracker.Track());
+                task.Wait();
+                yield return false;
+            }
+            finally
+            {
+                task?.Stop();
+                chassis.SendXYThSpeed(0f, 0f, 0f);
+            }
+        }
+
+    }
+    //直线行走基于轮里程
+    // C层单车底盘：按照车轮里程行驶指定的相对距离。
+    public class LineTracking : MovementDefinition
+    {
+        // 相对动作启动位置的行驶距离，单位mm。
+        // 正数表示前进，负数表示后退。
+        public float TargetDistance;
+        public float MaxSpeed = PilotDefinition.Conf.LineTrackMaxSpeed;
+        public float Kp = PilotDefinition.Conf.LineTrackKp;
+        public float Ki = PilotDefinition.Conf.LineTrackKi;
+        public float Kd = PilotDefinition.Conf.LineTrackKd;
+        public float DeadZone = PilotDefinition.Conf.LineTrackDeadZone;
+        public int SrcId = -1;
+        public int DstId = -1;
+        public Action<int> LeaveSrcFunction;
+        // 接近目标后是否保留速度，交给下一个动作接管。
+        public bool EnableHandover;
+        // 进入动作衔接的剩余距离，单位mm。
+        public float HandoverDistance = 80f;
+        // HandoverSpeed小于0时，使用MaxSpeed的此比例。
+        public float HandoverSpeedRatio = 0.5f;
+        // 大于等于0时，直接作为衔接速度，单位m/s。
+        public float HandoverSpeed = -1f;
+        public float MinHandoverSpeed = 0.05f;
+        private PIDController _pid;
+        // 读取当前单车直线行驶里程，单位mm。
+        private static float ReadPosition()
+        {
+            return
+                (PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2f;
+        }
+
+        // 根据动作启动位置和目标距离执行直线里程闭环。
+        public override IEnumerable<bool> Get()
+        {
+            if (float.IsNaN(TargetDistance) || float.IsInfinity(TargetDistance))
+            {
+                throw new ArgumentOutOfRangeException(
+                    nameof(TargetDistance),
+                    "目标行驶距离必须是有限值。");
+            }
+
+            if (float.IsNaN(MaxSpeed) || float.IsInfinity(MaxSpeed) || MaxSpeed <= 0f)
+            {
+                throw new ArgumentOutOfRangeException(
+                    nameof(MaxSpeed),
+                    "最大速度必须是大于零的有限值。");
+            }
+            var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
+            // 每次启动动作时重新读取起始编码器位置。
+            var startPosition = ReadPosition();
+            // PID仍然控制绝对编码器位置，但绝对目标由动作自动计算。
+            var targetPosition = startPosition + TargetDistance;
+            _pid = new PIDController(ReadPosition, Kp, Ki, Kd, 0, DeadZone, MaxSpeed)
+            {
+                SpeedAccPerSec = Math.Abs(MaxSpeed) / 2f
+            };
+            var handoverRequested = false;
+            var keepHandoverSpeed = false;
+            DLog.Log(
+                $"直线里程动作：" +
+                $"起点={startPosition:F1}mm，" +
+                $"距离={TargetDistance:F1}mm，" +
+                $"目标={targetPosition:F1}mm",
+                "straight_line");
+            try
+            {
+                while (true)
+                {
+                    var currentPosition = ReadPosition();
+                    var remainingDistance = targetPosition - currentPosition;
+                    // 接近目标后，保留一定速度交给后续动作。
+                    if (EnableHandover && Math.Abs(remainingDistance) <= Math.Max(1f, HandoverDistance))
+                    {
+                        var direction = Math.Sign(remainingDistance);
+                        if (direction == 0)
+                        {
+                            direction = Math.Sign(TargetDistance);
+                        }
+                        var requestedSpeed = HandoverSpeed >= 0f ? Math.Abs(HandoverSpeed) : Math.Abs(MaxSpeed) * HandoverSpeedRatio;
+                        var maximumSpeed = Math.Abs(MaxSpeed);
+                        var minimumSpeed = Math.Min(Math.Abs(MinHandoverSpeed), maximumSpeed);
+                        var limitedSpeed = Math.Max(minimumSpeed, Math.Min(requestedSpeed, maximumSpeed));
+                        var handoverSpeed = limitedSpeed * direction;
+                        chassis.SendXYThSpeed(handoverSpeed, 0f, 0f);
+                        handoverRequested = true;
+                        // 保持一个调度周期，让速度命令实际生效。
+                        yield return true;
+                        break;
+                    }
+                    var speed = _pid.GetResponse(targetPosition);
+                    chassis.SendXYThSpeed(speed, 0f, 0f);
+                    if (_pid.IsArrived())
+                    {
+                        break;
+                    }
+                    yield return true;
+                }
+                if (SrcId != -1 &&
+                    LeaveSrcFunction != null)
+                {
+                    LeaveSrcFunction(SrcId);
+                    DLog.Log($"释放放车点{SrcId}", "straight_line");
+                }
+                // 只有正常完成动作衔接时才允许保留非零速度。
+                keepHandoverSpeed = handoverRequested;
+            }
+            finally
+            {
+                // 普通完成、人工停止或异常退出时都必须停车。
+                if (!keepHandoverSpeed)
+                {
+                    chassis.SendXYThSpeed(0f, 0f, 0f);
+                }
+            }
+            yield return false;
+        }
+    }
+    //直线行走基于detour
+    public class LineTracking_based_detour : MovementDefinition
+    {
+        public float LineDistance = 1000f;
+        public int SrcId = -1;
+        public int DstId = -1;
+        public Action<int> LeaveSrcFunction = null;
+        public Painter painter = UI.GetPainter("Line", false);
+        // C层单车轨迹：执行早期版本的两点直线跟踪动作。
+        public override IEnumerable<bool> Get()
+        {
+            var curpose = DetourInterface.getCartLocation();
+            Console.WriteLine($"curpose.th:{curpose.th}");
+            var src = new Vector2((float)curpose.x, (float)curpose.y);
+            var headingRadians = curpose.th * Math.PI / 180.0;
+            var dst = new Vector2(
+                (float)(curpose.x +
+                    LineDistance * Math.Cos(headingRadians)),
+                (float)(curpose.y +
+                    LineDistance * Math.Sin(headingRadians)));
+            // var dst = new Vector2((float)curpose.x + LineDistance * (float)Math.Cos(curpose.th),
+            //                       (float)curpose.y + LineDistance * (float)Math.Sin(curpose.th));
+            Console.WriteLine($"src:{src.X} {src.Y}");
+            Console.WriteLine($"dst:{dst.X} {dst.Y}");
+            painter.DrawLine(Color.Green, src.X, src.Y, dst.X, dst.Y, width: 3);
+
+            var tracker = new ChassisController().Get();
+            var linePath = new LineTrack(src, dst) { CarDirectionBias = LineDistance > 0 ? 0 : 180 };
+            tracker.AddTrack(linePath);
+            var _dt = new DriveTask(tracker.Track());
+            _dt.Wait();
+            if (SrcId != -1 && LeaveSrcFunction != null)
+            {
+                LeaveSrcFunction(SrcId);
+                DLog.Log($"释放放车点{SrcId}", "straight_line");
+            }
+            yield return false;
+        }
+    }
+    #endregion
+
+    #region 旋转运动
     public class MultiWheelRotateInPlace : MovementDefinition
     {
         /// <summary>
@@ -89,7 +433,10 @@ namespace MultiWheelC
 
         public PIDController thPid;
 
-        // 将角度归一化到零到三百六十度范围内。
+        // 将本周期PID角速度输出提供给实验记录器，单位deg/s。
+        public Action<float> CommandAngularSpeedObserver;
+
+        // 归一化到大约 [-180°, 180°]
         private static float RangeAngle(float theta)
         {
             return (float)(theta - Math.Round(theta / 360.0f) * 360);
@@ -110,6 +457,7 @@ namespace MultiWheelC
                 {
                     var s = thPid.GetResponse(targetAngle, true);
                     Console.WriteLine($"s:{s} AngleTarget:{AngleTarget}");
+                    CommandAngularSpeedObserver?.Invoke(s);
                     Chassis.SendXYThSpeed(0, 0, s);
                     if (thPid.IsArrived()) break;
                     yield return true;
@@ -119,10 +467,96 @@ namespace MultiWheelC
             }
             finally
             {
+                CommandAngularSpeedObserver?.Invoke(0f);
                 Chassis.SendXYThSpeed(0, 0, 0);
             }
         }
     }
+    #endregion
 
+    #region 夹臂运动
+    public class ClampToTarget : MovementDefinition
+    {
+        public float LeftClampTarget;
+        public float RightClampTarget;
+        public float MaxClampSpeed = PilotDefinition.Conf.MaxClampSpeed;
+        public float ClampKp = PilotDefinition.Conf.ClampControlKp;
+        public float ClampKi = PilotDefinition.Conf.ClampControlKi;
+        public float ClampKd = PilotDefinition.Conf.ClampControlKd;
+        public float ClampMaxI = PilotDefinition.Conf.ClampControlMaxI;
+        public float ClampSpeedAcc = PilotDefinition.Conf.ClampControlSpeedAcc;
+        public float ClampDeadZone = PilotDefinition.Conf.ClampControlDeadZone;
+        public float TimeoutSeconds = 30f;
+        private PIDController leftpid, rightpid;
 
+        // C层单车业务：驱动左右夹臂运动到夹紧或松开目标。
+        public override IEnumerable<bool> Get()
+        {
+            try
+            {
+                leftpid = new PIDController(
+                    () => PilotDefinition.Self.ActualPosLeftArm,
+                    ClampKp, ClampKi, ClampKd, ClampMaxI,
+                    ClampDeadZone, MaxClampSpeed)
+                {
+                    SpeedAccPerSec = ClampSpeedAcc
+                };
+
+                rightpid = new PIDController(
+                    () => PilotDefinition.Self.ActualPosRightArm,
+                    ClampKp, ClampKi, ClampKd, ClampMaxI,
+                    ClampDeadZone, MaxClampSpeed)
+                {
+                    SpeedAccPerSec = ClampSpeedAcc
+                };
+
+                var startTime = DateTime.UtcNow;
+                while (true)
+                {
+                    if (TimeoutSeconds > 0f &&
+                        (DateTime.UtcNow - startTime).TotalSeconds >
+                        TimeoutSeconds)
+                    {
+                        Console.WriteLine(
+                            $"夹臂运动超时({TimeoutSeconds:F1}s)，" +
+                            "停止左右夹臂。");
+                        yield break;
+                    }
+
+                    var leftspeed =
+                        leftpid.GetResponse(LeftClampTarget);
+                    var rightspeed =
+                        rightpid.GetResponse(RightClampTarget);
+                    Console.WriteLine(
+                        $"left arm speed:{leftspeed}  " +
+                        $"right arm speed:{rightspeed}");
+
+                    PilotDefinition.Self.SpeedLeftArm = leftspeed;
+                    PilotDefinition.Self.SpeedRightArm = rightspeed;
+
+                    var leftArrived = leftpid.IsArrived();
+                    var rightArrived = rightpid.IsArrived();
+                    if (leftArrived)
+                        PilotDefinition.Self.SpeedLeftArm = 0f;
+                    if (rightArrived)
+                        PilotDefinition.Self.SpeedRightArm = 0f;
+
+                    if (leftArrived && rightArrived)
+                        break;
+
+                    yield return true;
+                }
+
+                Console.WriteLine(
+                    $"left clamp to target:{LeftClampTarget}  " +
+                    $"right clamp to target:{RightClampTarget}");
+            }
+            finally
+            {
+                PilotDefinition.Self.SpeedLeftArm = 0f;
+                PilotDefinition.Self.SpeedRightArm = 0f;
+            }
+        }
+    }
+    #endregion
 }

ClumsyPilot/PilotConfig.cs

@@ -38,7 +38,7 @@ public class PilotConfig : MultiWheelPilotConfig
 
     #region 单车-临时
     [FieldMember(desc = "原地旋转Kp")]
-    public float InPlaceRotateKp = 0.05f;
+    public float InPlaceRotateKp = 0.2f;
 
     [FieldMember(desc = "原地旋转Ki")]
     public float InPlaceRotateKi = 0.01f;

ClumsyPilot/TrackingExperimentRecorder.cs

@@ -0,0 +1,394 @@
+using ClumsyCore.Interfaces;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Globalization;
+using System.IO;
+using System.Numerics;
+using System.Text;
+using System.Threading;
+
+namespace MultiWheelC
+{
+    // C层实验数据：保存一个采样时刻的定位与控制命令。
+    public sealed class TrackingSample
+    {
+        public double ElapsedSeconds;
+
+        // Detour位置单位为mm，航向单位为deg。
+        public double DetourX;
+        public double DetourY;
+        public double DetourTheta;
+
+        // 车体速度单位为m/s，角速度单位为deg/s。
+        public float CommandSpeed;
+        public float CommandVx;
+        public float CommandVy;
+        public float CommandAngularSpeed;
+    }
+
+    // C层实验工具：统一采集并保存轨迹跟踪实验数据。
+    public sealed class TrackingExperimentRecorder
+    {
+        private readonly string _controllerName;
+        private readonly string _trajectoryName;
+        private readonly int _trialNumber;
+        private readonly Vector2 _referenceStart;
+        private readonly Vector2 _referenceEnd;
+        private readonly float _referenceSpeed;
+        private readonly int _sampleIntervalMs;
+
+        private readonly List<TrackingSample> _samples =
+            new List<TrackingSample>();
+
+        private readonly object _sampleSyncRoot =
+            new object();
+
+        private readonly object _commandSyncRoot =
+            new object();
+
+        private readonly Stopwatch _stopwatch =
+            new Stopwatch();
+
+        private Thread _worker;
+        private volatile bool _running;
+        private int _started;
+        private int _saved;
+
+        private bool _hasExternalCommand;
+        private float _externalCommandSpeed;
+        private float _externalCommandVx;
+        private float _externalCommandVy;
+        private float _externalCommandAngularSpeed;
+
+        public TrackingExperimentRecorder(
+            string controllerName,
+            string trajectoryName,
+            int trialNumber,
+            Vector2 referenceStart,
+            Vector2 referenceEnd,
+            float referenceSpeed,
+            int sampleIntervalMs = 50)
+        {
+            if (string.IsNullOrWhiteSpace(controllerName))
+                throw new ArgumentException(
+                    "控制器名称不能为空。",
+                    nameof(controllerName));
+
+            if (string.IsNullOrWhiteSpace(trajectoryName))
+                throw new ArgumentException(
+                    "轨迹名称不能为空。",
+                    nameof(trajectoryName));
+
+            if (sampleIntervalMs <= 0)
+                throw new ArgumentOutOfRangeException(
+                    nameof(sampleIntervalMs),
+                    "采样周期必须大于零。");
+
+            _controllerName = controllerName;
+            _trajectoryName = trajectoryName;
+            _trialNumber = trialNumber;
+            _referenceStart = referenceStart;
+            _referenceEnd = referenceEnd;
+            _referenceSpeed = referenceSpeed;
+            _sampleIntervalMs = sampleIntervalMs;
+        }
+
+        // 保存成功后的CSV绝对路径；尚未保存时为空。
+        public string SavedFilePath { get; private set; }
+
+        // 启动后台采样线程。
+        public void Start()
+        {
+            if (Interlocked.Exchange(ref _started, 1) != 0)
+                return;
+
+            _stopwatch.Restart();
+            _running = true;
+
+            // 立即保存起点静止状态，避免第一帧被后台线程延迟。
+            CaptureSample();
+
+            _worker = new Thread(SamplingLoop)
+            {
+                IsBackground = true,
+                Name = "TrackingExperimentRecorder"
+            };
+            _worker.Start();
+        }
+
+        // 供Stanley/LQR控制器主动写入本周期最终速度命令。
+        // 调用后优先记录该命令，不再使用底盘反解值。
+        public void UpdateCommand(
+            float commandSpeed,
+            float commandAngularSpeed)
+        {
+            lock (_commandSyncRoot)
+            {
+                _externalCommandSpeed = commandSpeed;
+                _externalCommandVx = commandSpeed;
+                _externalCommandVy = 0f;
+                _externalCommandAngularSpeed =
+                    commandAngularSpeed;
+                _hasExternalCommand = true;
+            }
+        }
+
+        // 供全向、蟹行和曲线控制器写入完整车体速度命令。
+        public void UpdateBodyCommand(
+            float commandVx,
+            float commandVy,
+            float commandAngularSpeed)
+        {
+            lock (_commandSyncRoot)
+            {
+                _externalCommandVx = commandVx;
+                _externalCommandVy = commandVy;
+                _externalCommandSpeed =
+                    (float)Math.Sqrt(
+                        commandVx * commandVx +
+                        commandVy * commandVy);
+                _externalCommandAngularSpeed =
+                    commandAngularSpeed;
+                _hasExternalCommand = true;
+            }
+        }
+
+        // 停止采样并将本次实验保存为CSV；重复调用只保存一次。
+        public void StopAndSave()
+        {
+            if (Volatile.Read(ref _started) == 0)
+                return;
+
+            if (Interlocked.Exchange(ref _saved, 1) != 0)
+                return;
+
+            try
+            {
+                _running = false;
+
+                if (_worker != null &&
+                    _worker != Thread.CurrentThread)
+                {
+                    _worker.Join(
+                        Math.Max(1000, _sampleIntervalMs * 4));
+                }
+
+                // 保存停止时刻的最后一帧。
+                CaptureSample();
+                _stopwatch.Stop();
+                SaveCsv();
+
+                Console.WriteLine(
+                    $"轨迹实验数据已保存：{SavedFilePath}");
+            }
+            catch
+            {
+                // 保存失败后允许调用者再次尝试。
+                Interlocked.Exchange(ref _saved, 0);
+                throw;
+            }
+        }
+
+        // 按固定周期采集Detour位姿和控制命令。
+        private void SamplingLoop()
+        {
+            while (_running)
+            {
+                Thread.Sleep(_sampleIntervalMs);
+
+                if (!_running)
+                    break;
+
+                CaptureSample();
+            }
+        }
+
+        // 采集一帧Detour位姿和控制命令。
+        private void CaptureSample()
+        {
+            try
+            {
+                var location =
+                    DetourInterface.getCartLocation();
+
+                float commandSpeed;
+                float commandVx;
+                float commandVy;
+                float commandAngularSpeed;
+
+                lock (_commandSyncRoot)
+                {
+                    if (_hasExternalCommand)
+                    {
+                        commandSpeed =
+                            _externalCommandSpeed;
+                        commandVx =
+                            _externalCommandVx;
+                        commandVy =
+                            _externalCommandVy;
+                        commandAngularSpeed =
+                            _externalCommandAngularSpeed;
+                    }
+                    else
+                    {
+                        var command =
+                            PilotDefinition.Chassis
+                                .GetCarSpeed(false);
+
+                        commandVx = command.Vx;
+                        commandVy = command.Vy;
+                        commandAngularSpeed = command.Vw;
+                        commandSpeed = (float)Math.Sqrt(
+                            commandVx * commandVx +
+                            commandVy * commandVy);
+                    }
+                }
+
+                var sample = new TrackingSample
+                {
+                    ElapsedSeconds =
+                        _stopwatch.Elapsed.TotalSeconds,
+                    DetourX = location.x,
+                    DetourY = location.y,
+                    DetourTheta = location.th,
+                    CommandSpeed = commandSpeed,
+                    CommandVx = commandVx,
+                    CommandVy = commandVy,
+                    CommandAngularSpeed =
+                        commandAngularSpeed
+                };
+
+                lock (_sampleSyncRoot)
+                {
+                    _samples.Add(sample);
+                }
+            }
+            catch (Exception ex)
+            {
+                // 单帧读取失败不应终止车辆控制或整个记录线程。
+                Console.WriteLine(
+                    $"轨迹实验采样失败：{ex.Message}");
+            }
+        }
+
+        // 将内存中的采样数据写入CSV。
+        private void SaveCsv()
+        {
+            List<TrackingSample> snapshot;
+
+            lock (_sampleSyncRoot)
+            {
+                snapshot =
+                    new List<TrackingSample>(_samples);
+            }
+
+            var outputDirectory = Path.Combine(
+                AppContext.BaseDirectory,
+                "TrackingExperiments");
+
+            Directory.CreateDirectory(outputDirectory);
+
+            var fileName =
+                $"{DateTime.Now:yyyyMMdd_HHmmss_fff}_" +
+                $"{SanitizeFileName(_controllerName)}_" +
+                $"{SanitizeFileName(_trajectoryName)}_" +
+                $"Trial{_trialNumber}.csv";
+
+            SavedFilePath = Path.Combine(
+                outputDirectory,
+                fileName);
+
+            using (var writer = new StreamWriter(
+                SavedFilePath,
+                false,
+                new UTF8Encoding(true)))
+            {
+                writer.WriteLine(
+                    "ElapsedSeconds," +
+                    "ControllerName," +
+                    "TrajectoryName," +
+                    "TrialNumber," +
+                    "DetourX," +
+                    "DetourY," +
+                    "DetourTheta," +
+                    "CommandSpeed," +
+                    "CommandAngularSpeed," +
+                    "CommandVx," +
+                    "CommandVy," +
+                    "ReferenceStartX," +
+                    "ReferenceStartY," +
+                    "ReferenceEndX," +
+                    "ReferenceEndY," +
+                    "ReferenceSpeed");
+
+                foreach (var sample in snapshot)
+                {
+                    writer.WriteLine(string.Join(
+                        ",",
+                        Format(sample.ElapsedSeconds),
+                        EscapeCsv(_controllerName),
+                        EscapeCsv(_trajectoryName),
+                        _trialNumber.ToString(
+                            CultureInfo.InvariantCulture),
+                        Format(sample.DetourX),
+                        Format(sample.DetourY),
+                        Format(sample.DetourTheta),
+                        Format(sample.CommandSpeed),
+                        Format(sample.CommandAngularSpeed),
+                        Format(sample.CommandVx),
+                        Format(sample.CommandVy),
+                        Format(_referenceStart.X),
+                        Format(_referenceStart.Y),
+                        Format(_referenceEnd.X),
+                        Format(_referenceEnd.Y),
+                        Format(_referenceSpeed)));
+                }
+            }
+        }
+
+        // 将文件名中的非法字符替换为下划线。
+        private static string SanitizeFileName(string value)
+        {
+            var result = value;
+
+            foreach (var invalidCharacter in
+                     Path.GetInvalidFileNameChars())
+            {
+                result = result.Replace(
+                    invalidCharacter,
+                    '_');
+            }
+
+            return result;
+        }
+
+        // 按固定小数格式输出数值，避免系统区域设置改变CSV格式。
+        private static string Format(double value)
+        {
+            return value.ToString(
+                "0.######",
+                CultureInfo.InvariantCulture);
+        }
+
+        // 对CSV文本字段进行引号和逗号转义。
+        private static string EscapeCsv(string value)
+        {
+            if (value == null)
+                return string.Empty;
+
+            if (!value.Contains(",") &&
+                !value.Contains("\"") &&
+                !value.Contains("\r") &&
+                !value.Contains("\n"))
+            {
+                return value;
+            }
+
+            return
+                "\"" +
+                value.Replace("\"", "\"\"") +
+                "\"";
+        }
+    }
+}

ClumsyPilot/obj/Debug/ClumsyPilot.AssemblyInfo.cs

@@ -13,7 +13,7 @@ using System.Reflection;
 [assembly: System.Reflection.AssemblyCompanyAttribute("ClumsyPilot")]
 [assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
 [assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
-[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0+580a936a830dcb7a25ef327cf553341405264033")]
+[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")]
 [assembly: System.Reflection.AssemblyProductAttribute("ClumsyPilot")]
 [assembly: System.Reflection.AssemblyTitleAttribute("ClumsyPilot")]
 [assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]

ClumsyPilot/obj/Debug/ClumsyPilot.AssemblyInfoInputs.cache

@@ -1 +1 @@
-038d57c5b1714403d308c9343b385ef762951607b63a9fb275f4d7d2b8fd29cb
+5d77794fa0720c6591db5b06ac60427413c18989a6f7b64420ccb07d122d85bc

ClumsyPilot/obj/Debug/ClumsyPilot.GeneratedMSBuildEditorConfig.editorconfig

@@ -1,6 +1,6 @@
 is_global = true
 build_property.RootNamespace = MultiWheelC
-build_property.ProjectDir = d:\MyParking\ClumsyPilot\
+build_property.ProjectDir = D:\Users\Desktop\入职培训\停车机器人\MyParking\ClumsyPilot\
 build_property.EnableComHosting = 
 build_property.EnableGeneratedComInterfaceComImportInterop = 
 build_property.CsWinRTUseWindowsUIXamlProjections = false

ClumsyPilot/obj/Debug/ClumsyPilot.csproj.CoreCompileInputs.cache

@@ -1 +1 @@
-3920568398d269aea7b71fb4581ad111777c15ca3f2f2bb272ee9e0a989215c4
+e972a413d047c4137a8ce86cbff54a8d2e2558806d9d974d3d6312467ee8ba4d

