818 lines
30 KiB
C#
818 lines
30 KiB
C#
using ClumsyCore;
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using ClumsyCore.DTools;
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using ClumsyCore.Interfaces;
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using ClumsyCore.Pilot;
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using CommonUsage.Chassis;
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using MyParking.Shared;
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using System;
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using System.Collections.Generic;
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using System.Numerics;
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namespace MultiWheelC
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{
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// C层单车测试：在可配置的运动坐标系中统一跟踪直线、圆弧或S型曲线。
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public sealed class CrabMotionFrameTracker : MovementDefinition
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{
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public enum ReferencePathKind
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{
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Straight = 0,
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LeftArc = 1,
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SCurve = 2
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}
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public enum ChassisCommandBackend
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{
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SendXYThSpeed = 0,
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SendMotion = 1
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}
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public ReferencePathKind PathKind;
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public ChassisCommandBackend CommandBackend =
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ChassisCommandBackend.SendMotion;
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public Vector2 StartPosition;
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public double InitialBodyYawRadians;
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public float LengthMillimeters = 4000f;
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public float RadiusMillimeters = 2000f;
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public float SCurveLateralOffsetMillimeters = 400f;
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public double ArcSweepRadians = Math.PI / 2.0;
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public float CruiseSpeed = 0.2f;
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public float SlowDistanceMillimeters = 600f;
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public float FinishDistanceMillimeters = 30f;
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public float MinimumSpeed = 0.04f;
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public double LateralGainPerSecond = 0.8;
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public double MaximumLateralCorrection = 0.12;
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public double HeadingGainPerSecond = 1.5;
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public double MaximumAngularSpeedRadiansPerSecond =
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AngleMath.DegreesToRadians(30.0);
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public double MaximumVirtualSteeringRadians =
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AngleMath.DegreesToRadians(30.0);
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public float WheelAlignmentToleranceDegrees = 2f;
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public float WheelAlignmentStableSeconds = 0.3f;
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public float WheelAlignmentTimeoutSeconds = 10f;
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public float TrackingTimeoutSeconds = 60f;
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public Action<float, float, float> CommandObserver;
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// 运动坐标系相对车体坐标系的朝向：普通模式为0，蟹行为π/2。
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public double MotionFrameYawInBodyRadians = Math.PI / 2.0;
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private double _lastSCurveProgress;
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public override IEnumerable<bool> Get()
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{
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ValidateParameters();
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var chassis =
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PilotDefinition.Chassis as MultiWheelChassis;
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if (chassis == null)
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throw new InvalidOperationException(
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"当前底盘不是MultiWheelChassis，无法执行运动坐标系轨迹测试。");
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var adapter = new MultiWheelChassisAdapter(
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chassis,
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PilotDefinition.Self.CarNum);
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adapter.ResetToBodyFrame();
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var lastCommandTime = DateTime.Now;
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try
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{
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// 模式切换阶段只转舵轮，驱动速度始终保持为零。
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var alignmentStarted = DateTime.Now;
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DateTime? stableSince = null;
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while (true)
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{
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if (!adapter.PrepareParallelDirection(
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MotionFrameYawInBodyRadians))
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throw new InvalidOperationException(
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"无法生成运动坐标系对应的舵轮准备姿态。");
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var aligned =
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adapter.AreParallelWheelsAligned(
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MotionFrameYawInBodyRadians,
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AngleMath.DegreesToRadians(
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WheelAlignmentToleranceDegrees));
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if (aligned)
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{
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if (stableSince == null)
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stableSince = DateTime.Now;
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if ((DateTime.Now - stableSince.Value)
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.TotalSeconds >=
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WheelAlignmentStableSeconds)
