630 lines
23 KiB
C#
630 lines
23 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 MDCSToolBox.Clumsy.Movements;
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using MDCSToolBox.Clumsy.Tracks;
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using MDCSToolBox.Commons.Controllers;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Numerics;
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using System.Threading;
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using FundamentalLib;
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using MyParking.Shared;
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namespace MultiWheelC
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{
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// C层测试准备：停车并等待四个舵轮稳定回到车体前向0°。
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public class PrepareWheelsForward : MovementDefinition
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{
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public float ToleranceDegrees = 2f;
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public float StableSeconds = 0.3f;
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public float TimeoutSeconds = 10f;
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public bool Completed { get; private set; }
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public override IEnumerable<bool> Get()
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{
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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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{
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throw new InvalidOperationException(
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"当前底盘不是MultiWheelChassis，无法执行舵轮回正。");
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}
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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 toleranceRadians =
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AngleMath.DegreesToRadians(ToleranceDegrees);
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var startTime = DateTime.UtcNow;
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DateTime? alignedSince = null;
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Completed = false;
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if (!adapter.PrepareParallelDirection(0.0))
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{
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throw new InvalidOperationException(
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"无法将所有舵轮下发到车体前向0°。");
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}
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try
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{
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while (true)
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{
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var aligned =
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adapter.AreParallelWheelsAligned(
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0.0,
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toleranceRadians);
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if (aligned)
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{
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if (!alignedSince.HasValue)
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alignedSince = DateTime.UtcNow;
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if ((DateTime.UtcNow -
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alignedSince.Value).TotalSeconds >=
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StableSeconds)
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{
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Completed = true;
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yield break;
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}
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}
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else
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{
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alignedSince = null;
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}
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if (TimeoutSeconds > 0f &&
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(DateTime.UtcNow - startTime).TotalSeconds >
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TimeoutSeconds)
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{
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throw new TimeoutException(
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$"舵轮回正超过{TimeoutSeconds:F1}s，" +
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"测试已经取消。");
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}
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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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// 只清零驱动速度，保留已经下发的0°舵角。
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adapter.StopImmediately();
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}
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}
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}
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#region 功能项
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public class Sleep : MovementDefinition
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{
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public float Second = 2f;
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public override IEnumerable<bool> Get()
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{
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if (Second <= 0)
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{
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yield return false;
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yield break;
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}
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var endTime = DateTime.UtcNow.AddSeconds(Second);
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while (DateTime.UtcNow < endTime)
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{
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Thread.Sleep(50);
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yield return true;
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}
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yield return false;
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}
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}
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public class DriverAble : MovementDefinition
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{
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public int WaitTimeoutMs = 2000;
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public int PollIntervalMs = 50;
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// C层单车硬件：请求全部驱动轮复位并恢复使能。
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public override IEnumerable<bool> Get()
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{
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PilotDefinition.Self.ResetFromC = true;
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try
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{
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var start = DateTime.Now;
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var timeoutMs = Math.Max(0, WaitTimeoutMs);
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var pollMs = Math.Max(1, PollIntervalMs);
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// 至少保留一个调度周期，确保M层能收到复位请求。
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yield return true;
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while (!PilotDefinition.Self.WheelAbleState &&
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(DateTime.Now - start).TotalMilliseconds < timeoutMs)
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{
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Thread.Sleep(pollMs);
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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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PilotDefinition.Self.ResetFromC = false;
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}
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}
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}
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public class DriverDisable : MovementDefinition
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{
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public int WaitTimeoutMs = 3000;
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public int PollIntervalMs = 20;
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// C层单车硬件：请求驱动轮退出使能，并等待M层状态反馈。