CommonUsage-MultiVehicleSync/commonusage/.gitattributes

@@ -0,0 +1,2 @@
+*.cs text eol=crlf
+.gitattributes text eol=lf

CommonUsage-MultiVehicleSync/commonusage/.gitignore

@@ -0,0 +1,362 @@
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+##
+## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore
+
+# User-specific files
+*.rsuser
+*.suo
+*.user
+*.userosscache
+*.sln.docstates
+
+# User-specific files (MonoDevelop/Xamarin Studio)
+*.userprefs
+
+# Mono auto generated files
+mono_crash.*
+
+# Build results
+[Dd]ebug/
+[Dd]ebugPublic/
+[Rr]elease/
+[Rr]eleases/
+x64/
+x86/
+[Ww][Ii][Nn]32/
+[Aa][Rr][Mm]/
+[Aa][Rr][Mm]64/
+bld/
+[Bb]in/
+[Oo]bj/
+[Ll]og/
+[Ll]ogs/
+
+# Visual Studio 2015/2017 cache/options directory
+.vs/
+# Uncomment if you have tasks that create the project's static files in wwwroot
+#wwwroot/
+
+# Visual Studio 2017 auto generated files
+Generated\ Files/
+
+# MSTest test Results
+[Tt]est[Rr]esult*/
+[Bb]uild[Ll]og.*
+
+# NUnit
+*.VisualState.xml
+TestResult.xml
+nunit-*.xml
+
+# Build Results of an ATL Project
+[Dd]ebugPS/
+[Rr]eleasePS/
+dlldata.c
+
+# Benchmark Results
+BenchmarkDotNet.Artifacts/
+
+# .NET Core
+project.lock.json
+project.fragment.lock.json
+artifacts/
+
+# ASP.NET Scaffolding
+ScaffoldingReadMe.txt
+
+# StyleCop
+StyleCopReport.xml
+
+# Files built by Visual Studio
+*_i.c
+*_p.c
+*_h.h
+*.ilk
+*.meta
+*.obj
+*.iobj
+*.pch
+*.pdb
+*.ipdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.tmp_proj
+*_wpftmp.csproj
+*.log
+*.vspscc
+*.vssscc
+.builds
+*.pidb
+*.svclog
+*.scc
+
+# Chutzpah Test files
+_Chutzpah*
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opendb
+*.opensdf
+*.sdf
+*.cachefile
+*.VC.db
+*.VC.VC.opendb
+
+# Visual Studio profiler
+*.psess
+*.vsp
+*.vspx
+*.sap
+
+# Visual Studio Trace Files
+*.e2e
+
+# TFS 2012 Local Workspace
+$tf/
+
+# Guidance Automation Toolkit
+*.gpState
+
+# ReSharper is a .NET coding add-in
+_ReSharper*/
+*.[Rr]e[Ss]harper
+*.DotSettings.user
+
+# TeamCity is a build add-in
+_TeamCity*
+
+# DotCover is a Code Coverage Tool
+*.dotCover
+
+# AxoCover is a Code Coverage Tool
+.axoCover/*
+!.axoCover/settings.json
+
+# Coverlet is a free, cross platform Code Coverage Tool
+coverage*.json
+coverage*.xml
+coverage*.info
+
+# Visual Studio code coverage results
+*.coverage
+*.coveragexml
+
+# NCrunch
+_NCrunch_*
+.*crunch*.local.xml
+nCrunchTemp_*
+
+# MightyMoose
+*.mm.*
+AutoTest.Net/
+
+# Web workbench (sass)
+.sass-cache/
+
+# Installshield output folder
+[Ee]xpress/
+
+# DocProject is a documentation generator add-in
+DocProject/buildhelp/
+DocProject/Help/*.HxT
+DocProject/Help/*.HxC
+DocProject/Help/*.hhc
+DocProject/Help/*.hhk
+DocProject/Help/*.hhp
+DocProject/Help/Html2
+DocProject/Help/html
+
+# Click-Once directory
+publish/
+
+# Publish Web Output
+*.[Pp]ublish.xml
+*.azurePubxml
+# Note: Comment the next line if you want to checkin your web deploy settings,
+# but database connection strings (with potential passwords) will be unencrypted
+*.pubxml
+*.publishproj
+
+# Microsoft Azure Web App publish settings. Comment the next line if you want to
+# checkin your Azure Web App publish settings, but sensitive information contained
+# in these scripts will be unencrypted
+PublishScripts/
+
+# NuGet Packages
+*.nupkg
+# NuGet Symbol Packages
+*.snupkg
+# The packages folder can be ignored because of Package Restore
+**/[Pp]ackages/*
+# except build/, which is used as an MSBuild target.
+!**/[Pp]ackages/build/
+# Uncomment if necessary however generally it will be regenerated when needed
+#!**/[Pp]ackages/repositories.config
+# NuGet v3's project.json files produces more ignorable files
+*.nuget.props
+*.nuget.targets
+
+# Microsoft Azure Build Output
+csx/
+*.build.csdef
+
+# Microsoft Azure Emulator
+ecf/
+rcf/
+
+# Windows Store app package directories and files
+AppPackages/
+BundleArtifacts/
+Package.StoreAssociation.xml
+_pkginfo.txt
+*.appx
+*.appxbundle
+*.appxupload
+
+# Visual Studio cache files
+# files ending in .cache can be ignored
+*.[Cc]ache
+# but keep track of directories ending in .cache
+!?*.[Cc]ache/
+
+# Others
+ClientBin/
+~$*
+*~
+*.dbmdl
+*.dbproj.schemaview
+*.jfm
+*.pfx
+*.publishsettings
+orleans.codegen.cs
+
+# Including strong name files can present a security risk
+# (https://github.com/github/gitignore/pull/2483#issue-259490424)
+#*.snk
+
+# Since there are multiple workflows, uncomment next line to ignore bower_components
+# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
+#bower_components/
+
+# RIA/Silverlight projects
+Generated_Code/
+
+# Backup & report files from converting an old project file
+# to a newer Visual Studio version. Backup files are not needed,
+# because we have git ;-)
+_UpgradeReport_Files/
+Backup*/
+UpgradeLog*.XML
+UpgradeLog*.htm
+ServiceFabricBackup/
+*.rptproj.bak
+
+# SQL Server files
+*.mdf
+*.ldf
+*.ndf
+
+# Business Intelligence projects
+*.rdl.data
+*.bim.layout
+*.bim_*.settings
+*.rptproj.rsuser
+*- [Bb]ackup.rdl
+*- [Bb]ackup ([0-9]).rdl
+*- [Bb]ackup ([0-9][0-9]).rdl
+
+# Microsoft Fakes
+FakesAssemblies/
+
+# GhostDoc plugin setting file
+*.GhostDoc.xml
+
+# Node.js Tools for Visual Studio
+.ntvs_analysis.dat
+node_modules/
+
+# Visual Studio 6 build log
+*.plg
+
+# Visual Studio 6 workspace options file
+*.opt
+
+# Visual Studio 6 auto-generated workspace file (contains which files were open etc.)
+*.vbw
+
+# Visual Studio LightSwitch build output
+**/*.HTMLClient/GeneratedArtifacts
+**/*.DesktopClient/GeneratedArtifacts
+**/*.DesktopClient/ModelManifest.xml
+**/*.Server/GeneratedArtifacts
+**/*.Server/ModelManifest.xml
+_Pvt_Extensions
+
+# Paket dependency manager
+.paket/paket.exe
+paket-files/
+
+# FAKE - F# Make
+.fake/
+
+# CodeRush personal settings
+.cr/personal
+
+# Python Tools for Visual Studio (PTVS)
+__pycache__/
+*.pyc
+
+# Cake - Uncomment if you are using it
+# tools/**
+# !tools/packages.config
+
+# Tabs Studio
+*.tss
+
+# Telerik's JustMock configuration file
+*.jmconfig
+
+# BizTalk build output
+*.btp.cs
+*.btm.cs
+*.odx.cs
+*.xsd.cs
+
+# OpenCover UI analysis results
+OpenCover/
+
+# Azure Stream Analytics local run output
+ASALocalRun/
+
+# MSBuild Binary and Structured Log
+*.binlog
+
+# NVidia Nsight GPU debugger configuration file
+*.nvuser
+
+# MFractors (Xamarin productivity tool) working folder
+.mfractor/
+
+# Local History for Visual Studio
+.localhistory/
+
+# BeatPulse healthcheck temp database
+healthchecksdb
+
+# Backup folder for Package Reference Convert tool in Visual Studio 2017
+MigrationBackup/
+
+# Ionide (cross platform F# VS Code tools) working folder
+.ionide/
+
+# Fody - auto-generated XML schema
+FodyWeavers.xsd

CommonUsage-MultiVehicleSync/commonusage/Chassis/AbstractChassis.cs

@@ -0,0 +1,126 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
+using System.Numerics;
+using System.Security.Cryptography.X509Certificates;
+using System.Text;
+using FundamentalLib;
+using Newtonsoft.Json;
+
+namespace CommonUsage.Chassis
+{
+    public abstract class AbstractChassis
+    {
+	    protected AbstractChassis()
+	    {
+		    Valid = false;
+	    }
+
+	    public abstract void Initialize();
+
+        public abstract void Visualize();
+
+	    public abstract void AfterDirectionChanged();
+
+        /// <summary>
+        /// 当前行进方向。
+        /// </summary>
+        [Obsolete]
+        public float DirectionAngle
+        {
+	        get => _originBiasTh;
+	        set
+	        {
+                _originBiasTh = value;
+				if (_originBiasTh != _lastDirectionAngle) AfterDirectionChanged();
+                _lastDirectionAngle = _originBiasTh;
+	        }
+        }
+
+        protected float _originBiasX = 0f, _originBiasY = 0f, _originBiasTh;
+
+        public Vector3 GetOriginBias()
+        {
+            return new Vector3(_originBiasX, _originBiasY, _originBiasTh);
+        }
+
+        public class CarSpeed
+        {
+            public float Vx,Vy,Vw;
+        }
+
+        public abstract CarSpeed GetCarSpeed(bool isActual = false);
+        public List<GeometricControlPoint> GetGeometricControlPoints()
+        {
+	        return GeometricControlPoints;
+        }
+
+        public void ComputeWheelsGeometrically(float speed)
+        {
+            // 打印调用位置信息
+            var stackTrace = new StackTrace(true);
+            var callerFrame = stackTrace.GetFrame(1); // 获取调用者的帧
+            if (callerFrame != null)
+            {
+                var fileName = callerFrame.GetFileName();
+                var lineNumber = callerFrame.GetFileLineNumber();
+                DLog.Log($"s:{speed:0.000} from {fileName} ln.{lineNumber}", $"WheelComputeCaller");
+            }
+
+            DefineGeometricWheelComputation(speed);
+        }
+
+        protected abstract void DefineGeometricWheelComputation(float speed);
+
+        public void DriveStop()
+        {
+            PredefinedDriveStop();
+            CustomDriveStop?.Invoke();
+        }
+
+        public abstract void PredefinedDriveStop();
+
+        public Action CustomDriveStop;
+
+        public abstract bool ComputeRotateWheels(float rotSpeed);
+
+        public abstract float CalculateTurningSpeedDecayFac(float turn);
+
+        public enum ChassisState
+        {
+	        Standby,
+            Running,
+            AbnormalFeedback,
+            ExceedMotionAbility,
+        }
+
+        protected ChassisState State;
+
+        protected string StateDescription;
+
+        public (ChassisState State, string Description) GetChassisState()
+        {
+	        return (State, StateDescription);
+        }
+
+        public bool Debug = false;
+        public float AccPerSecond = 0.2f;
+        public float DeAccPerSecond = 0.2f;
+        public float MaxSpeed = 1; // m/s
+        public float MinTurnSpeedFac = 0.5f;
+        public float MaxTurnThreshold = 90f;
+
+        public float GcpThetaPerSecond = 10f;
+
+        public DateTime LastMoveTime = DateTime.MinValue;
+
+		protected bool Valid = false;
+		protected List<GeometricControlPoint> GeometricControlPoints = new();
+		protected bool RotatingActive = false;
+		protected bool GoingActive = false;
+		protected bool GoingWheelAligned = false;
+
+		private float _lastDirectionAngle = 0;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Chassis/DiffSteerWheel.cs

@@ -0,0 +1,47 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+
+namespace CommonUsage.Chassis
+{
+    public class DiffSteerWheel:SteerWheel
+    {
+        public DiffSteerWheel(float wheelDistance,Vector2 position, float angleLowerLimit, float angleUpperLimit, Action<float> speedWriter,
+            Func<float> speedReader, Action<float> angleWriter, Func<float> angleReader, Action<float> leftSpeedWriter, Action<float> rightSpeedWriter,
+            float angleLimitMarginDeg = 15f) : base(position,
+            angleLowerLimit, angleUpperLimit, speedWriter, speedReader, angleWriter, angleReader, angleLimitMarginDeg)
+        {
+            _leftSpeedWriter = leftSpeedWriter;
+            _rightSpeedWriter = rightSpeedWriter;
+            WheelDistance = wheelDistance;
+        }
+
+        public float GetLeftSendSpeed()
+        {
+            return _leftSendSpeed;
+        }
+
+        public float GetRightSendSpeed()
+        {
+            return _rightSendSpeed;
+        }
+
+        public void WriteLeftSpeed(float speed)
+        {
+            _leftSpeedWriter(_leftSendSpeed = speed);
+        }
+
+        public void WriteRightSpeed(float speed)
+        {
+            _rightSpeedWriter(_rightSendSpeed = speed);
+        }
+
+        public float WheelDistance;
+        private readonly Action<float> _leftSpeedWriter;
+        private readonly Action<float> _rightSpeedWriter;
+
+        private float _leftSendSpeed;
+        private float _rightSendSpeed;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Chassis/DifferentialChassis.cs

@@ -0,0 +1,170 @@
+using FundamentalLib;
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+using System.Diagnostics;
+
+namespace CommonUsage.Chassis
+{
+	public class DifferentialChassis : AbstractChassis
+	{
+		public void SetLeftRightWheels(Wheel wheelL, Wheel wheelR)
+		{
+			_leftWheel = wheelL;
+			_rightWheel = wheelR;
+			_halfWheelTrack = Math.Abs(_leftWheel.Position.Y);
+		}
+
+        public override void Visualize()
+        {
+            
+        }
+
+        public override CarSpeed GetCarSpeed(bool isActual = false)
+        {
+            if (!isActual)
+            {
+                return new CarSpeed()
+                {
+                    Vx = (_speedL + _speedR) / 2f,
+                    Vw = (_speedR - _speedL) / Math.Abs(_leftWheel.Position.Y - _rightWheel.Position.Y) /
+                        (float)Math.PI * 180f * 1000f,
+                    Vy = 0
+                };
+            }
+            else
+            {
+                return new CarSpeed()
+                {
+                    Vx = GetLinearSpeed(),
+                    Vw = (_rightWheel.ReadSpeed() - _leftWheel.ReadSpeed()) /
+                        Math.Abs(_leftWheel.Position.Y - _rightWheel.Position.Y) /
+                        (float)Math.PI * 180f * 1000f,
+                    Vy = 0
+                };
+            }
+            
+        }
+
+        public (Wheel,Wheel) GetWheels()
+        {
+            return (_leftWheel, _rightWheel);
+        }
+
+		public float GetLinearSpeed()
+		{
+			return (_leftWheel.ReadSpeed() + _rightWheel.ReadSpeed()) / 2f;
+		}
+
+		public override void Initialize()
+		{
+			GeometricControlPoints.Add(new GeometricControlPoint(new Vector2(0, 0)));
+			Valid = true;
+		}
+
+		public override void AfterDirectionChanged()
+		{
+
+		}
+
+		public override void PredefinedDriveStop()
+		{
+			if (!Valid) return;
+			_sendSpeedL = _sendSpeedR = 0;
+            _speedL = _speedR = 0;
+			_leftWheel.WriteSpeed(_sendSpeedL);
+			_rightWheel.WriteSpeed(_sendSpeedR);
+			GoingActive = false;
+			RotatingActive = false;
+		}
+
+        protected override void DefineGeometricWheelComputation(float speed)
+        {
+            var now = DateTime.Now;
+            if (!GoingActive) LastMoveTime = now;
+
+            SendSpeed(speed, GeometricControlPoints[0].Theta, now - LastMoveTime);
+
+            GoingActive = true;
+            RotatingActive = false;
+        }
+
+		public override bool ComputeRotateWheels(float rotSpeed)
+		{
+			if (!RotatingActive) LastMoveTime = DateTime.Now;
+
+			SendSpeed(0, rotSpeed);
+
+			GoingActive = false;
+			RotatingActive = true;
+			return true;
+		}
+
+		public override float CalculateTurningSpeedDecayFac(float turn)
+		{
+			return 1 - Math.Min(turn, MaxTurnThreshold) / MaxTurnThreshold * MinTurnSpeedFac;
+		}
+
+		public void SendSpeed(float linearSpeed, float angularSpeed, TimeSpan? deltaTime = null)
+		{
+			var edgeLinearSpeed = (float)(angularSpeed / 180f * Math.PI * _halfWheelTrack / 1000);
+			var vl = linearSpeed - edgeLinearSpeed;
+			var vr = linearSpeed + edgeLinearSpeed;
+            _speedL = vl;
+			_speedR = vr;
+			AccumulateSpeed(vl, vr, deltaTime);
+            LastMoveTime = DateTime.Now;
+        }
+
+		private void AccumulateSpeed(float vl, float vr, TimeSpan? deltaTime = null)
+		{
+            // var dTime = (float)(deltaTime ?? DateTime.Now - LastMoveTime).TotalSeconds;
+            //
+            // var speedSignL = Math.Sign(vl - _sendSpeedL);
+            // var accL = Math.Abs(vl) > Math.Abs(_sendSpeedL) ? AccPerSecond : DeAccPerSecond;
+            // _sendSpeedL += speedSignL * Math.Min(Math.Abs(vl - _sendSpeedL), accL * dTime);
+            // _leftWheel.WriteSpeed(_sendSpeedL);
+            //
+            // var speedSignR = Math.Sign(vr - _sendSpeedR);
+            // var accR = Math.Abs(vr) > Math.Abs(_sendSpeedR) ? AccPerSecond : DeAccPerSecond;
+            // _sendSpeedR += speedSignR * Math.Min(Math.Abs(vr - _sendSpeedR), accR * dTime);
+            // _rightWheel.WriteSpeed(_sendSpeedR);
+
+            // if (Debug)
+            // 	Console.WriteLine($"DiffChassis, target:{v:0.00},send:{_sendSpeed:0.0}");
+            // var dTime = (float)(deltaTime ?? DateTime.Now - LastMoveTime).TotalSeconds;
+            var dTime = (float)(deltaTime ?? DateTime.Now - LastMoveTime).TotalSeconds;
+            float diffL = vl - _sendSpeedL;
+            float diffR = vr - _sendSpeedR;
+
+            float accL = Math.Abs(vl) > Math.Abs(_sendSpeedL) ? AccPerSecond : DeAccPerSecond;
+            float accR = Math.Abs(vr) > Math.Abs(_sendSpeedR) ? AccPerSecond : DeAccPerSecond;
+
+            float maxDeltaL = accL * dTime;
+            float maxDeltaR = accR * dTime;
+
+            float factorL = Math.Abs(diffL) > maxDeltaL ? maxDeltaL / Math.Abs(diffL) : 1.0f;
+            float factorR = Math.Abs(diffR) > maxDeltaR ? maxDeltaR / Math.Abs(diffR) : 1.0f;
+
+            float factor = Math.Min(factorL, factorR);
+
+            _sendSpeedL += diffL * factor;
+            _sendSpeedR += diffR * factor;
+
+            _leftWheel.WriteSpeed(_sendSpeedL);
+            _rightWheel.WriteSpeed(_sendSpeedR);
+            // Console.WriteLine($"DiffChassis, target:{vl:0.00},send:{_sendSpeedL:0.00} dTime：{dTime} diffL:{diffL} factor:{factor}" );
+        }
+
+        private Wheel _leftWheel;
+		private Wheel _rightWheel;
+		private float _halfWheelTrack; // millimeter
+
+		private float _sendSpeedL;
+		private float _sendSpeedR;
+		private int _direction = 1; // 1 forward, -1 backward
+        private float _speedL;
+        private float _speedR;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Chassis/SingleSteerChassis.cs

@@ -0,0 +1,172 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
+using System.Text;
+using System.Diagnostics;
+using CommonUsage.Mathematics;
+using FundamentalLib;
+
+namespace CommonUsage.Chassis
+{
+	public class SingleSteerChassis : AbstractChassis
+	{
+		public void SetSteerWheel(SteerWheel wheel)
+		{
+			_steerWheel = wheel;
+		}
+
+		public SteerWheel GetSteerWheel()
+		{
+			return _steerWheel;
+		}
+
+        public override void Visualize()
+        {
+            
+        }
+
+        public override CarSpeed GetCarSpeed(bool isActual = false)
+        {
+            if (!isActual)
+            {
+                var sendAngle = _steerWheel.GetSendAngle();
+                var sendAngleRad = _steerWheel.GetSendAngle() / 180f * Math.PI;
+                // VSteer* Cos = v;
+                var vsteer = _sendSpeed / ((Math.Cos(Math.Abs(sendAngleRad)) + 0.000001));
+                var vsteerY = vsteer * Math.Sin(sendAngleRad);
+				// Console.WriteLine($"{vsteer} {vsteerY} {sendAngleRad} {_sendSpeed}");
+                return new CarSpeed()
+                {
+                    Vx = (float)(_sendSpeed * Math.Cos(Math.Abs(sendAngle) / 180f * Math.PI)),
+                    Vy = 0,
+                    Vw = (float)(_sendSpeed * Math.Sin(Math.Abs(sendAngle) / 180f * Math.PI) /
+                        Math.Abs(_steerWheel.Position.X / 1000f) / Math.PI * 180f)
+					//阿克曼
+                    // Vx = (float)(_sendSpeed),
+                    // Vy = 0,
+                    // Vw = (float)(vsteerY / Math.Abs(_steerWheel.Position.X / 1000f) / Math.PI * 180f)
+                };
+            }
+            else
+            {
+                return new CarSpeed()
+                {
+                    Vx = (float)(_steerWheel.ReadSpeed() *
+                                 Math.Cos(Math.Abs(_steerWheel.ReadAngle()) / 180f * Math.PI)),
+                    Vy = 0,
+                    Vw = (float)(_steerWheel.ReadSpeed() *
+                        Math.Sin(Math.Abs(_steerWheel.ReadAngle()) / 180f * Math.PI) /
+                        Math.Abs(_steerWheel.Position.X / 1000f) / Math.PI * 180f)
+                };
+            }
+            
+        }
+
+        public override void Initialize()
+		{
+			GeometricControlPoints = new List<GeometricControlPoint>()
+			{
+				new (_steerWheel.Position),
+				new (Vector2.Zero)
+			};
+			Valid = true;
+		}
+
+		public override void AfterDirectionChanged()
+		{
+			if (Math.Abs(CommonMath.ThDiff(0, _originBiasTh)) > 90)
+			{
+				GeometricControlPoints = new List<GeometricControlPoint>()
+				{
+					new (-_steerWheel.Position),
+				};
+				_direction = -1;
+			}
+			else
+			{
+				GeometricControlPoints = new List<GeometricControlPoint>()
+				{
+					new (_steerWheel.Position),
+				};
+				_direction = 1;
+			}
+		}
+
+		public override void PredefinedDriveStop()
+		{
+			if (!Valid) return;
+			_sendSpeed = 0;
+			_steerWheel.WriteSpeed(_sendSpeed);
+			GoingActive = false;
+			RotatingActive = false;
+		}
+
+        protected override void DefineGeometricWheelComputation(float speed)
+        {
+            var now = DateTime.Now;
+
+            if (!GoingActive)
+            {
+                LastMoveTime = now;
+                GoingWheelAligned = false;
+            }
+
+            SendSteerMotion(speed * _direction, GeometricControlPoints[0].Theta, now - LastMoveTime);
+
+            GoingActive = true;
+            RotatingActive = false;
+        }
+
+		public override bool ComputeRotateWheels(float rotSpeed)
+		{
+			if (!RotatingActive)
+            {
+                LastMoveTime = DateTime.Now;
+                GoingWheelAligned = false;
+            }
+
+			SendSteerMotion(rotSpeed, 90);
+
+			GoingActive = false;
+			RotatingActive = true;
+			return true;
+		}
+
+		public void SendSteerMotion(float speed, float theta, TimeSpan? deltaTime = null)
+		{
+			_steerWheel.WriteAngle(theta);
+
+            if (!GoingWheelAligned && Math.Abs(CommonMath.ThDiff(_steerWheel.ReadAngle(), theta)) < 1)
+                GoingWheelAligned = true;
+			if (!GoingWheelAligned) speed = 0;
+
+			var turnThresholdSpeed = CalculateTurningSpeedDecayFac(Math.Abs(theta)) * MaxSpeed;
+			AccumulateSpeed(Math.Min(turnThresholdSpeed, Math.Abs(speed)) * Math.Sign(speed), deltaTime);
+
+            LastMoveTime = DateTime.Now;
+        }
+
+		public override float CalculateTurningSpeedDecayFac(float turn)
+		{
+			return 1 - Math.Min(turn, MaxTurnThreshold) / MaxTurnThreshold * MinTurnSpeedFac;
+		}
+
+		private void AccumulateSpeed(float v, TimeSpan? deltaTime = null)
+		{
+			// _targetSpeed = v;
+			var speedSign = Math.Sign(v - _sendSpeed);
+			var acc = Math.Abs(v) > Math.Abs(_sendSpeed) ? AccPerSecond : DeAccPerSecond;
+			_sendSpeed += speedSign * Math.Min(Math.Abs(v - _sendSpeed),
+				acc * (float)(deltaTime ?? DateTime.Now - LastMoveTime).TotalSeconds);
+			_steerWheel.WriteSpeed(_sendSpeed);
+
+			if (Debug)
+				Console.WriteLine($"SingleSteer, target:{v:0.00},send:{_sendSpeed:0.0}");
+		}
+
+		private SteerWheel _steerWheel;
+		private float _sendSpeed;
+		private int _direction = 1; // 1 forward, -1 backward
+	}
+}