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break;
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}
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else
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{
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stableSince = null;
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}
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if ((DateTime.Now - alignmentStarted)
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.TotalSeconds >
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WheelAlignmentTimeoutSeconds)
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throw new TimeoutException(
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"舵轮在限定时间内未稳定到达运动坐标系初始方向。");
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yield return true;
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}
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if (CommandBackend ==
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ChassisCommandBackend.SendMotion)
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{
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// 舵轮已按真实机械角度完成预对齐；
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// 现在由Shared适配层激活SendMotion虚拟运动坐标系。
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adapter.ActivateMotionFrame(
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MotionFrameYawInBodyRadians);
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}
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var trackingStarted = DateTime.Now;
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while (true)
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{
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if ((DateTime.Now - trackingStarted)
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.TotalSeconds >
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TrackingTimeoutSeconds)
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throw new TimeoutException(
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"蟹行轨迹在限定时间内未完成。");
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var location =
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DetourInterface.getCartLocation();
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if (!IsFinite(location.x) ||
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!IsFinite(location.y) ||
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!IsFinite(location.th))
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throw new InvalidOperationException(
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"蟹行轨迹测试期间Detour位姿无效。");
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var currentPosition = new Vector2(
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(float)location.x,
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(float)location.y);
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var currentBodyYaw =
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AngleMath.DegreesToRadians(location.th);
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CalculateReference(
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currentPosition,
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out var tangentYaw,
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out var referencePoint,
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out var remainingMillimeters,
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out var referenceCurvature);
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if (remainingMillimeters <=
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FinishDistanceMillimeters)
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break;
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var speed =
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CalculateSpeed(remainingMillimeters);
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var tangent = new Vector2(
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(float)Math.Cos(tangentYaw),
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(float)Math.Sin(tangentYaw));
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var leftNormal = new Vector2(
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-tangent.Y,
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tangent.X);
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var positionError =
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currentPosition - referencePoint;
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var lateralErrorMeters =
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Vector2.Dot(
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positionError,
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leftNormal) / 1000.0;
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var normalCorrection =
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Limit(
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-LateralGainPerSecond *
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lateralErrorMeters,
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MaximumLateralCorrection);
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// 先在世界坐标中组合切向速度与横向纠偏速度。
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var worldVx =
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tangent.X * speed +
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leftNormal.X * (float)normalCorrection;
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var worldVy =
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tangent.Y * speed +
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leftNormal.Y * (float)normalCorrection;
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// 将世界速度表达为当前蟹行运动坐标系速度。
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var motionYaw =
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currentBodyYaw +
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MotionFrameYawInBodyRadians;
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var motionCos = Math.Cos(motionYaw);
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var motionSin = Math.Sin(motionYaw);
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var vxInMotion =
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motionCos * worldVx +
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motionSin * worldVy;
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var vyInMotion =
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-motionSin * worldVx +
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motionCos * worldVy;
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var desiredBodyYaw =
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tangentYaw -
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MotionFrameYawInBodyRadians;
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var headingError =
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AngleMath.ShortestDifferenceRadians(
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desiredBodyYaw,
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currentBodyYaw);
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var omega =
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speed * referenceCurvature +
