71 lines
1.9 KiB
C#
71 lines
1.9 KiB
C#
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using System;
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using ClumsyCore;
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using ClumsyCore.Pilot;
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using FundamentalLib;
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using MDCSToolBox.Clumsy.Movements;
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using MDCSToolBox.Clumsy.Pilot;
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namespace MultiWheelC
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{
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/// <summary>
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/// 为需要显式执行舵轮回正的测试管理准备动作及其DriveTask生命周期。
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/// </summary>
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internal static class MovementTestPreparation
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{
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/// <summary>
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/// 执行舵轮回正动作并返回四轮是否已经稳定朝向车体前方。
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/// </summary>
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public static bool AlignWheelsForward(
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ref DriveTask activeTask)
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{
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var preparation = new PrepareWheelsForward();
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var task = new DriveTask(preparation.Get());
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activeTask = task;
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try
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{
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task.Wait();
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return preparation.Completed;
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}
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catch (Exception ex)
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{
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Console.WriteLine(
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$"测试前舵轮回正失败：{ex.Message}");
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return false;
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}
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finally
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{
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task.Stop();
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if (ReferenceEquals(activeTask, task))
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activeTask = null;
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}
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}
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}
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/// <summary>
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/// 提供可从测试界面单独触发的四舵轮回正动作。
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/// </summary>
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[MovementTest(name = "准备：四个舵轮与车头方向一致")]
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public class AlignWheelsForwardTest : MovementTest
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{
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private DriveTask _task;
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// 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。
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public override void Test()
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{
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MovementTestPreparation.AlignWheelsForward(
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ref _task);
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}
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// 停止正在执行的舵轮回正任务并清零底盘运动命令。
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public override void TestStop()
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{
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_task?.Stop();
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_task = null;
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}
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}
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}
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