CommonUsage-MultiVehicleSync/commonusage/Chassis/SteerWheel.cs

@@ -0,0 +1,100 @@
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+using CommonUsage.Mathematics;
+
+namespace CommonUsage.Chassis
+{
+	public class SteerWheel : Wheel
+	{
+		public SteerWheel(Vector2 position, float angleLowerLimit, float angleUpperLimit, Action<float> speedWriter,
+			Func<float> speedReader, Action<float> angleWriter, Func<float> angleReader, float angleLimitMarginDeg = 15f) : base(position, speedWriter,
+			speedReader)
+		{
+			_angleLowerLimit = angleLowerLimit;
+			_angleUpperLimit = angleUpperLimit;
+			_angleWriter = angleWriter;
+			_angleReader = angleReader;
+			_centerDistance = position.Length();
+            AngleLimitMarginDeg = angleLimitMarginDeg;
+		}
+
+        public float AngleLimitMarginDeg = 15f;
+
+		public bool TrySetDirection(bool allowReverse, ref float desireDirection, ref int dir)
+		{
+            if (TryNormalizeAngleInLimit(desireDirection, out var normalized))
+			{
+				dir = 1;
+                desireDirection = normalized;
+				return true;
+			}
+
+			if (!allowReverse) return false;
+
+			var oppositeTh = (float)CommonMath.RoundTh(desireDirection + 180);
+			if (TryNormalizeAngleInLimit(oppositeTh, out normalized))
+			{
+				dir = -1;
+				desireDirection = normalized;
+				return true;
+			}
+
+			dir = 0;
+			return false;
+		}
+
+        private bool TryNormalizeAngleInLimit(float angle, out float normalized)
+        {
+            var lower = CommonMath.RoundTh(_angleLowerLimit);
+            var upper = CommonMath.RoundTh(_angleUpperLimit);
+            while (upper < lower) upper += 360;
+
+            normalized = (float)CommonMath.RoundTh(angle);
+            while (normalized < lower) normalized += 360;
+            while (normalized > upper && normalized - 360 >= lower) normalized -= 360;
+
+            var margin = Math.Min(normalized - lower, upper - normalized);
+            return normalized >= lower && normalized <= upper && margin >= Math.Max(0, AngleLimitMarginDeg);
+        }
+
+		public float ReadAngle()
+		{
+			return _angleReader();
+		}
+
+		public void WriteAngle(float angle)
+        {
+            _angleWriter.Invoke(_sendAngle = Math.Max(_angleLowerLimit, Math.Min(angle, _angleUpperLimit)));
+        }
+
+        public float GetSendAngle()
+        {
+            return _sendAngle;
+        }
+
+        public float GetAngleRelativeToChassis()
+        {
+            return ZeroDirection + _sendAngle;
+        }
+
+		public float CenterDistance()
+		{
+			return _centerDistance;
+		}
+
+        public float AngleLowerLimit => _angleLowerLimit;
+
+		public float AngleUpperLimit => _angleUpperLimit;
+
+		[JsonIgnore] private readonly Action<float> _angleWriter;
+		[JsonIgnore] private readonly Func<float> _angleReader;
+
+		private float _angleLowerLimit = -90, _angleUpperLimit = 90;
+		private float _centerDistance;
+
+        public float _sendAngle = 0f;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Chassis/Wheel.cs

@@ -0,0 +1,56 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+using Newtonsoft.Json;
+
+namespace CommonUsage.Chassis
+{
+    public class Wheel
+    {
+	    public Wheel(Vector2 position, Action<float> speedWriter, Func<float> speedReader)
+	    {
+		    PhysicalPosition = Position = position;
+			SpeedWriter = speedWriter;
+			SpeedReader = speedReader;
+	    }
+
+	    public void WriteSpeed(float speed)
+	    {
+		    SpeedWriter.Invoke(_sendSpeed = speed);
+        }
+
+        public float GetSendSpeed()
+        {
+            return _sendSpeed;
+        }
+
+	    public float ReadSpeed()
+	    {
+		    return SpeedReader();
+	    }
+
+        // PhysicalPosition ===(chassis transform)===> Position
+		// useful in dual agv coordination
+        public readonly Vector2 PhysicalPosition;
+        public Vector2 Position;
+
+        public float ZeroDirection = 0;
+
+        [JsonIgnore] public readonly Action<float> SpeedWriter;
+        [JsonIgnore] public readonly Func<float> SpeedReader;
+
+        public float _sendSpeed;
+    }
+
+    public class GeometricControlPoint
+    {
+	    public GeometricControlPoint(Vector2 position)
+	    {
+			Position = position;
+	    }
+
+	    public Vector2 Position;
+	    public float Theta;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/CommonUsage.csproj

@@ -0,0 +1,48 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>netstandard2.0</TargetFramework>
+  </PropertyGroup>
+
+  <PropertyGroup>
+   <LangVersion>latest</LangVersion>
+   <AllowUnsafeBlocks>True</AllowUnsafeBlocks>
+  </PropertyGroup>
+
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'">
+    <DebugType>embedded</DebugType>
+  </PropertyGroup>
+
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|AnyCPU'">
+    <DebugType>embedded</DebugType>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <Compile Remove="Hedingben.cs" />
+    <Compile Remove="IPCConcurrentDictionary.cs" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <PackageReference Include="MQTTnet" Version="4.3.7.1207" />
+    <PackageReference Include="MQTTnet.Extensions.ManagedClient" Version="4.3.7.1207" />
+    <PackageReference Include="Newtonsoft.Json" Version="13.0.3" />
+    <PackageReference Include="System.Buffers" Version="4.5.1" />
+    <PackageReference Include="System.Numerics.Vectors" Version="4.5.0" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Reference Include="FundamentalLib">
+      <HintPath>..\..\MedullaAdapter\ref\RefFundamentalLib.dll</HintPath>
+    </Reference>
+    <Reference Include="ClumsyCore">
+      <HintPath>..\..\ClumsyPilot\ref\RefClumsyCore.dll</HintPath>
+    </Reference>
+  </ItemGroup>
+
+  <Target Name="CopyCommonUsageToMyParkingRef" AfterTargets="Build">
+    <MakeDir Directories="..\..\ref" />
+    <Copy SourceFiles="$(TargetPath)"
+          DestinationFolder="..\..\ref" />
+  </Target>
+
+</Project>

CommonUsage-MultiVehicleSync/commonusage/CommonUsageSln.sln

@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33424.131
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "CommonUsage", "CommonUsage.csproj", "{E1C5DEA8-3785-40A9-9965-E51E65BF5947}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{E1C5DEA8-3785-40A9-9965-E51E65BF5947}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{E1C5DEA8-3785-40A9-9965-E51E65BF5947}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{E1C5DEA8-3785-40A9-9965-E51E65BF5947}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{E1C5DEA8-3785-40A9-9965-E51E65BF5947}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {709F9C19-45DB-46AD-B70A-0E1E3C6CFB0C}
+	EndGlobalSection
+EndGlobal

CommonUsage-MultiVehicleSync/commonusage/Geometries/AbstractGeometry.cs

@@ -0,0 +1,93 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Numerics;
+using System.Text;
+using static CommonUsage.Geometries.CircularArc;
+
+namespace CommonUsage.Geometries
+{
+	/// <summary>
+	/// 便于直接创建几何形状并求几何形状的切点、切线等。
+	/// </summary>
+	public abstract class AbstractGeometry
+	{
+		protected AbstractGeometry()
+		{
+			PaddingType = Padding.StartExtendEndExtend;
+			VisualizeOption = new VisualizeOption(Color.Red, Color.Gray);
+		}
+
+		public Padding PaddingType;
+
+		public abstract (Vector2 Pt, float Angle, float Bias, float Position) QueryTangentPoint(Vector2 point);
+
+		public abstract void Visualize(Action<VisDot> processDot, Action<VisLine> processLine,
+			bool visExtendedPart = false);
+
+		public VisualizeOption VisualizeOption;
+
+		/// <summary>
+		/// 查询指定位置的曲率。
+		/// </summary>
+		/// <param name="position">从起点到查询位置的距离。</param>
+		/// <returns></returns>
+		public abstract float QueryCurvature(float position);
+
+		public abstract float Length();
+	}
+
+	public class VisualizeOption
+	{
+		public VisualizeOption(Color mainColor, Color auxiliaryColor)
+		{
+			MainColor = mainColor;
+			AuxiliaryColor = auxiliaryColor;
+		}
+
+		public Color MainColor;
+		public Color AuxiliaryColor;
+		public bool DrawAuxiliary = true;
+		public bool VisualizeDirection = true;
+	}
+
+	public enum Padding
+	{
+		StartLineEndLine = 0b_0001_0001,
+		StartLineEndExtend = 0b_0001_0010,
+		StartExtendEndLine = 0b_0010_0001,
+		StartExtendEndExtend = 0b_0010_0010,
+	}
+
+	public class VisDot
+	{
+		public VisDot(Vector2 point, Color color)
+		{
+			Point = point;
+			Color = color;
+		}
+
+		public Vector2 Point;
+		public Color Color;
+	}
+
+	public class VisLine
+	{
+		public VisLine(Vector2 start, Vector2 end, bool startArrow, bool endArrow, Color color, float width = 1)
+		{
+			Start = start;
+			End = end;
+			StartArrow = startArrow;
+			EndArrow = endArrow;
+			Color = color;
+			Width = width;
+		}
+
+		public Vector2 Start;
+		public Vector2 End;
+		public bool StartArrow = false;
+		public bool EndArrow = false;
+		public Color Color;
+		public float Width;
+	}
+}

CommonUsage-MultiVehicleSync/commonusage/Geometries/BezierCurve.cs

@@ -0,0 +1,334 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Numerics;
+using System.Reflection;
+using CommonUsage.Mathematics;
+
+namespace CommonUsage.Geometries
+{
+    public class BezierCurve : AbstractGeometry
+    {
+
+        public BezierCurve(List<Vector2> controlPoints, int resolution = 100)
+        {
+            // Console.WriteLine($"BezierCurve1");
+            // Console.WriteLine(string.Join("  ",controlPoints.Select(p=>$"{p.X:f2},{p.Y:f2}")));
+            _controlPoints = controlPoints;
+            _resolution = resolution;
+            InitializeBezier();
+        }
+
+        public override void Visualize(Action<VisDot> processDot, Action<VisLine> processLine, bool visExtendedPart = false)
+        {
+            if (VisualizeOption.DrawAuxiliary)
+                for (var i = 0; i < _controlPoints.Count - 1; ++i)
+                {
+                    processLine(new VisLine(_controlPoints[i], _controlPoints[i + 1],
+                        false, false, VisualizeOption.AuxiliaryColor));
+                    if (i == 0) continue;
+                    processDot(new VisDot(_controlPoints[i], VisualizeOption.AuxiliaryColor));
+                }
+
+            for (var i = 0; i < _bezierPoints.Count - 1; ++i)
+            {
+                if (Direction == -1)
+                {
+                    processLine(new VisLine(_bezierPoints[i + 1], _bezierPoints[i],
+                        false, i == (int)(_bezierPoints.Count / 2), VisualizeOption.MainColor, 2));
+                }
+                else
+                {
+                    processLine(new VisLine(_bezierPoints[i], _bezierPoints[i + 1],
+                        false, i == (int)(_bezierPoints.Count / 2), VisualizeOption.MainColor, 2));
+                }
+
+
+            }
+        }
+
+        public (Vector2 Point, int Id) QueryPoint(Vector2 point)
+        {
+            var p = new Vector2();
+            var id = -1;
+            var bestDistance = float.MaxValue;
+
+            var hashes = _bias.Select(bb => CalculateHash(point, 100, bb.X, bb.Y)).ToList();
+
+            void TryQuery(Dictionary<uint, List<(Vector2 Point, int Id)>> dict, List<uint> hashList)
+            {
+                foreach (var hash in hashList)
+                {
+                    if (!dict.TryGetValue(hash, out var ll)) continue;
+                    foreach (var (q, qId) in ll)
+                    {
+                        var d = Vector2.Distance(q, point);
+                        if (d < bestDistance)
+                        {
+                            p = q;
+                            id = qId;
+                            bestDistance = d;
+                        }
+                    }
+                }
+            }
+            //map目前有bug,取消cpu占用也不严重，必要时候在优化
+            // TryQuery(_pointsMappingSmall, hashes);
+            //
+            // if (id == -1)
+            // {
+            // 	hashes = _bias.Select(bb => CalculateHash(point, 1000, bb.X, bb.Y)).ToList();
+            // 	TryQuery(_pointsMappingBig, hashes);
+            // }
+
+            if (id == -1)
+            {
+                // todo: improve the way to find closest point if mappings fail
+                (p, id) = _bezierPoints.Select((p, i) => (p, i))
+                    .OrderBy(pair => CommonMath.dist(pair.p.X, pair.p.Y, point.X, point.Y)).First();
+            }
+
+            return (p, id);
+        }
+
+        public override (Vector2 Pt, float Angle, float Bias, float Position) QueryTangentPoint(Vector2 point)
+        {
+            var (p, id) = QueryPoint(point);
+            var tangent = _tangents[id];
+            var (bias, lp, fd) = CommonMath.Project2DLine(point, p, tangent);
+            var next = fd > 0 ? id + 1 : id - 1;
+            if (id == 0) next = 1;
+            // Console.WriteLine($"id:{id} next:{next} tangent:{tangent} _tangents.Count:{_tangents.Count}");
+            if (next > 0 && next < _tangents.Count)//线性插值
+            {
+                var (_, _, t) = CommonMath.Project2DLine(point, _bezierPoints[id], _bezierPoints[next]);
+                var partial = t / Vector2.Distance(_bezierPoints[id], _bezierPoints[next]);
+                if (partial >= 0 && partial <= 1)
+                {
+                    tangent = CommonMath.RoundTh(_tangents[id] +
+                                                 partial * CommonMath.RoundTh(_tangents[next] - _tangents[id]));
+                    if (CommonMath.RoundTh(_tangents[next] - _tangents[id]) > 5)
+                        Console.WriteLine($"bezier tangents bug, tanget: {id}:{_tangents[id]} {next}:{_tangents[next]}");
+                }
+                // else Console.WriteLine("bezier tangents bug");
+            }
+            return (lp, tangent, bias, fd + _sumDistances[id]);
+        }
+
+        public override float Length()
+        {
+            return _length;
+        }
+
+        public override float QueryCurvature(float position)
+        {
+            int id = _sumDistances.Count - 1;
+            if (position <= 0) id = 0;
+            else
+            {
+                for (int i = 1; i < _sumDistances.Count; i++)
+                {
+                    if (position > _sumDistances[i - 1] && position <= _sumDistances[i])
+                    {
+                        id = i;
+                        break;
+                    }
+                }
+            }
+
+            var result = _curvatures[id];
+            if (id > 0 && id < _sumDistances.Count - 1)//插值
+            {
+                var partial = (position - _sumDistances[id - 1]) / (_sumDistances[id] - _sumDistances[id - 1]);
+                if (partial >= 0 && partial <= 1) result = (1 - partial) * _curvatures[id - 1] + partial * _curvatures[id];
+                else Console.WriteLine("bezier curvature bug");
+            }
+
+            return result;
+        }
+
+        public Vector3 QueryBezierPointsById(int id)
+        {
+            if (id < 0 || id > Resolution)
+            {
+                Console.WriteLine($"QueryBezierPointsById out of range, Resolution:{Resolution},id:{id}.");
+                return new Vector3(0, 0, 0);
+            }
+
+            return new Vector3(_bezierPoints[id].X, _bezierPoints[id].Y, _tangents[id]);
+        }
+
+        public List<Vector2> ControlPoints => _controlPoints;
+
+        public int Resolution => _resolution;
+        /// <summary>
+        /// 仅用于simple显示路径方向
+        /// </summary>
+        public int Direction = 1;
+        public int Order => _order;
+
+        // public List<float> Tangents => _tangents;
+
+        public void UpdateControlPoint(int id, Vector2 point)
+        {
+            _controlPoints[id] = point;
+            InitializeBezier();
+        }
+
+        public void AddControlPoint(int id, Vector2 point)
+        {
+            _controlPoints.Insert(id, point);
+            InitializeBezier();
+        }
+
+        public void RemoveControlPoint(int id)
+        {
+            _controlPoints.RemoveAt(id);
+            InitializeBezier();
+        }
+
+        public Vector2 GetMidPoint()
+        {
+            return _bezierPoints[(int)Math.Ceiling(_resolution / 2d)];
+        }
+
+        private void InitializeBezier()
+        {
+            _order = _controlPoints.Count - 1;
+            // _bezierPoints = new List<Vector2>();
+            var delta = 1.0f / _resolution;
+            // for (int t = 0; t <= _resolution; t += 1)//下面循环算了，没必要先递归算一遍
+            // 	_bezierPoints.Add(new Vector2(DeCasteljauX(_order, 0, t*delta), DeCasteljauY(_order, 0, t*delta)));
+            var allPoints = new List<List<List<Vector2>>>();
+            for (var i = 0; i < _order; i++)
+            {
+                var size = allPoints.Count;
+                var morePoints = new List<List<Vector2>>();
+                for (var j = 0; j < _order - i; j++)
+                {
+                    var points = new List<Vector2>();
+                    for (int t = 0; t <= _resolution; t += 1)
+                    {
+                        float p0x;
+                        float p1x;
+                        float p0y;
+                        float p1y;
+                        var z = t;
+                        if (size > 0)
+                        {
+                            p0x = allPoints[i - 1][j][z].X;
+                            p1x = allPoints[i - 1][j + 1][z].X;
+                            p0y = allPoints[i - 1][j][z].Y;
+                            p1y = allPoints[i - 1][j + 1][z].Y;
+                        }
+                        else
+                        {
+                            p0x = _controlPoints[j].X;
+                            p1x = _controlPoints[j + 1].X;
+                            p0y = _controlPoints[j].Y;
+                            p1y = _controlPoints[j + 1].Y;
+                        }
+
+                        var part = t * delta;
+                        points.Add(new Vector2((1 - part) * p0x + part * p1x, (1 - part) * p0y + part * p1y));
+                    }
+                    morePoints.Add(points);
+                }
+                allPoints.Add(morePoints);
+            }
+
+            _bezierPoints = allPoints.Last().Last();
+            _tangentInfo = allPoints;
+            _tangents = Enumerable.Repeat(0f, _bezierPoints.Count).ToList();
+            _curvatures = Enumerable.Repeat(0f, _bezierPoints.Count).ToList();
+            var p2 = allPoints[Order - 2];
+            for (var id = 0; id < _bezierPoints.Count; ++id)
+            {
+                _tangents[id] =
+                    (float)(Math.Atan2(p2[1][id].Y - p2[0][id].Y, p2[1][id].X - p2[0][id].X) / Math.PI * 180);
+                if (id != 0) _curvatures[id] = (float)((CommonMath.ThDiff(_tangents[id], _tangents[id - 1]) / 180 * Math.PI)
+                    / (Vector2.Distance(_bezierPoints[id], _bezierPoints[id - 1]) / 1000));
+            }
+            // Console.WriteLine($"{string.Join("\n", _tangents.Select((val, i) => $"{i}: {val}"))}");
+            _tangents[0] = _tangents[1]; // todo: here is temporary fix
+            _curvatures[0] = _curvatures[1];
+            for (var id = 1; id < _bezierPoints.Count - 1; ++id)//前移0.5
+                _curvatures[id] = (_curvatures[id] + _curvatures[id + 1]) / 2;
+
+            _remainDistances = Enumerable.Repeat(0f, _bezierPoints.Count).ToList();
+            _sumDistances = Enumerable.Repeat(0f, _bezierPoints.Count).ToList();
+            for (var i = _bezierPoints.Count - 2; i >= 0; --i)
+            {
+                _remainDistances[i] =
+                    _remainDistances[i + 1] + Vector2.Distance(_bezierPoints[i], _bezierPoints[i + 1]);
+            }
+            for (var i = 1; i < _bezierPoints.Count; ++i)
+            {
+                _sumDistances[i] =
+                    _sumDistances[i - 1] + Vector2.Distance(_bezierPoints[i], _bezierPoints[i - 1]);
+            }
+            _length = _sumDistances.Last();
+
+            _minX = _bezierPoints.Min(pp => pp.X);
+            _minY = _bezierPoints.Min(pp => pp.Y);
+
+            var tmpList = _bezierPoints.Select((point, index) => (point, index)).ToList();
+            return;
+            void GenerateGridMapping(ref Dictionary<uint, List<(Vector2 Point, int Id)>> dict, float gSize)
+            {
+                dict = new Dictionary<uint, List<(Vector2 Point, int Id)>>();
+                foreach (var (point, index) in tmpList)
+                {
+                    var hash = CalculateHash(point, gSize);
+                    if (dict.TryGetValue(hash, out var ll))
+                        ll.Add((point, index));
+                    else dict[hash] = new List<(Vector2 Point, int Id)>() { (point, index) };
+                }
+            }
+
+            GenerateGridMapping(ref _pointsMappingSmall, 100);
+            GenerateGridMapping(ref _pointsMappingBig, 1000);
+        }
+
+        private uint CalculateHash(Vector2 point, float gridSize, int xBias = 0, int yBias = 0)
+        {
+            return (uint)(((int)((point.X - _minX) / gridSize) + xBias) << 16 + (((int)((point.Y - _minY) / gridSize) + yBias) & 0xffff));
+        }
+
+        private readonly List<(int X, int Y)> _bias = new()
+        {
+            new(-1, -1), new(-1, 0), new(-1, 1),
+            new(0, -1), new(0, 0), new(0, 1),
+            new(1, -1), new(1, 0), new(1, 1),
+        };
+
+        private float DeCasteljauX(int i, int j, float t)
+        {
+            if (i == 1)
+                return (1 - t) * _controlPoints[j].X + t * _controlPoints[j + 1].X;
+            return (1 - t) * DeCasteljauX(i - 1, j, t) + t * DeCasteljauX(i - 1, j + 1, t);
+        }
+
+        private float DeCasteljauY(int i, int j, float t)
+        {
+            if (i == 1)
+                return (1 - t) * _controlPoints[j].Y + t * _controlPoints[j + 1].Y;
+            return (1 - t) * DeCasteljauY(i - 1, j, t) + t * DeCasteljauY(i - 1, j + 1, t);
+        }
+
+        private int _order;
+        private int _resolution;
+        private List<Vector2> _controlPoints;
+        private List<Vector2> _bezierPoints;
+        private List<List<List<Vector2>>> _tangentInfo;
+        private List<float> _tangents;
+        private List<float> _remainDistances;
+        private List<float> _sumDistances;
+        private List<float> _curvatures;
+        private Dictionary<uint, List<(Vector2 Point, int Id)>> _pointsMappingSmall;
+        private Dictionary<uint, List<(Vector2 Point, int Id)>> _pointsMappingBig;
+        private float _minX, _minY;
+        private float _length;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Geometries/CircularArc.cs