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HeadingGainPerSecond * headingError;
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omega = Limit(
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omega,
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MaximumAngularSpeedRadiansPerSecond);
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var now = DateTime.Now;
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var interval = now - lastCommandTime;
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lastCommandTime = now;
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bool commandAccepted;
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Twist2D bodyTwist;
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if (CommandBackend ==
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ChassisCommandBackend.SendMotion)
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{
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// 运动坐标系相对车体系旋转+90°：
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// 运动系正向速度会转换成车体系+Y速度。
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bodyTwist =
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FrameTransform2D
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.TransformTwistAtSamePoint(
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new Pose2D(
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0.0,
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0.0,
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MotionFrameYawInBodyRadians),
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new Twist2D(
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vxInMotion,
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vyInMotion,
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omega));
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// 将运动坐标系原点和前后几何控制点处的速度，
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// 转换为SendMotion需要的前后轴方向。
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var controlPointRadiusMeters =
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Math.Max(
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chassis.ControlPointRadius /
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1000.0,
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0.001);
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var frontVelocityY =
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vyInMotion +
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omega *
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controlPointRadiusMeters;
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var rearVelocityY =
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vyInMotion -
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omega *
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controlPointRadiusMeters;
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var frontSteeringRadians =
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Math.Atan2(
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frontVelocityY,
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vxInMotion);
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var rearSteeringRadians =
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Math.Atan2(
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rearVelocityY,
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vxInMotion);
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// 蟹行测试绕过M层ManualControl并直接调用SendMotion，
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// 因此需要在C层同步应用蟹行虚拟几何比例和转向符号。
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if (IsCrabMotionFrame())
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{
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var geometryRatio =
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adapter.HalfTrackWidthMeters /
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adapter.HalfWheelBaseMeters;
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frontSteeringRadians =
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ConvertToCrabSteering(
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frontSteeringRadians,
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geometryRatio);
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rearSteeringRadians =
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ConvertToCrabSteering(
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rearSteeringRadians,
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geometryRatio);
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}
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var frontThetaDegrees =
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(float)AngleMath.RadiansToDegrees(
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frontSteeringRadians);
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var rearThetaDegrees =
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(float)AngleMath.RadiansToDegrees(
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rearSteeringRadians);
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var motionSpeed =
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(float)Math.Sqrt(
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vxInMotion * vxInMotion +
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vyInMotion * vyInMotion);
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commandAccepted =
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chassis.SendMotion(
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motionSpeed,
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frontThetaDegrees,
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rearThetaDegrees,
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interval);
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}
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else if (CommandBackend ==
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ChassisCommandBackend
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.SendXYThSpeed)
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{
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// 安全XYTh后端根据舵角误差统一压低驱动轮速。
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bodyTwist =
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FrameTransform2D
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.TransformTwistAtSamePoint(
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new Pose2D(
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0.0,
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0.0,
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MotionFrameYawInBodyRadians),
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new Twist2D(
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vxInMotion,
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vyInMotion,
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omega));
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var command = new ChassisCommand(
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PilotDefinition.Self.CarNum,
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bodyTwist);
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commandAccepted =