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public override IEnumerable<bool> Get()
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{
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var timeoutMs = Math.Max(0, WaitTimeoutMs);
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var pollMs = Math.Max(1, PollIntervalMs);
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var startTime = DateTime.UtcNow;
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var success = false;
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PilotDefinition.Self.DisableFromC = true;
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try
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{
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// 至少保持一个C层调度周期，确保M层能收到下使能请求。
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yield return true;
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success = !PilotDefinition.Self.WheelAbleState;
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while (!success &&
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(DateTime.UtcNow - startTime).TotalMilliseconds <
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timeoutMs)
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{
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Thread.Sleep(pollMs);
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success =
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!PilotDefinition.Self.WheelAbleState;
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if (!success)
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{
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yield return true;
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}
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}
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}
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finally
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{
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// 无论正常完成、超时、异常还是任务被停止，都撤销请求。
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PilotDefinition.Self.DisableFromC = false;
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}
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if (success)
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{
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Console.WriteLine(
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$"驱动器下使能完成，" +
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$"WheelAbleState=" +
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$"{PilotDefinition.Self.WheelAbleState}");
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}
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else
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{
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Console.WriteLine(
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$"驱动器下使能超时，" +
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$"WheelAbleState=" +
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$"{PilotDefinition.Self.WheelAbleState}，" +
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$"等待{timeoutMs}ms");
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}
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yield return false;
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}
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}
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#endregion
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#region 直线运动
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//在世界坐标系下，从路径起点追踪到终点并停车
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public class DstTracker : MovementDefinition
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{
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public Vector2 Src;
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public Vector2 Dst;
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// 本次轨迹的巡航速度上限，单位m/s。
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public float MaxSpeed = PilotDefinition.Conf.DstTrackerMaxSpeed;
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public float CarDirectionBias = 0f;
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public Painter Painter = UI.GetPainter("DstTracker");
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public override IEnumerable<bool> Get()
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{
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var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
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DriveTask task = null;
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try
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{
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Console.WriteLine($"DstTracker src:({Src.X:F2}, {Src.Y:F2}) dst:({Dst.X:F2}, {Dst.Y:F2})");
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Painter.DrawLine(Color.Cyan, Src.X, Src.Y, Dst.X, Dst.Y, width: 3);
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var tracker = new ChassisController
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{
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BaseSpeed = MaxSpeed
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}.Get();
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// 要求路径末端速度下降到零。
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tracker.FinishSpeed = 0f;
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var linePath = new LineTrack(Src, Dst)
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{
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CarDirectionBias = CarDirectionBias,
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Speed = MaxSpeed
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};
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tracker.AddTrack(linePath);
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task = new DriveTask(tracker.Track());
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task.Wait();
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yield 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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chassis.PredefinedDriveStop();
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}
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}
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}
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//直线行走基于轮里程
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// C层单车底盘：按照车轮里程行驶指定的相对距离。
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public class LineTracking : MovementDefinition
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{
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// 相对动作启动位置的行驶距离，单位mm。
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// 正数表示前进，负数表示后退。
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public float TargetDistance;
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public float MaxSpeed = PilotDefinition.Conf.LineTrackMaxSpeed;
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public float Kp = PilotDefinition.Conf.LineTrackKp;
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public float Ki = PilotDefinition.Conf.LineTrackKi;
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public float Kd = PilotDefinition.Conf.LineTrackKd;
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public float DeadZone = PilotDefinition.Conf.LineTrackDeadZone;
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public int SrcId = -1;
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public int DstId = -1;
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public Action<int> LeaveSrcFunction;
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// 接近目标后是否保留速度，交给下一个动作接管。
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public bool EnableHandover;
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// 进入动作衔接的剩余距离，单位mm。
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public float HandoverDistance = 80f;
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// HandoverSpeed小于0时，使用MaxSpeed的此比例。
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public float HandoverSpeedRatio = 0.5f;
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// 大于等于0时，直接作为衔接速度，单位m/s。
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public float HandoverSpeed = -1f;
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public float MinHandoverSpeed = 0.05f;
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private PIDController _pid;
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// 读取当前单车直线行驶里程，单位mm。
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private static float ReadPosition()
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{
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return
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(PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2f;
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}