@@ -0,0 +1,256 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Numerics;
+using System.Reflection;
+using System.Security.Cryptography;
+using System.Text;
+using CommonUsage.Mathematics;
+
+namespace CommonUsage.Geometries
+{
+	public class CircularArc : AbstractGeometry
+	{
+		/// <summary>
+		/// 以center为圆心、radius为半径，从angleStart逆时针转到angleEnd所构成的圆弧。direction表示圆弧走向。
+		/// </summary>
+		/// <param name="center"></param>
+		/// <param name="radius"></param>
+		/// <param name="angleStart"></param>
+		/// <param name="angleEnd"></param>
+		/// <param name="direction">表示圆弧走向，1为angleStart到angleEnd，-1为angleEnd到angleStart</param>
+		public CircularArc(Vector2 center, float radius, float angleStart, float angleEnd, int direction, Padding paddingType)
+		{
+			_center = center;
+			_radius = radius;
+			_angleStart = angleStart;
+			_angleEnd = angleEnd;
+			_direction = direction;
+			PaddingType = paddingType;
+
+			ChangeShape();
+			CalculateVisPoints();
+		}
+
+		public override void Visualize(Action<VisDot> processDot, Action<VisLine> processLine,
+			bool visExtendedPart = false)
+		{
+			lock (_visPoints)
+			{
+				if (visExtendedPart)
+				{
+
+				}
+
+				for (var i = 0; i < _visPoints.Length - 1; ++i)
+				{
+					if ((i == 0 || i == _visPoints.Length - 2) && !visExtendedPart) continue;
+					var color = Color.Red;
+					if (i == 0 || i == _visPoints.Length - 2) color = Color.Gray;
+					processLine(new VisLine(_visPoints[i], _visPoints[i + 1], 
+						false, i == (_visPoints.Length - 1) / 2, color));
+				}
+
+				if (visExtendedPart)
+				{
+
+				}
+			}
+		}
+
+		public void SwitchSide()
+		{
+			(_angleStart, _angleEnd) = (_angleEnd, _angleStart);
+			ChangeShape();
+			CalculateVisPoints();
+		}
+
+		public float VisAngleResolution = 1;
+
+		public Vector2 Center
+		{
+			get => _center;
+			set
+			{
+				_center = value;
+				ChangeShape();
+				CalculateVisPoints();
+			}
+		}
+
+		public float Radius
+		{
+			get => _radius;
+			set
+			{
+				_radius = value;
+				ChangeShape();
+				CalculateVisPoints();
+			}
+		}
+
+		public float AngleStart
+		{
+			get => _angleStart;
+			set
+			{
+				_angleStart = value;
+				ChangeShape();
+				CalculateVisPoints();
+			}
+		}
+
+		public float AngleEnd
+		{
+			get => _angleEnd;
+			set
+			{
+				_angleEnd = value;
+				ChangeShape();
+				CalculateVisPoints();
+			}
+		}
+
+		public int Direction
+		{
+			get => _direction;
+			set
+			{
+				_direction = value;
+				ChangeShape();
+				CalculateVisPoints();
+			}
+		}
+
+        public float AngleRange => _totalTh;
+
+		public Vector2 PointStart => _center + new Vector2(_radius * (float)Math.Cos(_angleStart / 180 * Math.PI),
+			_radius * (float)Math.Sin(_angleStart / 180 * Math.PI));
+
+		public Vector2 PointEnd => _center + new Vector2(_radius * (float)Math.Cos(_angleEnd / 180 * Math.PI),
+			_radius * (float)Math.Sin(_angleEnd / 180 * Math.PI));
+
+		public Vector2 Src => _src;
+
+		public Vector2 Dst => _dst;
+
+		public float TangentSrc => _tangentSrc;
+
+		public float TangentDst => _tangentDst;
+
+		public override (Vector2 Pt, float Angle, float Bias, float Position) QueryTangentPoint(Vector2 point)
+		{
+			var queryTh = (float)(Math.Atan2(point.Y - _center.Y, point.X - _center.X) / Math.PI * 180);
+
+			var p = new Vector2();
+			var tangent = 0f;
+			var pd = 0f;
+			var bestBias = float.MaxValue;
+
+			if ((((int)PaddingType >> 4) & 0x1) == 1)
+			{
+				var (bias1, hPnt1, fd1) = CommonMath.Project2DLine(point, _beforeStartSrc, _src);
+                if (fd1 <= 1000)
+				{
+					p = hPnt1;
+					tangent = (_direction >= 0 ? _angleStart : _angleEnd) + 90 * _direction;
+					pd = fd1;
+					bestBias = bias1;
+				}
+			}
+
+			if (((int)PaddingType & 0x1) == 1)
+			{
+				var (bias2, hPnt2, fd2) = CommonMath.Project2DLine(point, _dst, _afterEndDst);
+				if (fd2 >= 0 && Math.Abs(bias2) < Math.Abs(bestBias))
+				{
+					p = hPnt2;
+					tangent = (_direction >= 0 ? _angleEnd : _angleStart) + 90 * _direction;
+					pd = _totalLen + fd2;
+					bestBias = bias2;
+				}
+			}
+
+			var th1 = _direction == 1 ? CommonMath.ThDiff(queryTh, _angleStart) : CommonMath.ThDiff(_angleEnd, queryTh);
+			// todo: urgent bug! should use better strategy to prevent sign problem
+            if (th1 < -55) th1 += 360;
+			var arcBias = (_radius - Vector2.Distance(point, _center)) * _direction;
+			if (Math.Abs(arcBias) < Math.Abs(bestBias))
+			{
+				p = _center + _radius * new Vector2((float)Math.Cos(queryTh / 180 * Math.PI),
+					(float)Math.Sin(queryTh / 180 * Math.PI));
+				tangent = queryTh + 90 * _direction;
+				pd = _radius * th1 / 180 * (float)Math.PI;
+				bestBias = arcBias;
+			}
+
+			return (p, tangent, bestBias, pd);
+		}
+
+		public override float QueryCurvature(float position)
+		{
+			// var theta = (float)(_angleEnd - position / _radius / Math.PI * 180f + Math.PI);
+			// return Vectoriel.FromAngleLen(theta, 1f / _radius);
+            return 1000f / _radius * _direction;
+        }
+
+		public override float Length()
+		{
+			return _totalLen;
+		}
+
+		private void CalculateVisPoints()
+		{
+			lock (_visPoints)
+			{
+				// todo: overlapping start and end is problematic
+				var ptCnt = (int)Math.Ceiling((_angleEnd + 360 - _angleStart) % 360 / VisAngleResolution);
+				_visPoints = new Vector2[ptCnt + 2];
+
+				var starting = _angleStart;
+				if (_direction == -1) starting = _angleEnd;
+				_visPoints[0] = _beforeStartSrc;
+
+				for (var j = 0; j < ptCnt; ++j)
+				{
+					var th = starting + j * VisAngleResolution * _direction;
+					var radAngle = (float)(th / 180f * Math.PI);
+					_visPoints[j + 1] = Center + new Vector2((float)Math.Cos(radAngle), (float)Math.Sin(radAngle)) * Radius;
+				}
+				
+				_visPoints[ptCnt + 1] = _afterEndDst;
+			}
+		}
+
+		private void ChangeShape()
+		{
+			_totalTh = CommonMath.ThDiff(_angleEnd, _angleStart);
+			if (_totalTh < 0) _totalTh += 360;
+			_totalLen = _radius * _totalTh / 180 * (float)Math.PI;
+
+			var radAngleStart = _angleStart / 180 * Math.PI;
+			var radAngleEnd = _angleEnd / 180 * Math.PI;
+			double srcAngle = radAngleStart, dstAngle = radAngleEnd;
+			if (_direction == -1) (srcAngle, dstAngle) = (dstAngle, srcAngle);
+			_src = _center + new Vector2((float)Math.Cos(srcAngle), (float)Math.Sin(srcAngle)) * _radius;
+			_dst = _center + new Vector2((float)Math.Cos(dstAngle), (float)Math.Sin(dstAngle)) * _radius;
+			_beforeStartSrc = CommonMath.Transform2D(_src,
+				(_direction >= 0 ? _angleStart : _angleEnd) + 90 * _direction, new Vector2(-1000, 0));
+			_afterEndDst = CommonMath.Transform2D(_dst, (_direction >= 0 ? _angleEnd : _angleStart) + 90 * _direction,
+				new Vector2(1000, 0));
+			_tangentSrc = QueryTangentPoint(_src).Angle;
+			_tangentDst = QueryTangentPoint(_dst).Angle;
+		}
+
+		private Vector2 _center;
+		private float _radius, _angleStart, _angleEnd;
+		private int _direction;
+
+		private float _totalTh, _totalLen;
+		private Vector2 _src, _dst;
+		private float _tangentSrc, _tangentDst;
+		private Vector2 _beforeStartSrc, _afterEndDst;
+
+		private Vector2[] _visPoints = Array.Empty<Vector2>();
+	}
+}

CommonUsage-MultiVehicleSync/commonusage/Geometries/NurbsCurve.cs

@@ -0,0 +1,349 @@
+using CommonUsage.Mathematics;
+using System.Collections.Generic;
+using System.Numerics;
+using System;
+using System.Linq;
+
+namespace CommonUsage.Geometries
+{
+    public class NurbsCurve : AbstractGeometry
+    {
+
+        public NurbsCurve(List<Vector2> controlPoints, List<float> weights, List<float> knotVector, int frame = 100)
+        {
+            _controlPoints = controlPoints;
+            _weights = weights;
+            _knotVector = knotVector;
+            _frame = frame;
+            InitializeNurbs();
+        }
+
+        public override void Visualize(Action<VisDot> processDot, Action<VisLine> processLine, bool visExtendedPart = false)
+        {
+            if (VisualizeOption.DrawAuxiliary)
+                for (var i = 0; i < _controlPoints.Count - 1; ++i)
+                {
+                    processLine(new VisLine(_controlPoints[i], _controlPoints[i + 1],
+                        false, false, VisualizeOption.AuxiliaryColor));
+                    if (i == 0) continue;
+                    processDot(new VisDot(_controlPoints[i], VisualizeOption.AuxiliaryColor));
+                }
+
+            for (var i = 0; i < _nurbsPoints.Count - 1; ++i)
+            {
+                if (Direction == -1)
+                {
+                    processLine(new VisLine(_nurbsPoints[i + 1], _nurbsPoints[i],
+                        false, i == (int)(_nurbsPoints.Count / 2), VisualizeOption.MainColor, 2));
+                }
+                else
+                {
+                    processLine(new VisLine(_nurbsPoints[i], _nurbsPoints[i + 1],
+                        false, i == (int)(_nurbsPoints.Count / 2), VisualizeOption.MainColor, 2));
+                }
+            }
+        }
+        public (Vector2 Point, int Id) QueryPoint(Vector2 point)
+        {
+            var p = new Vector2();
+            var id = -1;
+            var bestDistance = float.MaxValue;
+
+            var hashes = _bias.Select(bb => CalculateHash(point, 100, bb.X, bb.Y)).ToList();
+
+            void TryQuery(Dictionary<uint, List<(Vector2 Point, int Id)>> dict, List<uint> hashList)
+            {
+                foreach (var hash in hashList)
+                {
+                    if (!dict.TryGetValue(hash, out var ll)) continue;
+                    foreach (var (q, qId) in ll)
+                    {
+                        var d = Vector2.Distance(q, point);
+                        if (d < bestDistance)
+                        {
+                            p = q;
+                            id = qId;
+                            bestDistance = d;
+                        }
+                    }
+                }
+            }
+
+            if (id == -1)
+            {
+                // todo: improve the way to find closest point if mappings fail
+                (p, id) = _nurbsPoints.Select((p, i) => (p, i))
+                    .OrderBy(pair => CommonMath.dist(pair.p.X, pair.p.Y, point.X, point.Y)).First();
+            }
+
+            return (p, id);
+        }
+
+        private uint CalculateHash(Vector2 point, float gridSize, int xBias = 0, int yBias = 0)
+        {
+            return (uint)(((int)((point.X - _minX) / gridSize) + xBias) << 16 + (((int)((point.Y - _minY) / gridSize) + yBias) & 0xffff));
+        }
+
+        private readonly List<(int X, int Y)> _bias = new()
+        {
+            new(-1, -1), new(-1, 0), new(-1, 1),
+            new(0, -1), new(0, 0), new(0, 1),
+            new(1, -1), new(1, 0), new(1, 1),
+        };
+
+        public override (Vector2 Pt, float Angle, float Bias, float Position) QueryTangentPoint(Vector2 point)
+        {
+            var (p, id) = QueryPoint(point);
+            var tangent = _tangents[id];
+            var (bias, lp, fd) = CommonMath.Project2DLine(point, p, tangent);
+            var next = fd > 0 ? id + 1 : id - 1;
+            if (next > 0 && next < _tangents.Count)//线性插值
+            {
+                var (_, _, t) = CommonMath.Project2DLine(point, _nurbsPoints[id], _nurbsPoints[next]);
+                var partial = t / Vector2.Distance(_nurbsPoints[id], _nurbsPoints[next]);
+                if (partial >= 0 && partial <= 1)
+                {
+                    tangent = CommonMath.RoundTh(_tangents[id] +
+                                                 partial * CommonMath.RoundTh(_tangents[next] - _tangents[id]));
+                    if (CommonMath.RoundTh(_tangents[next] - _tangents[id]) > 5)
+                        Console.WriteLine($"Nurbs tangents bug, tanget: {id}:{_tangents[id]} {next}:{_tangents[next]}");
+                }
+                else Console.WriteLine("Nurbs tangents bug");
+            }
+            return (lp, tangent, bias, fd + _sumDistances[id]);
+        }
+
+        public override float QueryCurvature(float position)
+        {
+            int id = _sumDistances.Count - 1;
+            if (position <= 0) id = 0;
+            else
+            {
+                for (int i = 1; i < _sumDistances.Count; i++)
+                {
+                    if (position > _sumDistances[i - 1] && position <= _sumDistances[i])
+                    {
+                        id = i;
+                        break;
+                    }
+                }
+            }
+
+            var result = _curvatures[id];
+            if (id > 0 && id < _sumDistances.Count - 1)//插值
+            {
+                var partial = (position - _sumDistances[id - 1]) / (_sumDistances[id] - _sumDistances[id - 1]);
+                if (partial >= 0 && partial <= 1) result = (1 - partial) * _curvatures[id - 1] + partial * _curvatures[id];
+                else Console.WriteLine("Nurbs curvature bug");
+            }
+
+            return result;
+        }
+
+        public Vector3 QueryNurbsPointsById(int id)
+        {
+            if (id < 0 || id > Frame)
+            {
+                Console.WriteLine($"QueryBezierPointsById out of range, Resolution:{Frame},id:{id}.");
+                return new Vector3(0, 0, 0);
+            }
+
+            return new Vector3(_nurbsPoints[id].X, _nurbsPoints[id].Y, _tangents[id]);
+        }
+        public override float Length()
+        {
+            return _length;
+        }
+
+        public int Order => _order;
+        public List<Vector2> ControlPoints => _controlPoints;
+        public List<float> Weights => _weights;
+        public List<float> KnotVector => _knotVector;
+        public int Frame => _frame;
+
+        public int Direction = 1;
+
+
+        public void UpdateControlPoint(int id, Vector2 point)
+        {
+            _controlPoints[id] = point;
+            InitializeNurbs();
+        }
+        public void UpdateNurbsWeihgts(int id, float weight)
+        {
+            _weights[id] = weight;
+            InitializeNurbs();
+
+        }
+        public void AddControlPoint(int id, Vector2 point)
+        {
+            _controlPoints.Insert(id, point);
+            InitializeNurbs();
+        }
+
+        public void RemoveControlPoint(int id)
+        {
+            _controlPoints.RemoveAt(id);
+            InitializeNurbs();
+        }
+
+        public Vector2 GetMidPoint()
+        {
+            return _nurbsPoints[(int)Math.Ceiling(_frame / 2d)];
+        }
+
+        private void InitializeNurbs()
+        {
+            _order = _controlPoints.Count - 1;
+            List<List<Vector2>> allpoints = new List<List<Vector2>>();
+            List<Vector2> nurbsCurvePoints = new List<Vector2>();
+            float delta = 1.0f / Frame;
+
+            for (float t = 0; t <= 1; t += delta)
+            {
+                var (point, tangent) = DeBoorAlgorithm(t);
+                var points = new List<Vector2>
+                {
+                    point,
+                    point + tangent // Tangent endpoint
+                };
+                allpoints.Add(points);
+                nurbsCurvePoints.Add(point); // Store the curve point separately
+            }
+
+            _nurbsPoints = nurbsCurvePoints;
+            _tangents = Enumerable.Repeat(0f, _nurbsPoints.Count).ToList();
+            _curvatures = Enumerable.Repeat(0f, _nurbsPoints.Count).ToList();
+
+            for (var id = 0; id < _nurbsPoints.Count - 1; ++id)
+            {
+                Vector2 p1 = _nurbsPoints[id];
+                Vector2 p2 = _nurbsPoints[id + 1];
+
+                float tangentAngle = (float)Math.Atan2(p2.Y - p1.Y, p2.X - p1.X) * 180 / (float)Math.PI;
+                _tangents[id] = tangentAngle;
+
+                // Calculate curvature using finite differences of tangent (second derivative approximation)
+                if (id > 0)
+                {
+                    float previousTangent = _tangents[id - 1];
+                    float curvature = (float)(CommonMath.ThDiff(tangentAngle, previousTangent) * Math.PI / 180) /
+                                      (Vector2.Distance(p1, p2) / 1000);
+                    _curvatures[id] = curvature;
+                }
+            }
+
+            _curvatures.Insert(0, _curvatures[0]);
+            for (var id = 1; id < _curvatures.Count - 1; ++id)
+            {
+                _curvatures[id] = (_curvatures[id] + _curvatures[id + 1]) / 2;
+            }
+
+            _remainDistances = Enumerable.Repeat(0f, _nurbsPoints.Count).ToList();
+            _sumDistances = Enumerable.Repeat(0f, _nurbsPoints.Count).ToList();
+            _remainDistances[_nurbsPoints.Count - 1] = 0;
+
+            for (var i = _nurbsPoints.Count - 2; i >= 0; --i)
+            {
+                _remainDistances[i] = _remainDistances[i + 1] + Vector2.Distance(_nurbsPoints[i], _nurbsPoints[i + 1]);
+            }
+
+            _sumDistances[0] = 0;
+            for (var i = 1; i < _nurbsPoints.Count; ++i)
+            {
+                _sumDistances[i] = _sumDistances[i - 1] + Vector2.Distance(_nurbsPoints[i], _nurbsPoints[i - 1]);
+            }
+
+            _length = _sumDistances.Last();
+
+            _minX = _nurbsPoints.Min(pp => pp.X);
+            _minY = _nurbsPoints.Min(pp => pp.Y);
+
+            var tmpList = _nurbsPoints.Select((point, index) => (point, index)).ToList();
+            // GenerateGridMapping(ref _pointsMappingSmall, 100, tmpList);
+            // GenerateGridMapping(ref _pointsMappingBig, 1000, tmpList);
+        }
+
+
+       
+
+        private float CalculateLength()
+        {
+            return _nurbsPoints.Zip(_nurbsPoints.Skip(1), Vector2.Distance).Sum();
+        }
+
+        private (Vector2, Vector2) DeBoorAlgorithm(float t)
+        {
+            Vector2 numerator = Vector2.Zero;
+            Vector2 tangentNumerator = Vector2.Zero;
+            float denominator = 0f;
+
+            // Calculate the point on the curve
+            for (int i = 0; i < ControlPoints.Count; ++i)
+            {
+                float basis = BasisFunction(i, _order, t) * Weights[i];
+                numerator += basis * ControlPoints[i];
+                denominator += basis;
+            }
+
+            Vector2 point = numerator / denominator;
+
+            // Calculate the tangent vector using the analytical derivative
+            for (int i = 0; i < ControlPoints.Count; ++i)
+            {
+                float basisDerivative = BasisFunctionDerivative(i, _order, t) * Weights[i];
+                tangentNumerator += basisDerivative * ControlPoints[i];
+            }
+            Vector2 tangent = tangentNumerator / denominator;
+
+            return (point, tangent);
+        }
+
+        private float BasisFunction(int i, int p, float t)
+        {
+            if (p == 0)
+                return (KnotVector[i] <= t && t < KnotVector[i + 1]) ? 1.0f : 0.0f;
+
+            float denom1 = KnotVector[i + p] - KnotVector[i];
+            float term1 = denom1 == 0 ? 0 : ((t - KnotVector[i]) / denom1) * BasisFunction(i, p - 1, t);
+
+            float denom2 = KnotVector[i + p + 1] - KnotVector[i + 1];
+            float term2 = denom2 == 0 ? 0 : ((KnotVector[i + p + 1] - t) / denom2) * BasisFunction(i + 1, p - 1, t);
+
+            return term1 + term2;
+        }
+
+        private float BasisFunctionDerivative(int i, int k, float t)
+        {
+            if (k == 0) return 0;
+
+            float denom1 = KnotVector[i + k] - KnotVector[i];
+            float denom2 = KnotVector[i + k + 1] - KnotVector[i + 1];
+
+            float term1 = denom1 != 0 ? BasisFunction(i, k - 1, t) / denom1 : 0;
+            float term2 = denom1 != 0 ? (t - KnotVector[i]) * BasisFunctionDerivative(i, k - 1, t) / denom1 : 0;
+
+            float term3 = denom2 != 0 ? -BasisFunction(i + 1, k - 1, t) / denom2 : 0;
+            float term4 = denom2 != 0 ? (KnotVector[i + k + 1] - t) * BasisFunctionDerivative(i + 1, k - 1, t) / denom2 : 0;
+
+            return term1 + term2 + term3 + term4;
+        }
+       
+        private int _order;
+        private List<Vector2> _controlPoints;
+        private List<float> _weights;
+        private List<float> _knotVector;
+        private int _frame;
+        private List<Vector2> _nurbsPoints;
+        private List<List<List<Vector2>>> _tangentPoints;
+        private List<float> _curvatures;
+        private List<float> _sumDistances;
+        private List<float> _remainDistances;
+        private float _minX, _minY;
+        private float _length;
+        private Dictionary<uint, List<(Vector2 Point, int Id)>> _pointsMappingSmall;
+        private Dictionary<uint, List<(Vector2 Point, int Id)>> _pointsMappingBig;
+        private List<float> _tangents;
+
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Geometries/Vectoriel.cs

@@ -0,0 +1,71 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+
+namespace CommonUsage.Geometries
+{
+	/// <summary>
+	/// MDCS数学类：向量。
+	/// </summary>
+	public class Vectoriel
+	{
+        public Vectoriel()
+        {
+            _vec2 = Vector2.Zero;
+            _dir2 = Vector2.Normalize(_vec2);
+            _len = _vec2.Length();
+            _angle = (float)(Math.Atan2(_vec2.Y, _vec2.X) / Math.PI * 180f);
+        }
+
+		public Vectoriel(Vector2 vec)
+		{
+			_vec2 = vec;
+			_dir2 = Vector2.Normalize(_vec2);
+			_len = _vec2.Length();
+			_angle = (float)(Math.Atan2(_vec2.Y, _vec2.X) / Math.PI * 180f);
+		}
+
+		/// <summary>
+		/// 通过笛卡尔坐标系X和Y值构建向量。
+		/// </summary>
+		/// <param name="x"></param>
+		/// <param name="y"></param>
+		/// <returns></returns>
+		public static Vectoriel FromXY(float x, float y)
+		{
+			return new Vectoriel(new Vector2(x, y));
+		}
+
+		/// <summary>
+		/// 通过极坐标系的角度和距离值构建向量。
+		/// </summary>
+		/// <param name="angle"></param>
+		/// <param name="len"></param>
+		/// <returns></returns>
+		public static Vectoriel FromAngleLen(float angle, float len)
+		{
+			var rad = angle / 180f * Math.PI;
+			return new Vectoriel(new Vector2((float)Math.Cos(rad), (float)Math.Sin(rad)) * len);
+		}
+
+		public static implicit operator Vector2(Vectoriel vec)
+		{
+			return vec._vec2;
+		}
+
+		public static explicit operator Vectoriel(Vector2 vec)
+		{
+			return FromXY(vec.X, vec.Y);
+		}
+
+		public Vector2 Direction => _dir2;
+
+		public float Length => _len;
+
+		public float Angle => _angle;
+
+		private Vector2 _vec2, _dir2;
+		private float _len, _angle;
+	}
+}