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adapter.Send(
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command,
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interval);
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}
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else
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{
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throw new InvalidOperationException(
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$"不支持的底盘命令后端：{CommandBackend}。");
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}
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if (!commandAccepted)
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throw new InvalidOperationException(
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"运动坐标系轨迹底盘解算失败：" +
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chassis
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.LastMotionDecomposeFailureReason);
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CommandObserver?.Invoke(
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(float)bodyTwist.VxMetersPerSecond,
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(float)bodyTwist.VyMetersPerSecond,
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(float)bodyTwist
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.OmegaRadiansPerSecond);
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yield return true;
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}
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}
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finally
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{
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adapter.StopImmediately();
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if (CommandBackend ==
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ChassisCommandBackend.SendMotion)
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{
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// 测试退出后恢复真实车体坐标系，避免影响后续测试。
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adapter.ResetToBodyFrame();
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}
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CommandObserver?.Invoke(0f, 0f, 0f);
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}
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yield return false;
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}
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// 判断当前运动坐标系是否为车体左侧朝前的蟹行坐标系。
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private bool IsCrabMotionFrame()
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{
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return Math.Abs(
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AngleMath.ShortestDifferenceRadians(
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Math.PI / 2.0,
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MotionFrameYawInBodyRadians)) <
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1e-6;
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}
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// 按车体几何比例缩小蟹行转角。
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// +90°运动坐标系已经完成方向映射，此处不能再次反号。
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private double ConvertToCrabSteering(
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double normalSteeringRadians,
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double geometryRatio)
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{
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var crabSteeringRadians =
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Math.Atan(
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geometryRatio *
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Math.Tan(
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normalSteeringRadians));
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return Limit(
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crabSteeringRadians,
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MaximumVirtualSteeringRadians);
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}
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// 计算当前点在直线或圆弧上的参考点、切线和剩余距离。
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private void CalculateReference(
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Vector2 currentPosition,
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out double tangentYaw,
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out Vector2 referencePoint,
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out float remainingMillimeters,
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out double curvaturePerMeter)
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{
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var initialMotionYaw =
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InitialBodyYawRadians +
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MotionFrameYawInBodyRadians;
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if (PathKind == ReferencePathKind.Straight)
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{
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var tangent = new Vector2(
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(float)Math.Cos(initialMotionYaw),
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(float)Math.Sin(initialMotionYaw));
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var relative = currentPosition - StartPosition;
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var progress =
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Vector2.Dot(relative, tangent);
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var clampedProgress =
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Math.Max(
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0f,
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Math.Min(progress, LengthMillimeters));
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tangentYaw = initialMotionYaw;
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referencePoint =
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StartPosition +
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tangent * clampedProgress;
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remainingMillimeters =
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Math.Max(
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0f,
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LengthMillimeters - progress);
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curvaturePerMeter = 0.0;
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return;
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}
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if (PathKind == ReferencePathKind.SCurve)
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{
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CalculateSCurveReference(
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currentPosition,
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initialMotionYaw,
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out tangentYaw,