CommonUsage-MultiVehicleSync/commonusage/Mathematics/CommonMath.cs

@@ -0,0 +1,774 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Numerics;
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+namespace CommonUsage.Mathematics
+{
+
+    using T3 = Tuple<float, float, float>;
+    using D3 = Tuple<double, double, double>;
+
+    public class CommonMath
+    {
+	    public class PrimeEnumerator<T>
+	    {
+		    public PrimeEnumerator(List<T> items, Func<T, bool> process)
+		    {
+                _n = items.Count;
+                _items = items;
+                _process = process;
+
+                foreach (var pNum in _primes)
+                {
+	                if (_n % pNum != 0)
+	                {
+		                _a = pNum;
+		                _b = 11;
+		                break;
+	                }
+                }
+			}
+
+		    public void Enumerate()
+		    {
+			    using (var enumerator = Get().GetEnumerator())
+			    {
+                    while (enumerator.MoveNext()) { }
+			    }
+		    }
+
+		    private readonly int _n, _a, _b;
+		    private readonly int[] _primes = new[] { 29, 23, 19, 17, 13 };
+		    private List<T> _items;
+            private readonly Func<T, bool> _process;
+
+		    private IEnumerable<bool> Get()
+		    {
+			    for (var i = 0; i < _n; ++i)
+			    {
+				    var id = (i * _a + _b) % _n;
+				    yield return _process(_items[id]);
+			    }
+			}
+	    }
+
+        private static IEnumerable<IEnumerable<T>> GetPermutationsInternal<T>(IEnumerable<T> list, int length)
+        {
+            if (length == 1) return list.Select(t => new T[] { t });
+
+            return GetPermutationsInternal(list, length - 1)
+                .SelectMany(t => list.Where(e => !t.Contains(e)),
+                    (t1, t2) => t1.Concat(new T[] { t2 }));
+        }
+
+        /// <summary>
+        /// 得到一组数据的所有排列。
+        /// </summary>
+        /// <typeparam name="T">元素数据类型</typeparam>
+        /// <param name="list">所有待选元素</param>
+        /// <param name="selectNum">所选出的元素数量</param>
+        /// <returns></returns>
+        public static List<List<T>> GetPermutations<T>(List<T> list, int selectNum)
+        {
+            return GetPermutationsInternal(list, selectNum).Select(ll => ll.ToList()).ToList();
+        }
+
+        public static (float bias, Vector2 hPnt, float d) Project2DLine(Vector2 pnt, Vector2 segSt,
+            Vector2 segEnd)
+        {
+            var dir = Vector2.Normalize(segEnd - segSt);
+            var fd = Vector2.Dot(pnt - segSt, dir);
+            var hPnt = segSt + fd * dir;
+            var bias = dir.X * (pnt.Y-segSt.Y) - (pnt.X-segSt.X) * dir.Y;
+            return (bias, hPnt, fd);
+        }
+
+        public static (float bias, Vector2 hPnt, float fd) Project2DLine(Vector2 pnt, Vector2 segSt, float tangent)
+        {
+	        var dir = new Vector2((float)System.Math.Cos(tangent / 180 * System.Math.PI), (float)System.Math.Sin(tangent / 180 * System.Math.PI));
+	        var fd = Vector2.Dot(pnt - segSt, dir);
+	        var hPnt = segSt + fd * dir;
+	        var bias = dir.X * (pnt.Y - segSt.Y) - (pnt.X - segSt.X) * dir.Y;
+	        return (bias, hPnt, fd);
+		}
+
+        public class LineEqu
+        {
+            public double A, B, C, ln, dAB;
+            public double px1, px2, py1, py2;
+            public float midX;
+            public float midY;
+        }
+        // Fit line with PCA.
+        public LineEqu CalcLine(IEnumerable<Vector2> tls)
+        {
+            var lidarPoint2Ds = tls as Vector2[] ?? tls.ToArray();
+            float fx = lidarPoint2Ds.Average(f => f.X);
+            float fy = lidarPoint2Ds.Average(f => f.Y);
+            float fxx = lidarPoint2Ds.Average(f => f.X * f.X);
+            float fxy = lidarPoint2Ds.Average(f => f.X * f.Y);
+            float fyy = lidarPoint2Ds.Average(f => f.Y * f.Y);
+            float a = fxx - fx * fx, b = fxy - fx * fy, c = fyy - fy * fy;
+            double sqt = System.Math.Sqrt((a - c) * (a - c) + 4 * b * b);
+            double l1 = a + c + sqt;
+            double l2 = a + c - sqt;
+            double dx, dy;
+            if (System.Math.Abs(a - l1 / 2) > System.Math.Abs(c - l1 / 2))
+            {
+                dy = l1 / 2 - a; dx = b;
+            }
+            else
+            {
+                dx = l1 / 2 - c; dy = b;
+            }
+            double norm = System.Math.Sqrt(dx * dx + dy * dy);
+            dx /= norm; dy /= norm;
+            double A = dy, B = -dx, C = dx * fy - dy * fx;
+            double dAB = System.Math.Sqrt(A * A + B * B);
+
+            return new CommonMath.LineEqu
+            {
+                A = A,
+                B = B,
+                C = C,
+                ln = lidarPoint2Ds.Average(p => System.Math.Abs(p.X * A + p.Y * B + C) / dAB),
+                midX = fx,
+                midY = fy
+            };
+        }
+
+        public static double QuadInterp3(double[] confsF)
+        {
+            if (confsF[0] > confsF[1] && confsF[0] > confsF[2])
+            {
+                //printf("left overflow...\n");
+                return -1;
+            }
+
+            if (confsF[1] > confsF[0] && confsF[1] > confsF[2])
+            {
+                return (-(confsF[2] - confsF[0]) / 2.0f / (confsF[0] + confsF[2] - 2.0f * confsF[1] + 0.0001f));
+            }
+            if (confsF[2] > confsF[0] && confsF[2] > confsF[1])
+            {
+                //printf("right overflow...\n");
+                return 1;
+            }
+            return 0;
+        }
+
+        public static double cross(PointF O, PointF A, PointF B)
+        {
+            return (A.X - O.X) * (B.Y - O.Y) - (A.Y - O.Y) * (B.X - O.X);
+        }
+
+        public static List<PointF> GetConvexHull(List<PointF> points)
+        {
+            if (points == null)
+                return null;
+
+            if (points.Count() <= 1)
+                return points;
+
+            int n = points.Count(), k = 0;
+            List<PointF> H = new List<PointF>(new PointF[2 * n]);
+
+            points.Sort((a, b) =>
+                a.X == b.X ? a.Y.CompareTo(b.Y) : a.X.CompareTo(b.X));
+
+            // Build lower hull
+            for (int i = 0; i < n; ++i)
+            {
+                while (k >= 2 && cross(H[k - 2], H[k - 1], points[i]) <= 0)
+                    k--;
+                H[k++] = points[i];
+            }
+
+            // Build upper hull
+            for (int i = n - 2, t = k + 1; i >= 0; i--)
+            {
+                while (k >= t && cross(H[k - 2], H[k - 1], points[i]) <= 0)
+                    k--;
+                H[k++] = points[i];
+            }
+
+            return H.Take(k - 1).ToList();
+        }
+
+        public static bool IsPointInPolygon4(PointF[] polygon, PointF testPoint)
+        {
+            // ray casting odd even test.
+            bool result = false;
+            int j = polygon.Count() - 1;
+            for (int i = 0; i < polygon.Count(); i++)
+            {
+                if (polygon[i].Y < testPoint.Y && polygon[j].Y >= testPoint.Y ||
+                    polygon[j].Y < testPoint.Y && polygon[i].Y >= testPoint.Y)
+                {
+                    if (polygon[i].X + (testPoint.Y - polygon[i].Y) / (polygon[j].Y - polygon[i].Y) *
+                        (polygon[j].X - polygon[i].X) < testPoint.X)
+                    {
+                        result = !result;
+                    }
+                }
+
+                j = i;
+            }
+
+            return result;
+        }
+
+        public static double Exp(double val)
+        {
+            if (val < -20) return 0.0000001;
+            if (val > 20) return 99999999999999;
+            long tmp = (long)(1512775 * val + 1072632447);
+            return BitConverter.Int64BitsToDouble(tmp << 32);
+        }
+        public static double gaussmf(double x, double sig, double c)
+        {
+            return Exp(-(x - c) * (x - c) / (2 * sig * sig));
+        }
+
+        public static float Exp(float x)
+        {
+            if (x < -10) return 0;
+            if (x > 10) return 99999999999999;
+            x = 1.0f + x / 64f;
+            x *= x;
+            x *= x;
+            x *= x;
+            x *= x;
+            x *= x;
+            x *= x;
+            return x;
+        }
+        public static float gaussmf(float x, float sig, float c)
+        {
+            return Exp(-(x - c) * (x - c) / (2 * sig * sig));
+        }
+
+        public static D3 Transform2D(D3 src, D3 t)
+        {
+            var rth = src.Item3 / 180.0 * System.Math.PI;
+            var p1dtx = (src.Item1 + System.Math.Cos(rth) * t.Item1 -
+                                System.Math.Sin(rth) * t.Item2);
+            var p1dty = (src.Item2 + System.Math.Sin(rth) * t.Item1 +
+                                System.Math.Cos(rth) * t.Item2);
+            var p1dtth = src.Item3 + t.Item3;
+            return Tuple.Create(p1dtx, p1dty, p1dtth);
+        }
+
+        public struct LngLatToXY
+        {
+            public double scale;
+            public double rad;
+            public double biasX, biasY;
+        }
+
+        public static LngLatToXY GetTransformLngLatToXY(Vector2 lnglat1, Vector2 xy1, Vector2 lnglat2, Vector2 xy2)
+        {
+            var scale = (xy1 - xy2).Length() / (lnglat1 - lnglat2).Length();
+            var dxy = (xy1 - xy2);
+            var dlnglat = lnglat1 - lnglat2;
+            var rad = System.Math.Atan2(dxy.X, dxy.Y) - System.Math.Atan2(dlnglat.X, dlnglat.Y);
+            var intm = lnglat1 * scale;
+            var biasX = xy1.X - (intm.X * System.Math.Cos(rad) - intm.Y * System.Math.Sin(rad));
+            var biasY = xy1.Y - (intm.X * System.Math.Sin(rad) + intm.Y * System.Math.Cos(rad));
+            return new LngLatToXY {rad = rad, biasX = biasX, biasY = biasY, scale = scale};
+        }
+
+        public Vector2 TransformLngLatToXY(Vector2 lnglat, LngLatToXY t)
+        {
+            var intm = lnglat * (float) t.scale;
+            return new Vector2((float) (intm.X * System.Math.Cos(t.rad) - intm.Y * System.Math.Sin(t.rad) + t.biasX),
+                (float) (intm.X * System.Math.Sin(t.rad) + intm.Y * System.Math.Cos(t.rad) + t.biasY));
+        }
+
+        public static D3 ReverseTransform(D3 dest, D3 t)
+        {
+            var rth = (dest.Item3 - t.Item3) / 180.0 * System.Math.PI;
+            var nxT = (dest.Item1 - System.Math.Cos(rth) * t.Item1 +
+                              System.Math.Sin(rth) * t.Item2);
+            var nyT = (dest.Item2 - System.Math.Sin(rth) * t.Item1 -
+                              System.Math.Cos(rth) * t.Item2);
+            var pth = dest.Item3 - t.Item3;
+            return Tuple.Create(nxT, nyT, pth);
+        }
+
+        public static D3 SolveTransform2D(D3 src, D3 dest)
+        {
+            var th = dest.Item3 - src.Item3;
+            th = (th - System.Math.Round((th) / 360.0f) * 360);
+            var rth = src.Item3 / 180.0 * System.Math.PI;
+            var x = ((dest.Item1 - src.Item1) * System.Math.Cos(rth) +
+                            (dest.Item2 - src.Item2) * System.Math.Sin(rth));
+            var y = (-(dest.Item1 - src.Item1) * System.Math.Sin(rth) +
+                            (dest.Item2 - src.Item2) * System.Math.Cos(rth));
+            return Tuple.Create(x, y, th);
+        }
+
+        public static T3 Transform2D(T3 src, T3 t)
+        {
+            var rth = src.Item3 / 180.0 * System.Math.PI;
+            var p1dtx = (float)(src.Item1 + System.Math.Cos(rth) * t.Item1 -
+                                System.Math.Sin(rth) * t.Item2);
+            var p1dty = (float)(src.Item2 + System.Math.Sin(rth) * t.Item1 +
+                                System.Math.Cos(rth) * t.Item2);
+            var p1dtth = src.Item3 + t.Item3;
+            return Tuple.Create(p1dtx, p1dty, p1dtth);
+        }
+
+        public static Vector2 Transform2D(Vector3 src, Vector3 t)
+        {
+	        var tup = Transform2D(Tuple.Create(src.X, src.Y, src.Z), Tuple.Create(t.X, t.Y, t.Z));
+	        return new Vector2(tup.Item1, tup.Item2);
+        }
+
+        public static Vector2 Transform2D(Vector2 srcPos, float srcTh, Vector2 dt, float dth = 0)
+        {
+	        var tup = Transform2D(Tuple.Create(srcPos.X, srcPos.Y, srcTh), Tuple.Create(dt.X, dt.Y, dth));
+	        return new Vector2(tup.Item1, tup.Item2);
+		}
+
+		public static T3 ReverseTransform(T3 dest, T3 t)
+        {
+            var rth = (dest.Item3 - t.Item3) / 180.0 * System.Math.PI;
+            var nxT = (float)(dest.Item1 - System.Math.Cos(rth) * t.Item1 +
+                              System.Math.Sin(rth) * t.Item2);
+            var nyT = (float)(dest.Item2 - System.Math.Sin(rth) * t.Item1 -
+                              System.Math.Cos(rth) * t.Item2);
+            var pth = dest.Item3 - t.Item3;
+            return Tuple.Create(nxT, nyT, pth);
+        }
+
+        public static T3 SolveTransform2D(T3 src, T3 dest)
+        {
+            var th = dest.Item3 - src.Item3;
+            th = (float)(th - System.Math.Round((th) / 360.0f) * 360);
+            var rth = src.Item3 / 180.0 * System.Math.PI;
+            var x = (float)((dest.Item1 - src.Item1) * System.Math.Cos(rth) +
+                            (dest.Item2 - src.Item2) * System.Math.Sin(rth));
+            var y = (float)(-(dest.Item1 - src.Item1) * System.Math.Sin(rth) +
+                            (dest.Item2 - src.Item2) * System.Math.Cos(rth));
+            return Tuple.Create(x, y, th);
+        }
+
+		public static Vector2 SolveTransform2D(Vector2 srcPos, float srcTh, Vector2 dt, float dth = 0)
+		{
+			var tup = SolveTransform2D(Tuple.Create(srcPos.X, srcPos.Y, srcTh), Tuple.Create(dt.X, dt.Y, dth));
+			return new Vector2(tup.Item1, tup.Item2);
+		}
+
+		public static double dist(double x1, double y1, double x2, double y2)
+        {
+            return System.Math.Sqrt((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
+        }
+
+        [StructLayout(LayoutKind.Explicit)]
+        private struct FloatIntUnion
+        {
+            [FieldOffset(0)] public float f;
+
+            [FieldOffset(0)] public int tmp;
+        }
+
+        public static float Sqrt(float z)
+        {
+            FloatIntUnion u;
+            u.tmp = 0;
+            u.f = z;
+            u.tmp -= 1 << 23; /* Subtract 2^m. */
+            u.tmp >>= 1; /* Divide by 2. */
+            u.tmp += 1 << 29; /* Add ((b + 1) / 2) * 2^m. */
+            return u.f;
+        }
+
+        public static float dist2(float x1, float y1, float x2, float y2)
+        {
+            return ((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2));
+        }
+
+
+        public static float d2(float x1, float y1, float x2, float y2)
+        {
+            return (x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2);
+        }
+
+        public static float ThAverage(List<float> angles)
+        {
+	        var anchor = angles[0];
+	        var diff = 0f;
+	        foreach (var angle in angles)
+		        diff += ThDiff(angle, anchor);
+	        return RoundTh(anchor + diff / angles.Count);
+        }
+
+        public static float ThDiff(float th1, float th2)
+        {
+            return (float)(th1 - th2 -
+                           System.Math.Round((th1 - th2) / 360.0f) * 360);
+        }
+
+        public static double ThDiff(double th1, double th2)
+        {
+            return th1 - th2 -
+                           System.Math.Round((th1 - th2) / 360.0f) * 360;
+        }
+
+        public static double refine(double x)
+        {
+            if (x < 1 && x > -1) return x;
+            if (x > 1)
+                return (2 / (1 + System.Math.Exp(-((x - 1) * 2))));
+            return (2 / (1 + System.Math.Exp(-((x + 1) * 2)))) - 2;
+        }
+
+        /// <summary>
+        /// 求点p到两点式直线p1p2的距离
+        /// </summary>
+        /// <param name="x">点p的x坐标</param>
+        /// <param name="y">点p的y坐标</param>
+        /// <param name="x1">直线点p1的x坐标</param>
+        /// <param name="y1">直线点p1的y坐标</param>
+        /// <param name="x2">直线点p2的x坐标</param>
+        /// <param name="y2">直线点p2的y坐标</param>
+        /// <returns></returns>
+        public static double Point2LineDist(double x, double y, double x1, double y1, double x2, double y2)
+        {
+            double a1 = -(y1 - y2) / 10;
+            double b1 = (x1 - x2) / 10;
+            double c1 = (x1 * (y1 - y2) - y1 * (x1 - x2)) / 10;
+            return System.Math.Abs(a1 * x + b1 * y + c1) / System.Math.Sqrt(a1 * a1 + b1 * b1);
+        }
+
+        public static double Point2LineDist(Vector2 p, LineSegment ll)
+        {
+            double a1 = -(ll.Src.Y - ll.Dst.Y) / 10;
+            double b1 = (ll.Src.X - ll.Dst.X) / 10;
+            double c1 = (ll.Src.X * (ll.Src.Y - ll.Dst.Y) - ll.Src.Y * (ll.Src.X - ll.Dst.X)) / 10;
+            return System.Math.Abs(a1 * p.X + b1 * p.Y + c1) / System.Math.Sqrt(a1 * a1 + b1 * b1);
+        }
+
+        /// <summary>
+        /// 两条两点式直线间的夹角
+        /// </summary>
+        /// <param name="x1"></param>
+        /// <param name="y1"></param>
+        /// <param name="x2"></param>
+        /// <param name="y2"></param>
+        /// <param name="x3"></param>
+        /// <param name="y3"></param>
+        /// <param name="x4"></param>
+        /// <param name="y4"></param>
+        /// <returns>角度制</returns>
+        public static double AngleBetweenLines(double x1, double y1, double x2, double y2, double x3, double y3,
+            double x4, double y4)
+        {
+            var vec1 = new Vector2((float)(x2 - x1), (float)(y2 - y1));
+            var vec2 = new Vector2((float)(x4 - x3), (float)(y4 - y3));
+            return System.Math.Acos(System.Math.Abs(Vector2.Dot(vec1, vec2) / vec1.Length() / vec2.Length())) / System.Math.PI * 180;
+        }
+
+        public static double AngleBetweenLines(LineSegment ls1, LineSegment ls2)
+        {
+	        return AngleBetweenLines(ls1.Src.X, ls1.Src.Y, ls1.Dst.X, ls1.Dst.Y, ls2.Src.X, ls2.Src.Y, ls2.Dst.X,
+		        ls2.Dst.Y);
+        }
+
+		/// <summary>
+		/// 两向量间夹角
+		/// </summary>
+		/// <param name="x1"></param>
+		/// <param name="y1"></param>
+		/// <param name="x2"></param>
+		/// <param name="y2"></param>
+		/// <param name="x3"></param>
+		/// <param name="y3"></param>
+		/// <param name="x4"></param>
+		/// <param name="y4"></param>
+		/// <returns>角度制</returns>
+		public static double AngleBetweenVectors(double x1, double y1, double x2, double y2, double x3, double y3,
+            double x4, double y4)
+        {
+            var vec1 = new Vector2((float)(x2 - x1), (float)(y2 - y1));
+            var vec2 = new Vector2((float)(x4 - x3), (float)(y4 - y3));
+            return System.Math.Acos(Vector2.Dot(vec1, vec2) / vec1.Length() / vec2.Length()) / System.Math.PI * 180;
+        }
+
+        /// <summary>
+        /// 两向量间夹角.
+        /// </summary>
+        /// <param name="vec1"></param>
+        /// <param name="vec2"></param>
+        /// <returns>角度制</returns>
+        public static double AngleBetweenVectors(Vector2 vec1, Vector2 vec2)
+        {
+            return System.Math.Acos(Vector2.Dot(vec1, vec2) / vec1.Length() / vec2.Length()) / System.Math.PI * 180;
+        }
+
+        public static double AngleBetweenVectors(Vector3 vector1, Vector3 vector2)
+        {
+	        float dotProduct = Vector3.Dot(vector1, vector2);
+	        float magnitude1 = vector1.Length();
+	        float magnitude2 = vector2.Length();
+	        float cosine = dotProduct / (magnitude1 * magnitude2);
+
+	        return System.Math.Acos(cosine) / System.Math.PI * 180;
+        }
+
+		/// <summary>
+		/// 求点到直线的垂足
+		/// </summary>
+		/// <param name="x"></param>
+		/// <param name="y"></param>
+		/// <param name="x1"></param>
+		/// <param name="y1"></param>
+		/// <param name="x2"></param>
+		/// <param name="y2"></param>
+		/// <returns></returns>
+		public static (double, double) PerpendicularPoint(double x, double y, double x1, double y1, double x2, double y2)
+        {
+            double lx = x2 - x1, ly = y2 - y1, dAB = lx * lx + ly * ly;
+            var u = ((x - x1) * lx + (y - y1) * ly) / dAB;
+            return new(x1 + u * lx, y1 + u * ly);
+        }
+
+        public static Vector2 PerpendicularPoint(Vector2 p, LineSegment ls)
+        {
+            double lx = ls.Dst.X - ls.Src.X, ly = ls.Dst.Y - ls.Src.Y, dAB = lx * lx + ly * ly;
+            var u = ((p.X - ls.Src.X) * lx + (p.Y - ls.Src.Y) * ly) / dAB;
+            return new Vector2((float)(ls.Src.X + u * lx), (float)(ls.Src.Y + u * ly));
+        }
+
+        public static double PerpendicularPosition(double x, double y, double x1, double y1, double x2, double y2)
+        {
+            double lx = x2 - x1, ly = y2 - y1;
+            var dAB = CommonMath.Sqrt((float)(lx * lx + ly * ly));
+            lx /= dAB;
+            ly /= dAB;
+            return (x - x1) * lx + (y - y1) * ly;
+        }
+
+
+        /// <summary>
+        /// 最小二乘法拟合直线，得到两点式。
+        /// </summary>
+        /// <param name="pts">待拟合的点集，应至少有2个点。</param>
+        /// <param name="maxDist2Line">检查是否所有点距直线的距离均小于maxDist2Line，若为-1则不检查。</param>
+        /// <returns>返回两点式的两个端点坐标。若坐标为全0，则拟合失败。</returns>
+        public static (bool, Vector2, Vector2) FitLineSegment(List<Vector2> pts, double maxDist2Line = -1)
+        {
+            if (pts.Count < 2)
+            {
+                Console.WriteLine($"Points too Few! {pts.Count}! Cannot perform line fitting!",
+                    MethodBase.GetCurrentMethod()?.Name ?? "FitLine");
+                return (false, Vector2.Zero, Vector2.Zero);
+            };
+
+            // y = kx + b
+            double A = 0, B = 0, C = 0, D = 0;
+            foreach (var p in pts)
+            {
+                A += p.X * p.X;
+                B += p.X;
+                C += p.X * p.Y;
+                D += p.Y;
+            }
+
+            var tmp = A * pts.Count - B * B;
+            var k = (C * pts.Count - B * D) / tmp;
+            var b = (A * D - C * B) / tmp;
+
+            double x1 = 0,
+                y1 = k * x1 + b,
+                x2 = 1000,
+                y2 = k * x2 + b;
+
+            double CalcDist(ref bool fail, ref Vector2 endP, ref Vector2 endQ)
+            {
+                double distSum = 0;
+                double lx = x2 - x1, ly = y2 - y1, dAB = lx * lx + ly * ly;
+                double minU = double.MaxValue, maxU = double.MinValue;
+
+                foreach (var p in pts)
+                {
+                    var u = ((p.X - x1) * lx + (p.Y - y1) * ly) / dAB;
+                    var perp = new Vector2((float)(x1 + u * lx), (float)(y1 + u * ly));
+                    if (u < minU)
+                    {
+                        endP = perp;
+                        minU = u;
+                    }
+                    if (u > maxU)
+                    {
+                        endQ = perp;
+                        maxU = u;
+                    }
+
+                    var curDist = dist(perp.X, perp.Y, p.X, p.Y);
+                    if (maxDist2Line > -1 && curDist > maxDist2Line) fail = true;
+                    distSum += curDist;
+                }
+
+                return distSum;
+            }
+
+            var kbFail = false;
+            Vector2 endP1 = new Vector2(), endQ1 = new Vector2();
+            double kbDist = CalcDist(ref kbFail, ref endP1, ref endQ1);
+            
+            // x = my + n
+            A = 0;
+            B = 0;
+            C = 0;
+            D = 0;
+            foreach (var p in pts)
+            {
+                A += p.X * p.Y;
+                B += p.Y * p.Y;
+                C += p.Y;
+                D += p.X;
+            }
+
+            tmp = C * C - B * pts.Count;
+            var m = (C * D - A * pts.Count) / tmp;
+            var n = (A * C - B * D) / tmp;
+            y1 = 0;
+            x1 = m * y1 + n;
+            y2 = 1000;
+            x2 = m * y2 + n;
+
+            var mnFail = false;
+            Vector2 endP2 = new Vector2(), endQ2 = new Vector2();
+            double mnDist = CalcDist(ref mnFail, ref endP2, ref endQ2);
+
+            Vector2 endP = endP1, endQ = endQ1;
+            if (mnDist < kbDist)
+            {
+                if (mnFail) return (false, new Vector2(), new Vector2());
+                endP = endP2;
+                endQ = endQ2;
+            }
+            else if (kbFail) return (false, new Vector2(), new Vector2());
+
+            return (true, endP, endQ);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static int toId(int x, int y, int z)
+        {
+            return (x * 1140671485 + 12820163) ^ (y * 134775813 + 1) ^ (z * 1103515245 + 12345);
+        }
+
+        public class Clustering<T>
+        {
+	        public int numIteration = 3;
+	        public int itemNumThreshold = 10;
+
+	        public Func<T, T, bool> inRange;
+	        public Func<List<T>, T> average;
+	        private readonly List<T> _inputData;
+	        private Dictionary<T, List<T>> _clusters = new Dictionary<T, List<T>>();
+
+	        public Clustering(List<T> data, Func<T, T, bool> inRange, Func<List<T>, T> average)
+	        {
+		        _inputData = data;
+		        this.inRange = inRange;
+		        this.average = average;
+	        }
+
+	        public Dictionary<T, List<T>> GetClusters()
+	        {
+		        var tmp = new List<(T center, List<T> items)>();
+
+		        for (var iter = 0; iter < numIteration; iter++)
+		        {
+			        tmp = tmp.Where(cluster => cluster.items.Count > itemNumThreshold)
+				        .Select(cluster => (average(cluster.items), new List<T>())).ToList();
+
+			        foreach (var data in _inputData)
+			        {
+				        var added = false;
+				        foreach (var cluster in tmp)
+				        {
+					        if (inRange(cluster.center, data))
+					        {
+						        cluster.items.Add(data);
+						        added = true;
+						        break;
+					        }
+				        }
+
+				        if (!added)
+					        tmp.Add((data, new List<T>() { data }));
+			        }
+		        }
+
+		        _clusters = tmp.Where(cluster => cluster.items.Count > itemNumThreshold)
+			        .ToDictionary(cluster => cluster.center, cluster => cluster.items);
+		        return _clusters;
+	        }
+        }
+
+        public static (bool, Vector2) TwoLinesIntersection(Vector2 A, Vector2 B, Vector2 C, Vector2 D)
+        {
+	        // Line AB represented as a1x + b1y = c1
+	        double a1 = B.Y - A.Y;
+	        double b1 = A.X - B.X;
+	        double c1 = a1 * (A.X) + b1 * (A.Y);
+
+	        // Line CD represented as a2x + b2y = c2
+	        double a2 = D.Y - C.Y;
+	        double b2 = C.X - D.X;
+	        double c2 = a2 * (C.X) + b2 * (C.Y);
+
+	        double determinant = a1 * b2 - a2 * b1;
+
+	        if (determinant == 0)
+	        {
+		        // The lines are parallel. This is simplified
+		        // by returning a pair of FLT_MAX
+		        return new(false, new Vector2());
+	        }
+	        else
+	        {
+		        double x = (b2 * c1 - b1 * c2) / determinant;
+		        double y = (a1 * c2 - a2 * c1) / determinant;
+		        return (true, new Vector2((float)x, (float)y));
+	        }
+        }
+
+        public static bool IsAtLeft(Vector2 anchor, Vector2 dest, Vector2 p)
+        {
+	        var v1 = new Vector3(anchor - p, 0);
+	        var v2 = new Vector3(dest - p, 0);
+	        return Vector3.Cross(v1, v2).Z > 0;
+        }
+
+        /// <summary>
+        /// 将角度转化至-180到180度的范围内。
+        /// </summary>
+        /// <param name="th"></param>
+        /// <returns></returns>
+        public static double RoundTh(double th)
+        {
+	        return th - System.Math.Round(th / 360) * 360;
+        }
+
+        /// <summary>
+        /// 将角度转化至-180到180度的范围内。
+        /// </summary>
+        /// <param name="th"></param>
+        /// <returns></returns>
+        public static float RoundTh(float th)
+        {
+	        return th - (float)System.Math.Round(th / 360f) * 360f;
+        }
+	}
+}

CommonUsage-MultiVehicleSync/commonusage/Mathematics/LineSegment.cs

@@ -0,0 +1,161 @@
+using System;
+using System.Numerics;
+
+namespace CommonUsage.Mathematics
+{
+	/// <summary>
+	/// 表示一条线段。
+	/// </summary>
+	public class LineSegment
+	{
+		/// <summary>
+		/// 默认构造函数。所有坐标初始化为0。
+		/// </summary>
+		public LineSegment()
+		{
+
+		}
+
+		/// <summary>
+		/// 使用两个端点初始化一段2D线段。
+		/// </summary>
+		/// <param name="src">线段起点。</param>
+		/// <param name="dst">线段终点。</param>
+		public LineSegment(Vector2 src, Vector2 dst)
+		{
+			Src = src;
+			Dst = dst;
+		}
+
+		/// <summary>
+		/// 使用两个端点初始化一段3D线段。
+		/// </summary>
+		/// <param name="src">线段起点。</param>
+		/// <param name="dst">线段终点。</param>
+		public LineSegment(Vector3 src, Vector3 dst)
+		{
+			Src3D = src;
+			Dst3D = dst;
+		}
+
+		/// <summary>
+		/// 使用两个端点初始化一条线段，2D。
+		/// </summary>
+		/// <param name="x1">线段起点x坐标。</param>
+		/// <param name="y1">线段起点y坐标。</param>
+		/// <param name="x2">线段终点x坐标。</param>
+		/// <param name="y2">线段终点y坐标。</param>
+		public LineSegment(double x1, double y1, double x2, double y2)
+		{
+			Src = new Vector2((float)x1, (float)y1);
+			Dst = new Vector2((float)x2, (float)y2);
+		}
+
+		/// <summary>
+		/// 使用两个端点初始化一条线段，2D。
+		/// </summary>
+		/// <param name="x1">线段起点x坐标。</param>
+		/// <param name="y1">线段起点y坐标。</param>
+		/// <param name="z1">线段起点y坐标。</param>
+		/// <param name="x2">线段终点x坐标。</param>
+		/// <param name="y2">线段终点y坐标。</param>
+		/// <param name="z2">线段终点y坐标。</param>
+		public LineSegment(double x1, double y1, double z1, double x2, double y2, double z2)
+		{
+			Src3D = new Vector3((float)x1, (float)y1, (float)z1);
+			Dst3D = new Vector3((float)x2, (float)y2, (float)z2);
+		}
+
+		/// <summary>
+		/// 返回线段长度，2D。
+		/// </summary>
+		/// <returns></returns>
+		public double Length()
+		{
+			return Vector2.Distance(Src, Dst);
+		}
+
+		/// <summary>
+		/// 返回线段长度，3D。
+		/// </summary>
+		/// <returns></returns>
+		public double Length3D()
+		{
+			return Vector3.Distance(Src3D, Dst3D);
+		}
+
+		/// <summary>
+		/// 返回线段与x轴正方向夹角度数，角度制。
+		/// </summary>
+		/// <returns></returns>
+		public double Angle()
+		{
+			return Math.Atan2(Dst.Y - Src.Y, Dst.X - Src.X) / Math.PI * 180;
+		}
+
+		/// <summary>
+		/// 返回一段方向相反的线段。
+		/// </summary>
+		/// <returns></returns>
+		public LineSegment Reverse()
+		{
+			return new LineSegment(Dst3D, Src3D);
+		}
+
+		/// <summary>
+		/// 线段2D起点。
+		/// </summary>
+		public Vector2 Src
+		{
+			get => new(_srcX, _srcY);
+			set
+			{
+				_srcX = value.X;
+				_srcY = value.Y;
+			}
+		}
+
+		/// <summary>
+		/// 线段2D终点。
+		/// </summary>
+		public Vector2 Dst
+		{
+			get => new(_dstX, _dstY);
+			set
+			{
+				_dstX = value.X;
+				_dstY = value.Y;
+			}
+		}
+
+		/// <summary>
+		/// 线段3D起点。
+		/// </summary>
+		public Vector3 Src3D
+		{
+			get => new(_srcX, _srcY, _srcZ);
+			set
+			{
+				_srcX = value.X;
+				_srcY = value.Y;
+				_srcZ = value.Z;
+			}
+		}
+
+		/// <summary>
+		/// 线段3D终点。
+		/// </summary>
+		public Vector3 Dst3D
+		{
+			get => new(_dstX, _dstY, _dstZ);
+			set
+			{
+				_dstX = value.X;
+				_dstY = value.Y;
+				_dstZ = value.Z;
+			}
+		}
+
+		private float _srcX, _srcY, _srcZ, _dstX, _dstY, _dstZ;
+	}
+}

CommonUsage-MultiVehicleSync/commonusage/Properties/launchSettings.json

@@ -0,0 +1,12 @@
+{
+  "profiles": {
+    "CommonUsage": {
+      "commandName": "Project"
+    },
+    "配置文件 1": {
+      "commandName": "Executable",
+      "executablePath": "D:\\Code\\Core\\Medulla\\build\\Medulla.exe",
+      "workingDirectory": "D:\\Code\\Core\\Medulla\\build\\"
+    }
+  }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/CommunicationProtocolFactory.cs

@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050
+{
+    public class CommunicationProtocolFactory
+    {
+        public static IVDACommunicationProtocol CreateProtocol(string protocolType, string host, int port)
+        {
+            return protocolType.ToLower() switch
+            {
+                "http" => new HTTPCommunication(host, port),
+                "mqtt" => new MQTTCommunication(host, port),
+                _ => throw new NotSupportedException($"Protocol {protocolType} is not supported")
+            };
+        }
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/HTTPCommunication.cs

@@ -0,0 +1,94 @@
+using System;
+using System.Collections.Generic;
+using System.Net.Http;
+using System.Text;
+using System.Threading.Tasks;
+using CommonUsage.Protocols.VDA5050.Messages;
+using FundamentalLib;
+using Newtonsoft.Json;
+
+namespace CommonUsage.Protocols.VDA5050
+{
+    public class HTTPCommunication : IVDACommunicationProtocol
+    {
+        private readonly string _host;
+        private readonly int _port;
+
+        public HTTPCommunication(string host, int port)
+        {
+            _host = host;
+            _port = port;
+        }
+
+        public async Task PublishConnectionStatus(string status)
+        {
+            var message = new connectionMessage()
+            {
+                serialNumber = "test-01",
+                headerId = 1,
+                timestamp = DateTime.Now,
+                connectionState = status
+            };
+
+            await SendMessageAsync(message, "vda5050/connection");
+        }
+
+        public void SetupOrderListener(Action<orderMessage> orderReceived)
+        {
+            PicoHttpServer.AddPostTextHandler("/order", new { }, (_, str) =>
+            {
+                var order = JsonConvert.DeserializeObject<orderMessage>(str);
+                orderReceived(order);
+                return "";
+            });
+        }
+
+        public void SetUpInstanActionListener(Action<instanceAction> onInstanceActionReceived)
+        {
+            PicoHttpServer.AddPostTextHandler("/instanceAction", new { }, (_, str) =>
+            {
+                var instanceAction = JsonConvert.DeserializeObject<instanceAction>(str);
+                onInstanceActionReceived(instanceAction);
+                return "";
+            });
+        }
+
+        public void SetUpImmediateCommandListener(Action<string> onChangeCarFieldsReceived)
+        {
+            throw new NotImplementedException();
+        }
+
+        public async Task SendMessageAsync<T>(T message, string topic)
+        {
+            try
+            {
+                var url = $"http://{_host}:{_port}/{topic}";
+                using var client = new HttpClient();
+                var response = await client.PostAsync(url, new StringContent(JsonConvert.SerializeObject(message), Encoding.UTF8, "application/json"));
+
+                if (!response.IsSuccessStatusCode)
+                {
+                    Console.WriteLine($" >> Sending Message: Failed to send message. Status Code: {response.StatusCode}");
+                }
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Error in sending message: {ex.Message}");
+            }
+        }
+
+        public async Task SendVisualizationMessageAsync<T>(T msg, string topic)
+        {
+            throw new NotImplementedException();
+        }
+
+        public void SetupTestListener(Action<string> testMsg)
+        {
+            throw new NotImplementedException();
+        }
+        public async Task PublishFactSheet(factsheetMessage message)
+        {
+            throw new NotImplementedException();
+        }
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/IVDACommunicationProtocol.cs

@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading.Tasks;
+using CommonUsage.Protocols.VDA5050.Messages;
+
+namespace CommonUsage.Protocols.VDA5050
+{
+    public interface IVDACommunicationProtocol
+    {
+        Task PublishConnectionStatus(string status);
+        Task PublishFactSheet(factsheetMessage msg);
+        void SetupOrderListener(Action<orderMessage> orderReceived);
+        void SetUpInstanActionListener(Action<instanceAction> onInstanceActionReceived);
+        void SetUpImmediateCommandListener(Action<string> onChangeCarFieldsReceived);
+        Task SendMessageAsync<T>(T message, string topic);
+        Task SendVisualizationMessageAsync<T>(T message, string topic);
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/MQTTCommunication.cs

@@ -0,0 +1,319 @@
+using System.IO;
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using CommonUsage.Protocols.VDA5050.Messages;
+using MQTTnet;
+using MQTTnet.Client;
+using MQTTnet.Extensions.ManagedClient;
+using MQTTnet.Packets;
+using MQTTnet.Protocol;
+using MQTTnet.Server;
+using Newtonsoft.Json;
+using FundamentalLib;
+using CommonUsage.Protocols.VDA5050.Objects;
+using FundamentalLib.MiscHelpers;
+
+namespace CommonUsage.Protocols.VDA5050
+{
+    public class MQTTCommunication : IVDACommunicationProtocol
+    {
+        private readonly string _host;
+        private readonly int _port;
+        private readonly string _orderTopic = "vda5050/frldAGV/order";
+        private readonly string _connectionTopic = "vda5050/frldAGV/connection";
+        private readonly string _instanceAction = "vda5050/frldAGV/instantActions";
+        private readonly string _factsheet = "vda5050/frldAGV/factsheet";
+        private readonly string _changeCarFields = "vda5050/frldAGV/changeCarFields";
+
+        private IManagedMqttClient _client;
+        private IManagedMqttClient _visualizationClient;
+
+        public MQTTCommunication(string host, int port)
+        {
+            _host = host;
+            _port = port;
+            InitializeClient();
+            InitializeVisualizationClient();
+        }
+
+        private void InitializeClient()
+        {
+            var willMessage = new connectionMessage()
+            {
+                headerId = 1,
+                timestamp = DateTime.Now,
+                version = "00",
+                manufacturer = "frld",
+                serialNumber = "test-01",
+                connectionState = "CONNECTIONBROKEN"
+            };
+
+            var mqttClientOptions = new MqttClientOptionsBuilder()
+                .WithClientId("AGV-Client-frldAGV")
+                .WithTcpServer(_host, _port)
+                .WithWillTopic(_connectionTopic)
+                .WithWillPayload(JsonConvert.SerializeObject(willMessage))
+                 .WithWillRetain(true)
+                .Build();
+
+            var managedMqttClientOptions = new ManagedMqttClientOptionsBuilder()
+                .WithClientOptions(mqttClientOptions)
+                .WithMaxPendingMessages(20)
+                .WithPendingMessagesOverflowStrategy(MqttPendingMessagesOverflowStrategy.DropOldestQueuedMessage)
+                .Build();
+
+            _client = new MqttFactory().CreateManagedMqttClient();
+            _client.StartAsync(managedMqttClientOptions).GetAwaiter().GetResult();
+            Console.WriteLine($" >> MQTT client initialized and connected to broker at {_host} - {_port}");
+        }
+
+        private void InitializeVisualizationClient()
+        {
+            var mqttClientOptions = new MqttClientOptionsBuilder()
+                .WithClientId("AGV-Visualization")
+                .WithTcpServer(_host, _port)
+                .Build();
+
+            var managedMqttClientOptions = new ManagedMqttClientOptionsBuilder()
+                .WithClientOptions(mqttClientOptions)
+                .WithMaxPendingMessages(10) // Prevent overloading
+                .WithPendingMessagesOverflowStrategy(MqttPendingMessagesOverflowStrategy.DropOldestQueuedMessage)
+                .Build();
+
+            _visualizationClient = new MqttFactory().CreateManagedMqttClient();
+            _visualizationClient.StartAsync(managedMqttClientOptions).GetAwaiter().GetResult();
+            Console.WriteLine("MQTT Visualization client initialized.");
+        }
+
+        public void SetUpImmediateCommandListener(Action<string> onChangeCarFieldsReceived)
+        {
+            Console.WriteLine($"Subscribed to the topic: {_changeCarFields}");
+            _client.SubscribeAsync(_changeCarFields).GetAwaiter().GetResult();
+
+            _client.ApplicationMessageReceivedAsync += async e =>
+            {
+                if (e.ApplicationMessage.Topic == _changeCarFields)
+                {
+                    var payload = Encoding.UTF8.GetString(e.ApplicationMessage.Payload);
+                    LogMessage($"RECEIVE-{e.ApplicationMessage.Topic}", e.ApplicationMessage.Topic, payload);
+                    //var script = JsonConvert.DeserializeObject<string>(payload);
+                    Console.WriteLine($"Change car field: {payload}");
+                    onChangeCarFieldsReceived(payload);
+                }
+            };
+        }
+
+
+        public void SetUpInstanActionListener(Action<instanceAction> onInstanceActionReceived)
+        {
+            Console.WriteLine($"Subscribed to the topic: {_instanceAction}");
+
+            // Subscribe to the instanceAction topic
+            _client.SubscribeAsync(_instanceAction).GetAwaiter().GetResult();
+
+            _client.ApplicationMessageReceivedAsync += async e =>
+            {
+                if (e.ApplicationMessage.Topic == _instanceAction)
+                {
+                    var payload = Encoding.UTF8.GetString(e.ApplicationMessage.Payload);
+                    LogMessage($"RECEIVE-{e.ApplicationMessage.Topic}", e.ApplicationMessage.Topic, payload);
+                    var actions = JsonConvert.DeserializeObject<instanceAction>(payload);
+                    Console.WriteLine($"Received instance action: Header ID = {actions.headerId}, Timestamp = {actions.timestamp}");
+                    foreach (var action in actions.actions)
+                    {
+                        Console.WriteLine($"Action ID: {action.actionId}, Type: {action.actionType}");
+                    }
+
+                    onInstanceActionReceived(actions);
+                }
+            };
+        }
+
+        public async Task PublishConnectionStatus(string status)
+        {
+            var message = new connectionMessage()
+            {
+                headerId = 1,
+                timestamp = DateTime.Now,
+                version = "00",
+                manufacturer = "frld",
+                serialNumber = "test-01",
+                connectionState = status
+            };
+
+            var payload = JsonConvert.SerializeObject(message);
+
+            var content = new MqttApplicationMessageBuilder()
+                .WithTopic(_connectionTopic)
+                .WithPayload(payload)
+                .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtLeastOnce)
+                .WithRetainFlag(true)
+                .Build();
+
+            await _client.EnqueueAsync(content);
+            LogMessage($"SEND-{_connectionTopic}", _connectionTopic, payload);
+
+            //await SendMessageAsync(message, _connectionTopic);
+        }
+
+        public async Task PublishFactSheet(factsheetMessage message)
+        {
+         
+            //await SendMessageAsync(message, _factsheet);
+            var payload = JsonConvert.SerializeObject(message);
+
+            var content = new MqttApplicationMessageBuilder()
+                .WithTopic(_factsheet)
+                .WithPayload(payload)
+                .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtMostOnce)
+                //.WithRetainFlag(true)
+                .Build();
+
+            await _client.EnqueueAsync(content);
+            LogMessage($"SEND-{_factsheet}", _factsheet, payload);
+
+        }
+
+        public void SetupOrderListener(Action<orderMessage> orderReceived)
+        {
+            // Subscribe to the orders topic
+            _client.SubscribeAsync(_orderTopic, MqttQualityOfServiceLevel.AtMostOnce).GetAwaiter().GetResult();
+            _client.ApplicationMessageReceivedAsync += async e =>
+            {
+                if (e.ApplicationMessage.Topic == _orderTopic)
+                {
+                    var payload = Encoding.UTF8.GetString(e.ApplicationMessage.Payload);
+                    LogMessage($"RECEIVE-{e.ApplicationMessage.Topic}", e.ApplicationMessage.Topic, payload);
+                    var order = JsonConvert.DeserializeObject<orderMessage>(payload);
+
+                    // Save the order message to a file for debugging
+                    // SaveOrderToFile(payload);
+                    orderReceived(order);
+                }
+                await Task.CompletedTask;
+            };
+        }
+
+        private void SaveOrderToFile(string orderJson)
+        {
+            try
+            {
+                // Specify the file path (e.g., orders_log.txt in the current directory)
+                string filePath = "orders_log.txt";
+
+                // Append the order JSON along with a timestamp
+                File.AppendAllText(filePath, $"{DateTime.UtcNow:yyyy-MM-dd HH:mm:ss} - {orderJson}{Environment.NewLine}");
+            }
+            catch (Exception ex)
+            {
+                // Handle any exceptions that occur while writing to the file
+                Console.WriteLine($"Failed to save order to file: {ex.Message}");
+            }
+        }
+
+        public async Task SendMessageAsync<T>(T message, string topic)
+        {
+
+            var payload = JsonConvert.SerializeObject(message);
+
+            var content = new MqttApplicationMessageBuilder()
+                .WithTopic(topic)
+                .WithPayload(payload)
+                .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtMostOnce)
+                .Build();
+
+            await _client.EnqueueAsync(content);
+
+            if (topic != "vda5050/frldAGV/visualization")
+            {
+
+                LogMessage($"SEND-{topic}", topic, payload);
+            }
+           
+        }
+
+        public async Task SendVisualizationMessageAsync<T>(T message, string topic)
+        {
+            if (_visualizationClient == null) return; // Ensure client is initialized
+
+            var payload = JsonConvert.SerializeObject(message);
+
+            var content = new MqttApplicationMessageBuilder()
+                .WithTopic(topic)
+                .WithPayload(payload)
+                .WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtMostOnce) // QoS 0 for lightweight visualization
+                .Build();
+
+            if (_visualizationClient.PendingApplicationMessagesCount < 5) // Prevent flooding
+            {
+                await _visualizationClient.EnqueueAsync(content);
+            }
+            else
+            {
+                Console.WriteLine("Skipping visualization update to avoid MQTT congestion.");
+            }
+        }
+
+
+        public void LogMessage(string direction, string topic, string payload)
+        {
+            string formattedPayload = payload;
+            string logDirectory = "Logs"; // Directory for log files
+            var filePreName = direction;
+            filePreName = filePreName.Replace("/", "_");
+            string logFilePath = Path.Combine(logDirectory, filePreName + $"-{DateTime.Now:yyyy-MM-dd}.log");
+
+            if(!Directory.Exists(logDirectory)) Directory.CreateDirectory(logDirectory);
+            // Try to parse the payload as JSON and pretty-print it
+            try
+            {
+                var jsonObject = JsonConvert.DeserializeObject(payload);
+                formattedPayload = JsonConvert.SerializeObject(jsonObject, Formatting.Indented);
+            }
+            catch (JsonReaderException)
+            {
+                // If the payload is not valid JSON, just leave it as is
+                formattedPayload = payload;
+            }
+
+            string logMessage = $"[{DateTime.Now:HH:mm:ss}] [{direction}] Topic: {topic}, Payload:\n{formattedPayload}\n";
+            RotateLogFile(logFilePath, logDirectory);
+
+            try
+            {
+                File.AppendAllText(logFilePath, logMessage + Environment.NewLine);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Error writing to log file: {ex.Message}");
+            }
+            // Console.WriteLine($"[{DateTime.Now:HH:mm:ss}] [{direction}] Topic: {topic}, Payload: {formattedPayload}");
+            // DLog.Log($"[{DateTime.Now:HH:mm:ss}] [{direction}] Topic: {topic}, Payload: {formattedPayload}");
+        }
+
+
+        private void RotateLogFile(string logFilePath, string logDirectory)
+        {
+            const long maxFileSize = 10 * 1024 * 1024; // 10 MB in bytes
+
+            FileInfo fileInfo = new FileInfo(logFilePath);
+            if (fileInfo.Exists && fileInfo.Length > maxFileSize)
+            {
+                string archivePath = Path.Combine(logDirectory, $"log_{DateTime.Now:yyyy-MM-dd_HH-mm-ss}.log");
+
+                try
+                {
+                    File.Move(logFilePath, archivePath); // Rename the current log file
+                    Console.WriteLine($"Log file rotated: {archivePath}");
+                }
+                catch (Exception ex)
+                {
+                    Console.WriteLine($"Error rotating log file: {ex.Message}");
+                }
+            }
+        }
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Messages/connectionMessage.cs

@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Messages
+{
+    public class connectionMessage
+    {
+        public int headerId;
+        public DateTime timestamp;
+        public string version = "";
+        public string manufacturer = "";
+        public string serialNumber = "";
+        public string connectionState = "";  // Enum: {'ONLINE', 'OFFLINE', 'CONNECTIONBROKEN'}
+        
+    }
+
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Messages/errorMessage.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Messages
+{
+    public class errorMessage
+    {
+        public string serialNumber = "";
+        public string errorCode = "";  // Unique error code
+        public string description = "";  // Error description
+        public string severity = "";  // Enum {'WARNING', 'FATAL'}
+        public DateTime timestamp;  // Time of the error
+    }
+
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Messages/factsheetMessage.cs

@@ -0,0 +1,23 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using CommonUsage.Protocols.VDA5050.Objects;
+
+namespace CommonUsage.Protocols.VDA5050.Messages
+{
+    public class factsheetMessage
+    {
+        public int headerId;
+        public DateTime timestamp;
+        public string version = "";
+        public string manufacturer = "";
+        public string serialNumber = "";
+
+        public typeSpecification typeSpecification;
+        public physicalParameters physicalParameters;
+        public protocolLimits protocolLimits;
+        public protocolFeatures protocolFeatures;
+        public agvGeometry agvGeometry;
+    }
+
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Messages/instanceAction.cs

@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using CommonUsage.Protocols.VDA5050.Objects;
+
+namespace CommonUsage.Protocols.VDA5050.Messages
+{
+    public class instanceAction
+    {
+
+        public uint headerId { get; set; } // Incremented for each new message.
+        public string timestamp { get; set; } // ISO 8601 UTC timestamp.
+        public string version { get; set; } // Protocol version.
+        public string manufacturer { get; set; } // AGV manufacturer.
+        public string serialNumber { get; set; } // Unique AGV serial number.
+
+        public List<actionState> actions { get; set; }
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Messages/orderMessage.cs

@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using CommonUsage.Protocols.VDA5050.Objects;
+
+namespace CommonUsage.Protocols.VDA5050.Messages
+{
+    public class orderMessage
+    {
+        public uint headerId;
+        public string timestamp = "";
+        public string version = "";
+        public string manufacturer = "";
+        public string serialNumber = "";
+
+        public string orderId { get; set; }
+
+        public uint orderUpdateId { get; set; }
+
+        public node[] nodes { get; set; }
+
+        public edge[] edges { get; set; }
+
+        //public action[] action { get; set; }
+    }
+}
+

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Messages/stateMessage.cs

@@ -0,0 +1,69 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using CommonUsage.Protocols.VDA5050.Objects;
+
+namespace CommonUsage.Protocols.VDA5050.Messages
+{
+    /// <summary>
+    /// 6.10 Topic: "state" (from AGV to master control)
+    /// todo: complete all fields required by VDA5050
+    /// </summary>
+    public class stateMessage
+    {
+        public uint headerId;
+        public string timestamp = "";
+        public string version = "";
+        public string manufacturer = "";
+        public string serialNumber = "";
+        /// <summary>
+        /// Unique order identification of the current order or the previously finished order.
+        /// The orderId is kept until a new order is received.
+        /// Empty string (""), if no previous orderId is available.
+        /// </summary>
+        public string orderId = "";
+
+        /// <summary>
+        /// Order update identification to identify, that an order update has been accepted by the AGV.
+        /// "0" if no previous orderUpdateId is available.
+        /// </summary>
+        public uint orderUpdatedId = 0;
+
+        public string lastNodeId;
+
+        public uint lastNodeSequenceId;
+
+        /// <summary>
+        /// Array of nodeState objects that need to be traversed for fulfilling the order (empty array if idle)
+        /// </summary>
+        public nodeState[] nodeStates = [];
+
+        /// <summary>
+        /// Array of edgeState objects that need to be traversed for fulfilling the order (empty array if idle)
+        /// </summary>
+        public edgeState[] edgeStates = [];
+
+        public agvPosition agvPosition;
+
+        public velocity velocity;
+        public load[] loads = [];
+
+        public bool driving;
+
+        public bool paused;
+
+        public bool newBaseRequest;
+
+        public double distanceSinceLastNode;
+
+        public batteryState batteryState;
+
+        public actionState[] actionStates = Array.Empty<actionState>();
+        public string operatingMode = "";
+        public List<errorState> errors { get; set; } = new List<errorState>(); // Array of errorState objects
+
+        public info[] information = [];
+        public safetyState safetyState;
+
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Messages/visualizationMessage.cs

@@ -0,0 +1,12 @@
+using CommonUsage.Protocols.VDA5050.Objects;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Messages
+{
+    public class visualizationMessage
+    {
+        public agvPosition agvPosition;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/action.cs

@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class action
+    {
+
+        public string actionId { get; set; }
+
+        public string actionType { get; set; }
+        public string actionDescription { get; set; }
+
+        public string blockingType { get; set; }
+
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/actionState.cs

@@ -0,0 +1,45 @@
+using Newtonsoft.Json.Converters;
+using Newtonsoft.Json;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class actionState
+    {
+        public actionState(action action,ActionStateEnum state)
+        {
+            actionId = action.actionId;
+            actionDescription = action.actionDescription;
+            actionType = action.actionType;
+            actionStatus = state;
+        }
+
+        public actionState()
+        {
+        }
+
+        public string actionId { get; set; }
+
+        public string actionType { get; set; }
+        public string actionDescription { get; set; }
+
+        [JsonConverter(typeof(StringEnumConverter))]
+        public ActionStateEnum actionStatus { get; set; }
+
+        public string resultDescription { get; set; }
+
+        public enum ActionStateEnum
+        {
+            WAITING,
+            INITIALIZING,
+            RUNNING,
+            PAUSED,
+            FINISHED,
+            FAILED
+        }
+
+    }
+
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/agvGeometry.cs

@@ -0,0 +1,63 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using static CommonUsage.Protocols.VDA5050.Objects.agvGeometry;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class agvGeometry
+    {
+        // Wheel Definitions
+        public List<wheelDefinition> wheelDefinitions { get; set; } = new List<wheelDefinition>();
+
+        // 2D Envelopes
+        public List<envelope2D> envelopes2D { get; set; } = new List<envelope2D>();
+
+        // 3D Envelopes
+        public List<envelope3D> envelopes3D { get; set; } = new List<envelope3D>();
+
+        public class wheelDefinition
+        {
+            public enum WheelType { DRIVE, CASTER, FIXED, MECANUM }
+
+            public WheelType type { get; set; }
+            public bool isActiveDriven { get; set; }
+            public bool isActiveSteered { get; set; }
+
+            // Wheel Position
+            public double positionX { get; set; }
+            public double positionY { get; set; }
+            public double positionTheta { get; set; }  // Required for fixed wheels
+
+            // Wheel Properties
+            public double diameter { get; set; }
+            public double width { get; set; }
+            public double centerDisplacement { get; set; } = 0;  // Default to 0 if not defined
+            public string constraints { get; set; }
+        }
+
+        public class envelope2D
+        {
+            public string set { get; set; }
+            public List<polygonPoint> polygonPoints { get; set; } = new List<polygonPoint>();
+            public string description { get; set; }
+
+            public class polygonPoint
+            {
+                public double x { get; set; }
+                public double y { get; set; }
+            }
+        }
+
+        public class envelope3D
+        {
+            public string set { get; set; }
+            public string format { get; set; }
+            public object data { get; set; }  // JSON object for 3D envelope data
+            public string url { get; set; }
+            public string description { get; set; }
+        }
+    }
+
+}
+