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out referencePoint,
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out remainingMillimeters,
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out curvaturePerMeter);
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return;
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}
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var center = GetArcCenter();
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var startRadialYaw =
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initialMotionYaw - Math.PI / 2.0;
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var radial = currentPosition - center;
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var currentRadialYaw =
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Math.Atan2(radial.Y, radial.X);
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var progressRadians =
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AngleMath.NormalizeRadians(
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currentRadialYaw - startRadialYaw);
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// 测试圆弧只有+90°，起点附近的轻微负噪声按0处理。
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if (progressRadians < 0.0)
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progressRadians = 0.0;
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var clampedProgressRadians =
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Math.Min(
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progressRadians,
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ArcSweepRadians);
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var referenceRadialYaw =
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startRadialYaw +
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clampedProgressRadians;
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referencePoint = center + new Vector2(
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RadiusMillimeters *
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(float)Math.Cos(referenceRadialYaw),
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RadiusMillimeters *
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(float)Math.Sin(referenceRadialYaw));
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tangentYaw =
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referenceRadialYaw + Math.PI / 2.0;
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remainingMillimeters =
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(float)Math.Max(
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0.0,
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(ArcSweepRadians - progressRadians) *
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RadiusMillimeters);
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curvaturePerMeter =
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1000.0 / RadiusMillimeters;
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}
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// 通过离散最近点和解析导数计算两段三次贝塞尔S曲线的参考状态。
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private void CalculateSCurveReference(
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Vector2 currentPosition,
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double initialMotionYaw,
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out double tangentYaw,
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out Vector2 referencePoint,
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out float remainingMillimeters,
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out double curvaturePerMeter)
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{
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const int nearestPointSamples = 200;
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var searchStart =
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Math.Max(
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0.0,
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_lastSCurveProgress - 0.02);
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var bestProgress = _lastSCurveProgress;
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var bestDistanceSquared = double.MaxValue;
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for (var i = 0;
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i <= nearestPointSamples;
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i++)
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{
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var progress =
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searchStart +
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(1.0 - searchStart) *
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i / nearestPointSamples;
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EvaluateSCurve(
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progress,
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out var localPoint,
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out _,
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out _);
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var worldPoint =
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LocalPathPointToWorld(
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localPoint,
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initialMotionYaw);
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var distanceSquared =
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Vector2.DistanceSquared(
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currentPosition,
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worldPoint);
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if (distanceSquared <
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bestDistanceSquared)
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{
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bestDistanceSquared =
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distanceSquared;
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bestProgress = progress;
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}
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}
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// 轨迹进度不允许因定位噪声倒退，防止控制目标跳回上一段曲线。
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_lastSCurveProgress =
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Math.Max(
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_lastSCurveProgress,
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bestProgress);
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EvaluateSCurve(
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_lastSCurveProgress,
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out var bestLocalPoint,
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out var firstDerivative,
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out var secondDerivative);
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referencePoint =
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LocalPathPointToWorld(
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bestLocalPoint,
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initialMotionYaw);