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/agvPosition.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class agvPosition
+    {
+        public bool positionInitialized;
+
+        public double x;
+
+        public double y;
+
+        public double theta;
+        public double localizationScore;
+        public double deviationRange;
+        public string mapId = "";
+        public string mapDescription = "";
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/batteryState.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class batteryState
+    {
+        public double batteryCharge;
+        public double batteryVoltage;
+        public double batteryHealth;
+        public bool charging;
+        public int reach;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/boundingBoxReference.cs

@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class boundingBoxReference
+    {
+        public double X { get; set; } // Reference point X in AGV coordinate system
+        public double Y { get; set; } // Reference point Y in AGV coordinate system
+        public double Z { get; set; } // Reference point Z in AGV coordinate system
+        public double Theta { get; set; } // Orientation of the load bounding box
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/controlPoint.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class controlPoint
+    {
+        public float x;
+
+        public float y;
+
+        public float weight;
+        public controlPoint(float x, float y, float weight)
+        {
+            this.x = x;
+            this.y = y;
+            this.weight = weight;
+        }
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/edge.cs

@@ -0,0 +1,31 @@
+using System;
+using System.Collections.Generic;
+using System.Numerics;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class edge : sequenceItem
+    {
+        public string edgeId;
+
+        public string edgeDescription;
+
+        public string startNodeId;
+
+        public string endNodeId;
+
+        public double maxSpeed;
+
+        public double orientation;
+
+        public trajectory? trajectory;
+
+        public float[] trackTypeInfo;
+        // public List<Vector2> controlPoints;
+        //
+        // public List<float> weights;
+
+        public action[] action = [];
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/edgeState.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class edgeState : sequenceItem
+    {
+        public string edgeId;
+
+        public string edgeDescription;
+
+        public trajectory trajectory;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/errorReference.cs

@@ -0,0 +1,12 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class errorReference
+    {
+        public string referenceKey { get; set; } // Type of reference (e.g., nodeId, edgeId, actionId)
+        public string referenceValue { get; set; } // Value corresponding to the referenceKey
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/errorState.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class errorState
+    {
+        public List<errorReference> errorReferences { get; set; } = new List<errorReference>(); // Array of references
+        public string errorType { get; set; } // Required: Type/name of the error
+        public string errorDescription { get; set; } // Verbose description of the error
+        public string errorHint { get; set; } // Hint for resolving the error
+        public string errorLevel { get; set; } // Required: WARNING or FATAL
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/info.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class info
+    {
+        public string infoType { get; set; } // Type/name of the information
+        public List<infoReference> infoReferences { get; set; } = new List<infoReference>(); // List of references
+        public string infoDescription { get; set; } // Description of the information
+        public infoLevelEnum infoLevel { get; set; } // Debugging or visualization level
+
+        public class infoReference
+        {
+            public string ReferenceKey { get; set; } // Reference type (e.g., headerId, orderId)
+            public string ReferenceValue { get; set; } // The actual referenced field value
+        }
+
+        public enum infoLevelEnum
+        {
+            DEBUG, // Used for debugging
+            INFO   // Used for visualization
+        }
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/load.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class load
+    {
+        public string loadId { get; set; } // Unique ID (barcode, RFID, etc.)
+        public string loadType { get; set; } // Type of load
+        public string loadPosition { get; set; } // Load handling position (e.g., "front", "back")
+        public boundingBoxReference boundingBoxReference { get; set; } = new boundingBoxReference();
+        public loadDimensions loadDimensions { get; set; } = new loadDimensions();
+        public double weight { get; set; } // Weight of load in kg (0.0 to ∞)  
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/loadDimensions.cs

@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class loadDimensions
+    {
+        public double Length { get; set; } // Length of the bounding box
+        public double Width { get; set; } // Width of the bounding box
+        public double Height { get; set; } // Height of the bounding box (optional)
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/node.cs

@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class node : sequenceItem
+    {
+        public string nodeId;
+
+        public string nodeDescription;
+
+        public nodePosition nodePosition;
+
+        public action[] actions = [];
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/nodePosition.cs

@@ -0,0 +1,36 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    /// <summary>
+    /// Defines the position on a map in a global project-specific world coordinate system.
+    /// Each floor has its own map.
+    /// All maps shall use the same project-specific global origin.
+    /// </summary>
+    public class nodePosition
+    {
+        /// <summary>
+        /// X-position on the map in reference to the map coordinate system.
+        /// Precision is up to the specific implementation.
+        /// </summary>
+        public double x;
+
+        /// <summary>
+        /// Y-position on the map in reference to the map coordinate system.
+        /// Precision is up to the specific implementation.
+        /// </summary>
+        public double y;
+
+        /// <summary>
+        /// Range: [-Pi ... Pi]
+        /// Absolute orientation of the AGV on the node.
+        /// Optional: vehicle can plan the path by itself. If defined, the AGV has to assume the theta angle on this node.
+        /// If previous edge disallows rotation, the AGV shall rotate on the node.
+        /// If following edge has a differing orientation defined but disallows rotation,
+        /// the AGV is to rotate on the node to the edges desired rotation before entering the edge.
+        /// </summary>
+        public double theta;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/nodeState.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class nodeState : sequenceItem
+    {
+        /// <summary>
+        /// Unique node identification.
+        /// </summary>
+        public string nodeId;
+
+        /// <summary>
+        /// Additional information on the node.
+        /// </summary>
+        public string nodeDescription;
+
+        /// <summary>
+        /// Node position.
+        /// The object is defined in 6.6 Topic: "order" (from master control to AGV)
+        /// Optional: Master control has this information. Can be sent additionally, e.g., for debugging purposes.
+        /// </summary>
+        public nodePosition nodePosition;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/physicalParameters.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class physicalParameters
+    {
+        public double speedMin;
+        public double speedMax;
+        public double angularSpeedMin;
+        public double angularSpeedMax;
+        public double accelerationMax;
+        public double decelerationMax;
+        public double heightMin;
+        public double heightMax;
+        public double width;
+        public double length;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/protocolFeatures.cs

@@ -0,0 +1,10 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class protocolFeatures
+    {
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/protocolLimits.cs

@@ -0,0 +1,10 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class protocolLimits
+    {
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/safetyState.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class safetyState
+    {
+        public eStopEnum eStop { get; set; } // Emergency stop status
+        public bool fieldViolation { get; set; } // "true" if a safety field is violated, "false" otherwise
+
+        public enum eStopEnum
+        {
+            AUTOACK, // Auto-acknowledged emergency stop (e.g., triggered by a bumper)
+            MANUAL,  // Manually confirmed emergency stop
+            REMOTE,  // Remote-confirmed emergency stop
+            NONE     // No emergency stop activated
+        }
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/sequenceItem.cs

@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class sequenceItem
+    {
+        public uint sequenceId;
+
+        public bool released;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/trajectory.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class trajectory
+    {
+        public float degree;
+
+        public float[] knotVector;
+
+        public controlPoint[] controlPoints;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/typeSpecification.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class typeSpecification
+    {
+        public string agvKinemantic = "";
+        public string agvClass = "";
+        public double maxLoadMass;
+        public string[] localizationTypes; // Simplified description of localization type (e.g., NATURAL, REFLECTOR, RFID, DMC, GRID)
+        public string[] navigationTypes;  // Path planning types (e.g., 'AUTONOMOUS', 'VIRTUAL_LINE_GUIDED')
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/Objects/velocity.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050.Objects
+{
+    public class velocity
+    {
+        public double vx;
+
+        public double vy;
+
+        public double omega;
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/VDA5050Basic.cs

@@ -0,0 +1,118 @@
+//using CommonUsage.Protocols.VDA5050.Messages;
+//using System;
+//using System.Collections.Generic;
+//using System.Net.Http.Headers;
+//using System.Runtime.CompilerServices;
+//using System.Text;
+//using System.Threading;
+//using System.Threading.Tasks;
+//using CommonUsage.Protocols.VDA5050.Objects;
+//using ClumsyCore.Utilities;
+//using System.Linq;
+//using ClumsyCore.Pilot;
+//using System.Numerics;
+
+//namespace CommonUsage.Protocols.VDA5050
+//{
+//    public abstract class VDA5050Basic
+//    {
+//        protected static IVDACommunicationProtocol _communicationProtocol;
+
+//        public void Enable(IVDACommunicationProtocol protocol)
+//        {
+//            _communicationProtocol = protocol;
+//            Task.Run(() => ManageConnection());
+//            StartVisualizationLoop();
+//        }
+//        private void StartVisualizationLoop()
+//        {
+//            Console.WriteLine("Visualization in CommonUsage");
+//            new Thread(async () =>
+//                {
+//                    while (true)
+//                    {
+//                        var position = GetAGVPosition();
+//                        if (position != null)
+//                        {
+//                            var msg = new stateMessage()
+//                            {
+//                                serialNumber = "test-01",
+//                                agvPosition = new()
+//                                {
+//                                    x = position.Value.X,
+//                                    y = position.Value.Y,
+//                                    theta = position.Value.Theta,
+//                                    positionInitialized = true
+//                                }
+
+//                            };
+//                            await _communicationProtocol.SendMessageAsync(msg, "vda5050/frldAGV/visualization");
+//                        }
+
+//                        Thread.Sleep(100);
+//                    }
+//                })
+//            { Name = "VDA5050TopicVisualization" }.Start();
+//        }
+
+//        private void ManageConnection()
+//        {
+//            while (true)
+//            {
+//                var status = CheckConnectionStatus() ? "ONLINE" : "OFFLINE";
+//                _communicationProtocol.PublishConnectionStatus(status);
+//                Thread.Sleep(1000);
+//            }
+//        }
+
+//        protected List<sequenceItem> OrganizeReceivedSequence(orderMessage order)
+//        {
+//            List<sequenceItem> receivedSequence = new();
+
+//            int ii = 0, jj = 0;
+//            while (true)
+//            {
+//                var edge = order.edges[ii];
+//                var node = order.nodes[jj];
+//                var takeEdge = edge.sequenceId < node.sequenceId;
+
+//                if (takeEdge)
+//                {
+//                    receivedSequence.Add(edge);
+//                    ii++;
+//                    if (ii == order.edges.Length) break;
+//                }
+//                else
+//                {
+//                    receivedSequence.Add(node);
+//                    jj++;
+//                    if (jj == order.nodes.Length) break;
+//                }
+//            }
+//            for (var i = ii; i < order.edges.Length; ++i) receivedSequence.Add(order.edges[i]);
+//            for (var j = jj; j < order.nodes.Length; ++j) receivedSequence.Add(order.nodes[j]);
+
+//            for (var i = 1; i < receivedSequence.Count; i++)
+//            {
+//                if (receivedSequence[i - 1].sequenceId + 1 != receivedSequence[i].sequenceId)
+//                    throw new Exception("stateMessage not continuous!");
+//            }
+
+//            return receivedSequence;
+//        }
+
+//        public virtual bool CheckConnectionStatus()
+//        {
+//            return false;
+//        }
+
+//        protected abstract Vector3? GetAGVPosition();
+//        public struct Vector3
+//        {
+//            public double X;
+//            public double Y;
+//            public double Theta;
+//        }
+//    }
+
+//}

CommonUsage-MultiVehicleSync/commonusage/Protocols/VDA5050/VDA5050Helper.cs

@@ -0,0 +1,11 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace CommonUsage.Protocols.VDA5050
+{
+    public class VDA5050Helper
+    {
+
+    }
+}

CommonUsage-MultiVehicleSync/commonusage/Visualizer.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Numerics;
+using System.Text;
+
+namespace CommonUsage
+{
+    public class Visualizer
+    {
+        public Action<Color, Vector2, Vector2, bool, bool, int> LineAction;
+
+        public Action<Color, string, Vector2> TextAction;
+
+        public Action Clear;
+
+        public void DrawLine(Color color, Vector2 src, Vector2 dst, bool startArrow = false, bool endArrow = false,
+            int width = 1)
+        {
+            LineAction?.Invoke(color, src, dst, startArrow, endArrow, width);
+        }
+
+        public void DrawText(Color color, string text, Vector2 pos)
+        {
+            TextAction?.Invoke(color, text, pos);
+        }
+    }
+}

MedullaAdapter/MedullaAdapter.csproj

@@ -27,11 +27,6 @@
       <Private>false</Private>
     </Reference>
 
-    <Reference Include="CommonUsage">
-      <HintPath>ref\CommonUsage.dll</HintPath>
-      <Private>false</Private>
-    </Reference>
-
     <Reference Include="MDCSToolBox">
       <HintPath>ref\MDCSToolBox.dll</HintPath>
       <Private>false</Private>
@@ -41,6 +36,9 @@
       <HintPath>ref\CycleGUI.dll</HintPath>
       <Private>false</Private>
     </Reference>
+    <Reference Include="CommonUsage">
+      <HintPath>..\ref\CommonUsage.dll</HintPath>
+    </Reference>
   </ItemGroup>
 
   <ItemGroup>

MedullaAdapter/build/Medulla/plugins/MedullaAdapter.deps.json

@@ -7,9 +7,20 @@
   "targets": {
     ".NETCoreApp,Version=v8.0": {
       "MedullaAdapter/1.0.0": {
+        "dependencies": {
+          "CommonUsage": "1.0.0.0"
+        },
         "runtime": {
           "MedullaAdapter.dll": {}
         }
+      },
+      "CommonUsage/1.0.0.0": {
+        "runtime": {
+          "CommonUsage.dll": {
+            "assemblyVersion": "1.0.0.0",
+            "fileVersion": "1.0.0.0"
+          }
+        }
       }
     }
   },
@@ -18,6 +29,11 @@
       "type": "project",
       "serviceable": false,
       "sha512": ""
+    },
+    "CommonUsage/1.0.0.0": {
+      "type": "reference",
+      "serviceable": false,
+      "sha512": ""
     }
   }
 }

Shared/MultiWheelChassisAdapter.cs

@@ -119,6 +119,10 @@ namespace MyParking.Shared
             // 禁用旧版DirectionAngle/ZeroDirection坐标偏置，
             // 保证SendXYThSpeed直接使用真实车体坐标系。
             ResetToBodyFrame();
+
+            // 停车机器人优先保持当前机械舵角，通过反转轮速表达反向运动，
+            // 避免蟹行正反切换时四个舵轮无意义地旋转180°。
+            _chassis.PreferMinimumSteeringTravel = true;
         }
 
 

data_process/plot_angular_command.py

@@ -0,0 +1,100 @@
+"""绘制控制器下发角速度命令曲线。"""
+
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+import matplotlib
+matplotlib.use("Agg")
+import matplotlib.pyplot as plt
+import numpy as np
+
+from plot_trajectory_comparison import (
+    configure_matplotlib,
+    discover_csv_files,
+    load_and_resample,
+    output_path,
+    shade_localization_jump_windows,
+)
+
+
+def plot_angular_command(
+    csv_path: Path,
+    frequency_hz: float,
+    filter_window_seconds: float,
+    output_directory: str | None,
+    show: bool,
+) -> Path:
+    """生成单份CSV的命令角速度曲线。"""
+    frame, metadata = load_and_resample(
+        csv_path,
+        frequency_hz,
+        filter_window_seconds,
+    )
+    time = frame["TimeSeconds"].to_numpy(dtype=float)
+    angular_command = frame[
+        "CommandAngularSpeedDegPerSec"
+    ].to_numpy(dtype=float)
+    maximum = float(np.max(angular_command))
+    minimum = float(np.min(angular_command))
+
+    fig, ax = plt.subplots(figsize=(10.0, 5.5))
+    ax.plot(
+        time,
+        angular_command,
+        color="tab:red",
+        linewidth=1.6,
+        label="CommandAngularSpeed",
+    )
+    ax.axhline(0.0, color="black", linewidth=0.8)
+    shade_localization_jump_windows(ax, metadata)
+    ax.set_xlabel("时间 / s")
+    ax.set_ylabel("命令角速度 / (°/s)")
+    ax.set_title(
+        f"角速度指令曲线\n"
+        f"{metadata['controller_name']} - "
+        f"{metadata['trajectory_name']}，"
+        f"范围=[{minimum:.3f}, {maximum:.3f}]°/s"
+    )
+    ax.grid(True, alpha=0.3)
+    ax.legend()
+    fig.tight_layout()
+
+    destination = output_path(
+        csv_path,
+        output_directory,
+        "angular_command",
+    )
+    fig.savefig(destination, dpi=300, bbox_inches="tight")
+    if show:
+        plt.show()
+    plt.close(fig)
+    return destination
+
+
+def main() -> None:
+    configure_matplotlib()
+    parser = argparse.ArgumentParser(
+        description="绘制控制器下发角速度命令曲线。"
+    )
+    parser.add_argument("files", nargs="*", help="一个或多个CSV文件")
+    parser.add_argument("--frequency", type=float, default=20.0)
+    parser.add_argument("--window", type=float, default=0.55)
+    parser.add_argument("--output-dir")
+    parser.add_argument("--show", action="store_true")
+    args = parser.parse_args()
+
+    for csv_path in discover_csv_files(args.files):
+        destination = plot_angular_command(
+            csv_path,
+            args.frequency,
+            args.window,
+            args.output_dir,
+            args.show,
+        )
+        print(f"已生成：{destination}")
+
+
+if __name__ == "__main__":
+    main()

data_process/plot_speed_response.py

@@ -0,0 +1,177 @@
+"""绘制控制器参考速度与Detour差分实际速度对比图。"""
+
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+import matplotlib
+matplotlib.use("Agg")
+import matplotlib.pyplot as plt
+import numpy as np
+
+from plot_trajectory_comparison import (
+    configure_matplotlib,
+    discover_csv_files,
+    load_and_resample,
+    output_path,
+    segmented_savgol,
+    shade_localization_jump_windows,
+)
+
+
+def calculate_actual_speed_mps(
+    frame,
+    filter_window_seconds: float,
+) -> np.ndarray:
+    """使用Savitzky-Golay求位置导数并计算Detour实际合速度。"""
+    time = frame["TimeSeconds"].to_numpy(dtype=float)
+    dt = float(np.median(np.diff(time)))
+    # 直接对固定频率重采样后的位置做SG求导，避免“先平滑再求导”
+    # 造成两次滤波和过度削弱速度峰值。
+    x_mm = frame["DetourXRawMm"].to_numpy(dtype=float)
+    y_mm = frame["DetourYRawMm"].to_numpy(dtype=float)
+    vx_mm_per_second = segmented_savgol(
+        x_mm,
+        dt,
+        filter_window_seconds,
+        derivative=1,
+    )
+    vy_mm_per_second = segmented_savgol(
+        y_mm,
+        dt,
+        filter_window_seconds,
+        derivative=1,
+    )
+
+    speed = np.hypot(
+        vx_mm_per_second,
+        vy_mm_per_second,
+    ) / 1000.0
+    speed[
+        frame["InvalidNearLocalizationJump"].to_numpy(dtype=bool)
+    ] = np.nan
+    return speed
+
+
+def plot_speed(
+    csv_path: Path,
+    frequency_hz: float,
+    filter_window_seconds: float,
+    output_directory: str | None,
+    show: bool,
+) -> Path:
+    """生成单份CSV的参考/实际速度响应图。"""
+    frame, metadata = load_and_resample(
+        csv_path,
+        frequency_hz,
+        filter_window_seconds,
+    )
+    time = frame["TimeSeconds"].to_numpy(dtype=float)
+    command_speed = frame["CommandSpeedMps"].to_numpy(dtype=float)
+    actual_speed = calculate_actual_speed_mps(
+        frame,
+        filter_window_seconds,
+    )
+    is_in_place_rotation = (
+        str(metadata["trajectory_name"])
+        .lower()
+        .startswith("rotate")
+    )
+    # 原地自转CSV中的ReferenceSpeed历史上保存的是角速度上限deg/s，
+    # 不能作为线速度m/s使用；其参考线速度应为0。
+    configured_speed = (
+        0.0
+        if is_in_place_rotation
+        else float(metadata["reference_speed_mps"])
+    )
+
+    moving = (
+        (command_speed > max(0.02, configured_speed * 0.1)) &
+        np.isfinite(actual_speed)
+    )
+    if np.any(moving):
+        speed_rmse = float(
+            np.sqrt(
+                np.mean(
+                    (actual_speed[moving] - command_speed[moving]) ** 2
+                )
+            )
+        )
+    else:
+        speed_rmse = float("nan")
+
+    fig, ax = plt.subplots(figsize=(10.0, 5.8))
+    ax.plot(
+        time,
+        command_speed,
+        linewidth=1.8,
+        label="控制器参考/下发线速度",
+    )
+    ax.plot(
+        time,
+        actual_speed,
+        linewidth=1.5,
+        label="Detour差分实际线速度（SG求导）",
+    )
+    ax.axhline(
+        configured_speed,
+        linestyle=":",
+        linewidth=1.3,
+        color="tab:green",
+        label=(
+            "原地自转参考线速度 0 m/s"
+            if is_in_place_rotation
+            else f"配置巡航速度 {configured_speed:.3f} m/s"
+        ),
+    )
+    shade_localization_jump_windows(ax, metadata)
+    ax.set_xlabel("时间 / s")
+    ax.set_ylabel("线速度 / (m/s)")
+    ax.set_title(
+        f"参考速度与实际速度对比\n"
+        f"{metadata['controller_name']} - "
+        f"{metadata['trajectory_name']}，"
+        f"运动段RMSE={speed_rmse:.4f} m/s"
+    )
+    ax.grid(True, alpha=0.3)
+    ax.legend()
+    fig.tight_layout()
+
+    destination = output_path(
+        csv_path,
+        output_directory,
+        "speed_response",
+    )
+    fig.savefig(destination, dpi=300, bbox_inches="tight")
+    if show:
+        plt.show()
+    plt.close(fig)
+    return destination
+
+
+def main() -> None:
+    configure_matplotlib()
+    parser = argparse.ArgumentParser(
+        description="绘制参考速度与Detour差分实际速度对比图。"
+    )
+    parser.add_argument("files", nargs="*", help="一个或多个CSV文件")
+    parser.add_argument("--frequency", type=float, default=20.0)
+    parser.add_argument("--window", type=float, default=0.55)
+    parser.add_argument("--output-dir")
+    parser.add_argument("--show", action="store_true")
+    args = parser.parse_args()
+
+    for csv_path in discover_csv_files(args.files):
+        destination = plot_speed(
+            csv_path,
+            args.frequency,
+            args.window,
+            args.output_dir,
+            args.show,
+        )
+        print(f"已生成：{destination}")
+
+
+if __name__ == "__main__":
+    main()

data_process/plot_tracking_errors.py

@@ -0,0 +1,172 @@
+"""绘制横向误差和航向误差随时间变化图。"""
+
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+import matplotlib
+matplotlib.use("Agg")
+import matplotlib.pyplot as plt
+import numpy as np
+
+from plot_trajectory_comparison import (
+    build_reference,
+    configure_matplotlib,
+    discover_csv_files,
+    load_and_resample,
+    output_path,
+    shade_localization_jump_windows,
+)
+
+
+def plot_errors(
+    csv_path: Path,
+    frequency_hz: float,
+    filter_window_seconds: float,
+    output_directory: str | None,
+    show: bool,
+) -> Path:
+    """生成单份CSV的横向/航向误差图。"""
+    frame, metadata = load_and_resample(
+        csv_path,
+        frequency_hz,
+        filter_window_seconds,
+    )
+    reference = build_reference(frame, metadata)
+    time = frame["TimeSeconds"].to_numpy()
+    lateral = np.asarray(reference["lateral_error_mm"])
+    heading = np.asarray(reference["heading_error_degrees"])
+    invalid = frame[
+        "InvalidNearLocalizationJump"
+    ].to_numpy(dtype=bool)
+    lateral_for_statistics = lateral.copy()
+    heading_for_statistics = heading.copy()
+    lateral_for_statistics[invalid] = np.nan
+    heading_for_statistics[invalid] = np.nan
+
+    lateral_rmse = float(
+        np.sqrt(np.nanmean(lateral_for_statistics**2))
+    )
+    heading_rmse = float(
+        np.sqrt(np.nanmean(heading_for_statistics**2))
+    )
+    lateral_max = float(
+        np.nanmax(np.abs(lateral_for_statistics))
+    )
+    heading_max = float(
+        np.nanmax(np.abs(heading_for_statistics))
+    )
+    is_in_place_rotation = (
+        reference["kind"] == "in_place_rotation"
+    )
+
+    fig, axes = plt.subplots(
+        2,
+        1,
+        figsize=(10.0, 7.0),
+        sharex=True,
+    )
+    axes[0].plot(time, lateral, linewidth=1.5)
+    axes[0].axhline(0.0, color="black", linewidth=0.8)
+    if is_in_place_rotation:
+        axes[0].set_ylabel("旋转中心位置漂移 / mm")
+        axes[0].set_title(
+            f"原地自转位置漂移：RMS={lateral_rmse:.2f} mm，"
+            f"最大值={lateral_max:.2f} mm"
+        )
+    else:
+        axes[0].set_ylabel("横向误差 / mm")
+        axes[0].set_title(
+            f"横向误差：RMSE={lateral_rmse:.2f} mm，"
+            f"最大绝对值={lateral_max:.2f} mm"
+        )
+    shade_localization_jump_windows(axes[0], metadata)
+    axes[0].grid(True, alpha=0.3)
+
+    axes[1].plot(
+        time,
+        heading,
+        color="tab:orange",
+        linewidth=1.5,
+    )
+    axes[1].axhline(0.0, color="black", linewidth=0.8)
+    axes[1].set_xlabel("时间 / s")
+    axes[1].set_ylabel(
+        "目标角度剩余误差 / °"
+        if is_in_place_rotation
+        else "航向误差 / °"
+    )
+    axes[1].set_title(
+        (
+            f"目标角度剩余误差：RMSE={heading_rmse:.2f}°，"
+            f"最大绝对值={heading_max:.2f}°"
+        )
+        if is_in_place_rotation
+        else (
+            f"航向误差：RMSE={heading_rmse:.2f}°，"
+            f"最大绝对值={heading_max:.2f}°"
+        )
+    )
+    shade_localization_jump_windows(axes[1], metadata)
+    axes[1].grid(True, alpha=0.3)
+    if metadata["localization_jump_events"]:
+        axes[1].legend(loc="best")
+
+    fig.suptitle(
+        f"横向/航向误差随时间变化\n"
+        f"{metadata['controller_name']} - "
+        f"{metadata['trajectory_name']}"
+    )
+    fig.tight_layout()
+
+    destination = output_path(
+        csv_path,
+        output_directory,
+        "tracking_errors",
+    )
+    fig.savefig(destination, dpi=300, bbox_inches="tight")
+    if show:
+        plt.show()
+    plt.close(fig)
+
+    if is_in_place_rotation:
+        print(
+            f"{csv_path.name}: position drift RMS="
+            f"{lateral_rmse:.3f} mm, "
+            f"target-angle error RMS={heading_rmse:.3f} deg"
+        )
+    else:
+        print(
+            f"{csv_path.name}: lateral RMSE="
+            f"{lateral_rmse:.3f} mm, "
+            f"heading RMSE={heading_rmse:.3f} deg"
+        )
+    return destination
+
+
+def main() -> None:
+    configure_matplotlib()
+    parser = argparse.ArgumentParser(
+        description="绘制横向误差和航向误差随时间变化图。"
+    )
+    parser.add_argument("files", nargs="*", help="一个或多个CSV文件")
+    parser.add_argument("--frequency", type=float, default=20.0)
+    parser.add_argument("--window", type=float, default=0.55)
+    parser.add_argument("--output-dir")
+    parser.add_argument("--show", action="store_true")
+    args = parser.parse_args()
+
+    for csv_path in discover_csv_files(args.files):
+        destination = plot_errors(
+            csv_path,
+            args.frequency,
+            args.window,
+            args.output_dir,
+            args.show,
+        )
+        print(f"已生成：{destination}")
+
+
+if __name__ == "__main__":
+    main()

data_process/plot_trajectory_comparison.py

@@ -0,0 +1,706 @@
+"""绘制理想轨迹与Detour实际轨迹对比图。
+
+不传CSV路径时，默认处理本脚本目录下的全部CSV文件。
+本文件也提供其余三个绘图脚本共用的数据预处理函数。
+"""
+
+from __future__ import annotations
+
+import argparse
+import re
+from pathlib import Path
+from typing import Any
+
+import matplotlib
+matplotlib.use("Agg")
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+from scipy.signal import savgol_filter
+
+
+SCRIPT_DIR = Path(__file__).resolve().parent
+REQUIRED_COLUMNS = {
+    "ElapsedSeconds",
+    "TrajectoryName",
+    "DetourX",
+    "DetourY",
+    "DetourTheta",
+    "CommandSpeed",
+    "CommandAngularSpeed",
+    "ReferenceStartX",
+    "ReferenceStartY",
+    "ReferenceEndX",
+    "ReferenceEndY",
+    "ReferenceSpeed",
+}
+
+
+def configure_matplotlib() -> None:
+    """配置中文字体和图片输出风格。"""
+    matplotlib.rcParams["font.sans-serif"] = [
+        "Microsoft YaHei",
+        "SimHei",
+        "Arial Unicode MS",
+        "DejaVu Sans",
+    ]
+    matplotlib.rcParams["axes.unicode_minus"] = False
+    matplotlib.rcParams["figure.dpi"] = 120
+
+
+def _odd_window_length(
+    sample_count: int,
+    sample_interval: float,
+    window_seconds: float,
+    polynomial_order: int = 2,
+) -> int | None:
+    """计算不超过数据长度的Savitzky-Golay奇数窗口。"""
+    requested = max(
+        polynomial_order + 2,
+        int(round(window_seconds / sample_interval)),
+    )
+    if requested % 2 == 0:
+        requested += 1
+
+    maximum = sample_count if sample_count % 2 == 1 else sample_count - 1
+    window = min(requested, maximum)
+    minimum = polynomial_order + 2
+    if minimum % 2 == 0:
+        minimum += 1
+
+    return window if window >= minimum else None
+
+
+def wrap_degrees(angle_degrees: np.ndarray) -> np.ndarray:
+    """将角度差归一化到[-180°, 180°)。"""
+    return (angle_degrees + 180.0) % 360.0 - 180.0
+
+
+def segmented_savgol(
+    values: np.ndarray,
+    sample_interval: float,
+    window_seconds: float,
+    derivative: int = 0,
+    polynomial_order: int = 2,
+) -> np.ndarray:
+    """对含NaN断点的数据逐段执行SG滤波或求导。"""
+    values = np.asarray(values, dtype=float)
+    result = np.full_like(values, np.nan)
+    finite_indices = np.flatnonzero(np.isfinite(values))
+    if finite_indices.size == 0:
+        return result
+
+    breaks = np.flatnonzero(np.diff(finite_indices) > 1)
+    starts = np.r_[0, breaks + 1]
+    ends = np.r_[breaks + 1, finite_indices.size]
+
+    for start_index, end_index in zip(starts, ends):
+        indices = finite_indices[start_index:end_index]
+        segment = values[indices]
+        window = _odd_window_length(
+            len(segment),
+            sample_interval,
+            window_seconds,
+            polynomial_order,
+        )
+        if window is not None:
+            result[indices] = savgol_filter(
+                segment,
+                window,
+                polynomial_order,
+                deriv=derivative,
+                delta=sample_interval,
+                mode="interp",
+            )
+        elif derivative == 0:
+            result[indices] = segment
+        elif len(segment) >= 2:
+            result[indices] = np.gradient(segment, sample_interval)
+
+    return result
+
+
+def shade_localization_jump_windows(
+    axis,
+    metadata: dict[str, Any],
+) -> None:
+    """在时间曲线中标记不应参与车辆动力学评价的定位跳变窗口。"""
+    for index, (start, end) in enumerate(
+        metadata["jump_exclusion_windows"]
+    ):
+        axis.axvspan(
+            start,
+            end,
+            color="tab:red",
+            alpha=0.12,
+            label="Detour定位跳变排除窗口" if index == 0 else None,
+        )
+
+
+def load_and_resample(
+    csv_path: Path,
+    frequency_hz: float = 20.0,
+    filter_window_seconds: float = 0.55,
+) -> tuple[pd.DataFrame, dict[str, Any]]:
+    """压缩Detour保持帧，检测定位跳变，再分段重采样和平滑。"""
+    if not np.isfinite(frequency_hz) or frequency_hz <= 0.0:
+        raise ValueError("重采样频率必须是正有限值。")
+
+    raw = pd.read_csv(csv_path)
+    missing = REQUIRED_COLUMNS.difference(raw.columns)
+    if missing:
+        raise ValueError(
+            f"{csv_path.name}缺少列：{', '.join(sorted(missing))}"
+        )
+
+    numeric_columns = [
+        "ElapsedSeconds",
+        "DetourX",
+        "DetourY",
+        "DetourTheta",
+        "CommandSpeed",
+        "CommandAngularSpeed",
+        "ReferenceStartX",
+        "ReferenceStartY",
+        "ReferenceEndX",
+        "ReferenceEndY",
+        "ReferenceSpeed",
+    ]
+    for column in numeric_columns:
+        raw[column] = pd.to_numeric(raw[column], errors="coerce")
+
+    raw = (
+        raw.dropna(subset=[
+            "ElapsedSeconds",
+            "DetourX",
+            "DetourY",
+            "DetourTheta",
+        ])
+        .sort_values("ElapsedSeconds")
+        .drop_duplicates("ElapsedSeconds", keep="last")
+        .reset_index(drop=True)
+    )
+    if len(raw) < 5:
+        raise ValueError(f"{csv_path.name}有效数据不足5行。")
+
+    time_raw = raw["ElapsedSeconds"].to_numpy(dtype=float)
+    time_raw = time_raw - time_raw[0]
+    raw["ElapsedSeconds"] = time_raw
+    duration = float(time_raw[-1])
+    sample_interval = 1.0 / frequency_hz
+    time_uniform = np.arange(
+        0.0,
+        duration + sample_interval * 0.5,
+        sample_interval,
+    )
+
+    def interpolate_command(column: str) -> np.ndarray:
+        values = raw[column].to_numpy(dtype=float)
+        return np.interp(time_uniform, time_raw, values)
+
+    # 记录器频率高于Detour更新频率，会得到A,A,B,B形式的保持帧。
+    # 速度估计前先保留真正发生位姿更新的样本。
+    x_all = raw["DetourX"].to_numpy(dtype=float)
+    y_all = raw["DetourY"].to_numpy(dtype=float)
+    theta_all = raw["DetourTheta"].to_numpy(dtype=float)
+    position_change = np.hypot(np.diff(x_all), np.diff(y_all))
+    heading_change = np.abs(wrap_degrees(np.diff(theta_all)))
+    update_mask = np.r_[
+        True,
+        (position_change > 1e-6) | (heading_change > 1e-6),
+    ]
+    updates = raw.loc[update_mask].copy().reset_index(drop=True)
+    if len(updates) < 3:
+        raise ValueError(f"{csv_path.name}有效Detour更新点不足3个。")
+
+    update_time = updates["ElapsedSeconds"].to_numpy(dtype=float)
+    update_x = updates["DetourX"].to_numpy(dtype=float)
+    update_y = updates["DetourY"].to_numpy(dtype=float)
+    update_theta = updates["DetourTheta"].to_numpy(dtype=float)
+    update_command_speed = np.abs(
+        updates["CommandSpeed"].to_numpy(dtype=float)
+    )
+    update_command_angular = np.abs(
+        updates["CommandAngularSpeed"].to_numpy(dtype=float)
+    )
+
+    # 自适应跳变阈值：正常移动允许达到参考位移的3倍并保留15mm余量；
+    # 低速阶段仍至少允许30mm，防止把普通定位噪声误判为跳变。
+    update_dt = np.diff(update_time)
+    update_distance = np.hypot(np.diff(update_x), np.diff(update_y))
+    expected_distance = (
+        0.5 *
+        (update_command_speed[1:] + update_command_speed[:-1]) *
+        update_dt *
+        1000.0
+    )
+    distance_threshold = np.maximum(
+        30.0,
+        expected_distance * 3.0 + 15.0,
+    )
+    update_heading_delta = np.abs(
+        wrap_degrees(np.diff(update_theta))
+    )
+    expected_heading_delta = (
+        0.5 *
+        (update_command_angular[1:] + update_command_angular[:-1]) *
+        update_dt
+    )
+    heading_threshold = np.maximum(
+        5.0,
+        expected_heading_delta * 3.0 + 2.0,
+    )
+    jump_before_current = (
+        (update_distance > distance_threshold) |
+        (update_heading_delta > heading_threshold)
+    )
+    jump_at_update = np.r_[False, jump_before_current]
+    segment_ids = np.cumsum(jump_at_update.astype(int))
+
+    jump_events: list[dict[str, float]] = []
+    for current_index in np.flatnonzero(jump_at_update):
+        previous_index = current_index - 1
+        jump_events.append({
+            "time_seconds": float(update_time[current_index]),
+            "distance_mm": float(update_distance[previous_index]),
+            "heading_change_degrees":
+                float(update_heading_delta[previous_index]),
+            "before_x_mm": float(update_x[previous_index]),
+            "before_y_mm": float(update_y[previous_index]),
+            "after_x_mm": float(update_x[current_index]),
+            "after_y_mm": float(update_y[current_index]),
+        })
+
+    # 不跨越定位跳变插值。跳变前后之间保留NaN，使轨迹图自然断线，
+    # 也防止SG滤波把坐标修正涂抹成车辆高速运动。
+    x_resampled = np.full_like(time_uniform, np.nan)
+    y_resampled = np.full_like(time_uniform, np.nan)
+    theta_resampled = np.full_like(time_uniform, np.nan)
+    update_theta_unwrapped = np.rad2deg(
+        np.unwrap(np.deg2rad(update_theta))
+    )
+    maximum_segment_id = int(segment_ids[-1])
+    for segment_id in range(maximum_segment_id + 1):
+        segment_mask = segment_ids == segment_id
+        segment_time = update_time[segment_mask]
+        if segment_time.size == 0:
+            continue
+
+        interval_start = (
+            0.0 if segment_id == 0 else float(segment_time[0])
+        )
+        interval_end = (
+            duration
+            if segment_id == maximum_segment_id
+            else float(segment_time[-1])
+        )
+        uniform_mask = (
+            (time_uniform >= interval_start) &
+            (time_uniform <= interval_end)
+        )
+        x_resampled[uniform_mask] = np.interp(
+            time_uniform[uniform_mask],
+            segment_time,
+            update_x[segment_mask],
+        )
+        y_resampled[uniform_mask] = np.interp(
+            time_uniform[uniform_mask],
+            segment_time,
+            update_y[segment_mask],
+        )
+        theta_resampled[uniform_mask] = np.interp(
+            time_uniform[uniform_mask],
+            segment_time,
+            update_theta_unwrapped[segment_mask],
+        )
+
+    x_filtered = segmented_savgol(
+        x_resampled,
+        sample_interval,
+        filter_window_seconds,
+    )
+    y_filtered = segmented_savgol(
+        y_resampled,
+        sample_interval,
+        filter_window_seconds,
+    )
+    theta_filtered = segmented_savgol(
+        theta_resampled,
+        sample_interval,
+        filter_window_seconds,
+    )
+
+    exclusion_half_width = max(
+        0.30,
+        filter_window_seconds * 0.5,
+    )
+    jump_exclusion_windows = [
+        (
+            max(0.0, event["time_seconds"] - exclusion_half_width),
+            min(duration, event["time_seconds"] + exclusion_half_width),
+        )
+        for event in jump_events
+    ]
+    invalid_near_jump = np.zeros(len(time_uniform), dtype=bool)
+    for start, end in jump_exclusion_windows:
+        invalid_near_jump |= (
+            (time_uniform >= start) & (time_uniform <= end)
+        )
+
+    frame = pd.DataFrame({
+        "TimeSeconds": time_uniform,
+        "DetourXRawMm": x_resampled,
+        "DetourYRawMm": y_resampled,
+        "DetourXFilteredMm": x_filtered,
+        "DetourYFilteredMm": y_filtered,
+        "DetourThetaUnwrappedDeg": theta_filtered,
+        "DetourThetaDeg": wrap_degrees(theta_filtered),
+        "CommandSpeedMps": interpolate_command("CommandSpeed"),
+        "CommandAngularSpeedDegPerSec":
+            interpolate_command("CommandAngularSpeed"),
+        "InvalidNearLocalizationJump": invalid_near_jump,
+    })
+
+    first = raw.iloc[0]
+    metadata: dict[str, Any] = {
+        "csv_path": csv_path,
+        "trajectory_name": str(first["TrajectoryName"]),
+        "controller_name": str(first.get("ControllerName", "")),
+        "trial_number": str(first.get("TrialNumber", "")),
+        "reference_start_mm": np.array(
+            [first["ReferenceStartX"], first["ReferenceStartY"]],
+            dtype=float,
+        ),
+        "reference_end_mm": np.array(
+            [first["ReferenceEndX"], first["ReferenceEndY"]],
+            dtype=float,
+        ),
+        "reference_speed_mps": float(first["ReferenceSpeed"]),
+        # 圆弧构造时使用了测试开始处Detour航向，因此这里取首帧航向。
+        "start_heading_degrees": float(first["DetourTheta"]),
+        "sample_interval_seconds": sample_interval,
+        "filter_window_seconds": filter_window_seconds,
+        "raw_sample_count": len(raw),
+        "detour_update_count": len(updates),
+        "held_sample_count": int(len(raw) - len(updates)),
+        "localization_jump_events": jump_events,
+        "jump_exclusion_windows": jump_exclusion_windows,
+    }
+    return frame, metadata
+
+
+def build_reference(
+    frame: pd.DataFrame,
+    metadata: dict[str, Any],
+) -> dict[str, np.ndarray | float | str]:
+    """根据CSV元数据建立直线、圆弧或原地自转参考及误差。"""
+    trajectory_name = str(metadata["trajectory_name"])
+    start = np.asarray(metadata["reference_start_mm"], dtype=float)
+    end = np.asarray(metadata["reference_end_mm"], dtype=float)
+    actual = frame[
+        ["DetourXFilteredMm", "DetourYFilteredMm"]
+    ].to_numpy(dtype=float)
+    actual_heading = frame["DetourThetaUnwrappedDeg"].to_numpy(dtype=float)
+
+    radius_match = re.search(
+        r"LeftArc(?P<sweep>[0-9.]+)_R(?P<radius>[0-9.]+)mm",
+        trajectory_name,
+        flags=re.IGNORECASE,
+    )
+    if radius_match:
+        radius = float(radius_match.group("radius"))
+        sweep_degrees = float(radius_match.group("sweep"))
+        start_heading = float(metadata["start_heading_degrees"])
+        heading_radians = np.deg2rad(start_heading)
+        center = start + radius * np.array(
+            [-np.sin(heading_radians), np.cos(heading_radians)]
+        )
+        start_radial_degrees = start_heading - 90.0
+
+        radial = actual - center
+        distance_to_center = np.linalg.norm(radial, axis=1)
+        radial_angle_degrees = np.rad2deg(
+            np.arctan2(radial[:, 1], radial[:, 0])
+        )
+        radial_angle_radians = np.deg2rad(radial_angle_degrees)
+        reference_points = center + radius * np.column_stack([
+            np.cos(radial_angle_radians),
+            np.sin(radial_angle_radians),
+        ])
+        # 对逆时针圆弧，正横向误差表示车辆位于轨迹左侧（圆内侧）。
+        lateral_error = radius - distance_to_center
+        reference_heading = radial_angle_degrees + 90.0
+        heading_error = wrap_degrees(
+            actual_heading - reference_heading
+        )
+
+        plot_angles = np.deg2rad(
+            np.linspace(
+                start_radial_degrees,
+                start_radial_degrees + sweep_degrees,
+                361,
+            )
+        )
+        ideal_plot = center + radius * np.column_stack([
+            np.cos(plot_angles),
+            np.sin(plot_angles),
+        ])
+        return {
+            "kind": "left_arc",
+            "ideal_plot_mm": ideal_plot,
+            "reference_points_mm": reference_points,
+            "reference_heading_degrees": reference_heading,
+            "lateral_error_mm": lateral_error,
+            "heading_error_degrees": heading_error,
+            "center_mm": center,
+            "radius_mm": radius,
+        }
+
+    line = end - start
+    length = float(np.linalg.norm(line))
+    if length <= 1e-6:
+        rotation_match = re.search(
+            r"Rotate(?P<angle>[+-]?[0-9.]+)",
+            trajectory_name,
+            flags=re.IGNORECASE,
+        )
+        if rotation_match:
+            relative_angle_degrees = float(
+                rotation_match.group("angle")
+            )
+            target_heading_degrees = (
+                float(metadata["start_heading_degrees"]) +
+                relative_angle_degrees
+            )
+            reference_points = np.repeat(
+                start[np.newaxis, :],
+                len(frame),
+                axis=0,
+            )
+            position_drift = np.linalg.norm(
+                actual - start,
+                axis=1,
+            )
+            reference_heading = np.full(
+                len(frame),
+                target_heading_degrees,
+            )
+            heading_error = wrap_degrees(
+                actual_heading - reference_heading
+            )
+            ideal_plot = np.repeat(
+                start[np.newaxis, :],
+                2,
+                axis=0,
+            )
+            return {
+                "kind": "in_place_rotation",
+                "ideal_plot_mm": ideal_plot,
+                "reference_points_mm": reference_points,
+                "reference_heading_degrees": reference_heading,
+                # 对原地自转，该字段表示偏离初始旋转中心的距离。
+                "lateral_error_mm": position_drift,
+                "heading_error_degrees": heading_error,
+                "rotation_center_mm": start,
+                "relative_angle_degrees": relative_angle_degrees,
+                "target_heading_degrees": target_heading_degrees,
+            }
+
+        raise ValueError(
+            f"{trajectory_name}无法识别为圆弧，且参考直线长度为0。"
+        )
+
+    tangent = line / length
+    left_normal = np.array([-tangent[1], tangent[0]])
+    displacement = actual - start
+    progress = np.clip(displacement @ tangent, 0.0, length)
+    reference_points = start + np.outer(progress, tangent)
+    lateral_error = (actual - reference_points) @ left_normal
+    reference_heading_scalar = np.rad2deg(
+        np.arctan2(tangent[1], tangent[0])
+    )
+    reference_heading = np.full(len(frame), reference_heading_scalar)
+    heading_error = wrap_degrees(
+        actual_heading - reference_heading
+    )
+    ideal_plot = np.linspace(start, end, 361)
+    return {
+        "kind": "line",
+        "ideal_plot_mm": ideal_plot,
+        "reference_points_mm": reference_points,
+        "reference_heading_degrees": reference_heading,
+        "lateral_error_mm": lateral_error,
+        "heading_error_degrees": heading_error,
+    }
+
+
+def discover_csv_files(arguments: list[str]) -> list[Path]:
+    """解析命令行CSV；未指定时使用脚本目录下全部CSV。"""
+    if arguments:
+        files = [Path(item).expanduser().resolve() for item in arguments]
+    else:
+        files = sorted(SCRIPT_DIR.glob("*.csv"))
+    if not files:
+        raise FileNotFoundError("没有找到可处理的CSV文件。")
+    return files
+
+
+def output_path(
+    csv_path: Path,
+    output_directory: str | None,
+    suffix: str,
+) -> Path:
+    """构造图片输出路径并创建目录。"""
+    directory = (
+        Path(output_directory).expanduser().resolve()
+        if output_directory
+        else csv_path.parent / "plots"
+    )
+    directory.mkdir(parents=True, exist_ok=True)
+    return directory / f"{csv_path.stem}_{suffix}.png"
+
+
+def plot_trajectory(
+    csv_path: Path,
+    frequency_hz: float,
+    filter_window_seconds: float,
+    output_directory: str | None,
+    show: bool,
+) -> Path:
+    """生成单份CSV的理想/实际轨迹对比图。"""
+    frame, metadata = load_and_resample(
+        csv_path,
+        frequency_hz,
+        filter_window_seconds,
+    )
+    reference = build_reference(frame, metadata)
+
+    actual_x_m = frame["DetourXFilteredMm"].to_numpy() / 1000.0
+    actual_y_m = frame["DetourYFilteredMm"].to_numpy() / 1000.0
+    ideal_m = np.asarray(reference["ideal_plot_mm"]) / 1000.0
+
+    fig, ax = plt.subplots(figsize=(8.0, 7.0))
+    ax.plot(
+        ideal_m[:, 0],
+        ideal_m[:, 1],
+        "--",
+        linewidth=2.2,
+        label="理想轨迹",
+    )
+    ax.plot(
+        actual_x_m,
+        actual_y_m,
+        linewidth=1.8,
+        label="Detour实际轨迹（滤波后）",
+    )
+    if reference["kind"] == "in_place_rotation":
+        ax.scatter(
+            [ideal_m[0, 0]],
+            [ideal_m[0, 1]],
+            marker="*",
+            s=100,
+            label="理想旋转中心",
+            zorder=5,
+        )
+    else:
+        ax.scatter(
+            [ideal_m[0, 0]],
+            [ideal_m[0, 1]],
+            marker="o",
+            s=55,
+            label="起点",
+            zorder=5,
+        )
+        ax.scatter(
+            [ideal_m[-1, 0]],
+            [ideal_m[-1, 1]],
+            marker="x",
+            s=65,
+            label="终点",
+            zorder=5,
+        )
+    for event_index, event in enumerate(
+        metadata["localization_jump_events"]
+    ):
+        before = np.array([
+            event["before_x_mm"],
+            event["before_y_mm"],
+        ]) / 1000.0
+        after = np.array([
+            event["after_x_mm"],
+            event["after_y_mm"],
+        ]) / 1000.0
+        ax.scatter(
+            [before[0], after[0]],
+            [before[1], after[1]],
+            marker="x",
+            color="tab:red",
+            s=55,
+            zorder=6,
+            label="Detour定位跳变前/后"
+            if event_index == 0 else None,
+        )
+        ax.annotate(
+            f"定位跳变 {event['distance_mm']:.1f} mm\n"
+            f"t={event['time_seconds']:.2f} s",
+            xy=(after[0], after[1]),
+            xytext=(8, 8),
+            textcoords="offset points",
+            color="tab:red",
+            fontsize=9,
+        )
+    ax.set_aspect("equal", adjustable="box")
+    ax.set_xlabel("世界坐标 X / m")
+    ax.set_ylabel("世界坐标 Y / m")
+    ax.set_title(
+        f"理想轨迹与实际轨迹对比\n"
+        f"{metadata['controller_name']} - "
+        f"{metadata['trajectory_name']}"
+    )
+    ax.grid(True, alpha=0.3)
+    ax.legend()
+    fig.tight_layout()
+
+    destination = output_path(
+        csv_path,
+        output_directory,
+        "trajectory_comparison",
+    )
+    fig.savefig(destination, dpi=300, bbox_inches="tight")
+    if show:
+        plt.show()
+    plt.close(fig)
+    print(
+        f"{csv_path.name}: 原始采样{metadata['raw_sample_count']}帧，"
+        f"有效Detour更新{metadata['detour_update_count']}帧，"
+        f"保持重复{metadata['held_sample_count']}帧，"
+        f"定位跳变{len(metadata['localization_jump_events'])}次"
+    )
+    return destination
+
+
+def main() -> None:
+    configure_matplotlib()
+    parser = argparse.ArgumentParser(
+        description="绘制理想轨迹与Detour实际轨迹对比图。"
+    )
+    parser.add_argument("files", nargs="*", help="一个或多个CSV文件")
+    parser.add_argument("--frequency", type=float, default=20.0)
+    parser.add_argument("--window", type=float, default=0.55)
+    parser.add_argument("--output-dir")
+    parser.add_argument("--show", action="store_true")
+    args = parser.parse_args()
+
+    for csv_path in discover_csv_files(args.files):
+        destination = plot_trajectory(
+            csv_path,
+            args.frequency,
+            args.window,
+            args.output_dir,
+            args.show,
+        )
+        print(f"已生成：{destination}")
+
+
+if __name__ == "__main__":
+    main()