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tangentYaw =
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initialMotionYaw +
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Math.Atan2(
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firstDerivative.Y,
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firstDerivative.X);
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var derivativeMagnitude =
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Math.Sqrt(
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firstDerivative.X *
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firstDerivative.X +
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firstDerivative.Y *
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firstDerivative.Y);
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if (derivativeMagnitude < 1e-6)
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{
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curvaturePerMeter = 0.0;
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}
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else
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{
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// 导数单位为mm，乘1000后将曲率从1/mm转换成1/m。
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curvaturePerMeter =
|
||
(firstDerivative.X *
|
||
secondDerivative.Y -
|
||
firstDerivative.Y *
|
||
secondDerivative.X) *
|
||
1000.0 /
|
||
Math.Pow(
|
||
derivativeMagnitude,
|
||
3.0);
|
||
}
|
||
|
||
remainingMillimeters =
|
||
ApproximateSCurveRemainingLength(
|
||
_lastSCurveProgress);
|
||
}
|
||
|
||
// 计算与普通4m S型测试完全一致的三段三次贝塞尔完整S曲线。
|
||
private void EvaluateSCurve(
|
||
double progress,
|
||
out Vector2 point,
|
||
out Vector2 firstDerivative,
|
||
out Vector2 secondDerivative)
|
||
{
|
||
progress =
|
||
Math.Max(
|
||
0.0,
|
||
Math.Min(progress, 1.0));
|
||
|
||
Vector2 p0;
|
||
Vector2 p1;
|
||
Vector2 p2;
|
||
Vector2 p3;
|
||
double t;
|
||
|
||
if (progress <= 0.25)
|
||
{
|
||
t = progress * 4.0;
|
||
p0 = new Vector2(0f, 0f);
|
||
p1 = new Vector2(
|
||
LengthMillimeters / 12f,
|
||
0f);
|
||
p2 = new Vector2(
|
||
LengthMillimeters / 6f,
|
||
SCurveLateralOffsetMillimeters);
|
||
p3 = new Vector2(
|
||
LengthMillimeters * 0.25f,
|
||
SCurveLateralOffsetMillimeters);
|
||
}
|
||
else if (progress <= 0.75)
|
||
{
|
||
t = (progress - 0.25) * 2.0;
|
||
p0 = new Vector2(
|
||
LengthMillimeters * 0.25f,
|
||
SCurveLateralOffsetMillimeters);
|
||
p1 = new Vector2(
|
||
LengthMillimeters / 3f,
|
||
SCurveLateralOffsetMillimeters);
|
||
p2 = new Vector2(
|
||
LengthMillimeters * 2f / 3f,
|
||
-SCurveLateralOffsetMillimeters);
|
||
p3 = new Vector2(
|
||
LengthMillimeters * 0.75f,
|
||
-SCurveLateralOffsetMillimeters);
|
||
}
|
||
else
|
||
{
|
||
t = (progress - 0.75) * 4.0;
|
||
p0 = new Vector2(
|
||
LengthMillimeters * 0.75f,
|
||
-SCurveLateralOffsetMillimeters);
|
||
p1 = new Vector2(
|
||
LengthMillimeters * 5f / 6f,
|
||
-SCurveLateralOffsetMillimeters);
|
||
p2 = new Vector2(
|
||
LengthMillimeters * 11f / 12f,
|
||
0f);
|
||
p3 = new Vector2(
|
||
LengthMillimeters,
|
||
0f);
|
||
}
|
||
|
||
var oneMinusT = 1.0 - t;
|
||
point =
|
||
p0 * (float)(
|
||
oneMinusT *
|
||
oneMinusT *
|
||
oneMinusT) +
|
||
p1 * (float)(
|
||
3.0 *
|
||
oneMinusT *
|
||
oneMinusT *
|
||
t) +
|
||
p2 * (float)(
|
||
3.0 *
|
||
oneMinusT *
|
||
t *
|
||
t) +
|
||
p3 * (float)(t * t * t);
|
||
firstDerivative =
|
||
(p1 - p0) *
|
||
(float)(
|
||
3.0 *
|
||
oneMinusT *
|
||
oneMinusT) +
|
||
(p2 - p1) *
|
||
(float)(
|
||
6.0 *
|
||
oneMinusT *
|
||
t) +
|
||
(p3 - p2) *
|
||
(float)(3.0 * t * t);
|
||
secondDerivative =
|
||
(p2 - 2f * p1 + p0) *
|
||
(float)(6.0 * oneMinusT) +
|
||
(p3 - 2f * p2 + p1) *
|
||
(float)(6.0 * t);
|
||
}
|
||
|
||
// 通过分段采样估算从当前S曲线进度到终点的实际弧长。
|
||
private float ApproximateSCurveRemainingLength(
|
||
double startProgress)
|
||
{
|
||
const int lengthSamples = 100;
|
||
EvaluateSCurve(
|
||
startProgress,
|
||
out var previousPoint,
|
||
out _,
|
||
out _);
|
||
var length = 0f;
|
||
|
||
for (var i = 1;
|
||
i <= lengthSamples;
|
||
i++)
|
||
{
|
||
var progress =
|
||
startProgress +
|
||
(1.0 - startProgress) *
|
||
i / lengthSamples;
|
||
EvaluateSCurve(
|
||
progress,
|
||
out var point,
|
||
out _,
|
||
out _);
|
||
length +=
|
||
Vector2.Distance(
|
||
previousPoint,
|
||
point);
|
||
previousPoint = point;
|
||
}
|
||
|
||
return length;
|
||
}
|
||
|
||
// 将以初始蟹行方向为X轴的局部路径点转换到Detour世界坐标。
|
||
private Vector2 LocalPathPointToWorld(
|
||
Vector2 localPoint,
|
||
double initialMotionYaw)
|
||
{
|
||
var cos =
|
||
(float)Math.Cos(initialMotionYaw);
|
||
var sin =
|
||
(float)Math.Sin(initialMotionYaw);
|
||
|
||
return StartPosition + new Vector2(
|
||
localPoint.X * cos -
|
||
localPoint.Y * sin,
|
||
localPoint.X * sin +
|
||
localPoint.Y * cos);
|
||
}
|
||
|
||
// 获取蟹行左转圆弧圆心；它位于初始运动方向的左侧。
|
||
public Vector2 GetArcCenter()
|
||
{
|
||
var initialMotionYaw =
|
||
InitialBodyYawRadians +
|
||
MotionFrameYawInBodyRadians;
|
||
return StartPosition + new Vector2(
|
||
-RadiusMillimeters *
|
||
(float)Math.Sin(initialMotionYaw),
|
||
RadiusMillimeters *
|
||
(float)Math.Cos(initialMotionYaw));
|
||
}
|
||
|
||
// 获取圆弧测试的理论终点。
|
||
public Vector2 GetArcDestination()
|
||
{
|
||
var initialMotionYaw =
|
||
InitialBodyYawRadians +
|
||
MotionFrameYawInBodyRadians;
|
||
var startRadialYaw =
|
||
initialMotionYaw - Math.PI / 2.0;
|
||
var endRadialYaw =
|
||
startRadialYaw + ArcSweepRadians;
|
||
var center = GetArcCenter();
|
||
|
||
return center + new Vector2(
|
||
RadiusMillimeters *
|
||
(float)Math.Cos(endRadialYaw),
|
||
RadiusMillimeters *
|
||
(float)Math.Sin(endRadialYaw));
|
||
}
|
||
|
||
// 根据剩余路径长度生成终点减速速度。
|
||
private float CalculateSpeed(
|
||
float remainingMillimeters)
|
||
{
|
||
if (remainingMillimeters >=
|
||
SlowDistanceMillimeters)
|
||
return CruiseSpeed;
|
||
|
||
var ratio =
|
||
remainingMillimeters /
|
||
Math.Max(
|
||
SlowDistanceMillimeters,
|
||
1f);
|
||
return Math.Max(
|
||
MinimumSpeed,
|
||
CruiseSpeed * ratio);
|
||
}
|
||
|
||
private void ValidateParameters()
|
||
{
|
||
if (CruiseSpeed <= 0f ||
|
||
!IsFinite(CruiseSpeed) ||
|
||
LengthMillimeters <= 0f ||
|
||
!IsFinite(LengthMillimeters) ||
|
||
RadiusMillimeters <= 0f ||
|
||
!IsFinite(RadiusMillimeters) ||
|
||
SCurveLateralOffsetMillimeters <= 0f ||
|
||
!IsFinite(
|
||
SCurveLateralOffsetMillimeters) ||
|
||
ArcSweepRadians <= 0.0 ||
|
||
!IsFinite(ArcSweepRadians) ||
|
||
SlowDistanceMillimeters <= 0f ||
|
||
!IsFinite(SlowDistanceMillimeters) ||
|
||
FinishDistanceMillimeters < 0f ||
|
||
!IsFinite(FinishDistanceMillimeters) ||
|
||
TrackingTimeoutSeconds <= 0f ||
|
||
!IsFinite(TrackingTimeoutSeconds) ||
|
||
MaximumVirtualSteeringRadians <= 0.0 ||
|
||
MaximumVirtualSteeringRadians >=
|
||
Math.PI / 2.0 ||
|
||
!IsFinite(
|
||
MaximumVirtualSteeringRadians))
|
||
throw new ArgumentOutOfRangeException(
|
||
"蟹行轨迹测试参数无效。");
|
||
}
|
||
|
||
private static double Limit(
|
||
double value,
|
||
double absoluteLimit)
|
||
{
|
||
return Math.Max(
|
||
-absoluteLimit,
|
||
Math.Min(value, absoluteLimit));
|
||
}
|
||
|
||
private static bool IsFinite(double value)
|
||
{
|
||
return
|
||
!double.IsNaN(value) &&
|
||
!double.IsInfinity(value);
|
||
}
|
||
}
|
||
}
|