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// 根据动作启动位置和目标距离执行直线里程闭环。
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public override IEnumerable<bool> Get()
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{
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if (float.IsNaN(TargetDistance) || float.IsInfinity(TargetDistance))
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{
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throw new ArgumentOutOfRangeException(
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nameof(TargetDistance),
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"目标行驶距离必须是有限值。");
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}
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if (float.IsNaN(MaxSpeed) || float.IsInfinity(MaxSpeed) || MaxSpeed <= 0f)
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{
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throw new ArgumentOutOfRangeException(
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nameof(MaxSpeed),
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"最大速度必须是大于零的有限值。");
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}
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var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
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// 每次启动动作时重新读取起始编码器位置。
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var startPosition = ReadPosition();
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// PID仍然控制绝对编码器位置，但绝对目标由动作自动计算。
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var targetPosition = startPosition + TargetDistance;
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_pid = new PIDController(ReadPosition, Kp, Ki, Kd, 0, DeadZone, MaxSpeed)
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{
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SpeedAccPerSec = Math.Abs(MaxSpeed) / 2f
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};
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var handoverRequested = false;
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var keepHandoverSpeed = false;
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DLog.Log(
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$"直线里程动作：" +
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$"起点={startPosition:F1}mm，" +
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$"距离={TargetDistance:F1}mm，" +
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$"目标={targetPosition:F1}mm",
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"straight_line");
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try
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{
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while (true)
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{
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var currentPosition = ReadPosition();
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var remainingDistance = targetPosition - currentPosition;
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// 接近目标后，保留一定速度交给后续动作。
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if (EnableHandover && Math.Abs(remainingDistance) <= Math.Max(1f, HandoverDistance))
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{
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var direction = Math.Sign(remainingDistance);
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if (direction == 0)
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{
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direction = Math.Sign(TargetDistance);
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}
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var requestedSpeed = HandoverSpeed >= 0f ? Math.Abs(HandoverSpeed) : Math.Abs(MaxSpeed) * HandoverSpeedRatio;
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var maximumSpeed = Math.Abs(MaxSpeed);
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var minimumSpeed = Math.Min(Math.Abs(MinHandoverSpeed), maximumSpeed);
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var limitedSpeed = Math.Max(minimumSpeed, Math.Min(requestedSpeed, maximumSpeed));
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var handoverSpeed = limitedSpeed * direction;
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chassis.SendXYThSpeed(handoverSpeed, 0f, 0f);
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handoverRequested = true;
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// 保持一个调度周期，让速度命令实际生效。
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yield return true;
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break;
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}
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var speed = _pid.GetResponse(targetPosition);
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chassis.SendXYThSpeed(speed, 0f, 0f);
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if (_pid.IsArrived())
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{
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break;
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}
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yield return true;
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}
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if (SrcId != -1 &&
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LeaveSrcFunction != null)
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{
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LeaveSrcFunction(SrcId);
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DLog.Log($"释放放车点{SrcId}", "straight_line");
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}
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// 只有正常完成动作衔接时才允许保留非零速度。
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keepHandoverSpeed = handoverRequested;
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}
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finally
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{
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// 普通完成、人工停止或异常退出时都必须停车。
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if (!keepHandoverSpeed)
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{
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chassis.SendXYThSpeed(0f, 0f, 0f);
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}
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}
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yield return false;
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}
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}
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//直线行走基于detour
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public class LineTracking_based_detour : MovementDefinition
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{
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public float LineDistance = 1000f;
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public int SrcId = -1;
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public int DstId = -1;
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public Action<int> LeaveSrcFunction = null;
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public Painter painter = UI.GetPainter("Line", false);
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// C层单车轨迹：执行早期版本的两点直线跟踪动作。
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public override IEnumerable<bool> Get()
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{
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var curpose = DetourInterface.getCartLocation();
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Console.WriteLine($"curpose.th:{curpose.th}");
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var src = new Vector2((float)curpose.x, (float)curpose.y);
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var headingRadians =
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AngleMath.DegreesToRadians(curpose.th);
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var dst = new Vector2(
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(float)(curpose.x +
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LineDistance * Math.Cos(headingRadians)),
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(float)(curpose.y +
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LineDistance * Math.Sin(headingRadians)));
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// var dst = new Vector2((float)curpose.x + LineDistance * (float)Math.Cos(curpose.th),
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// (float)curpose.y + LineDistance * (float)Math.Sin(curpose.th));
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Console.WriteLine($"src:{src.X} {src.Y}");
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Console.WriteLine($"dst:{dst.X} {dst.Y}");
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painter.DrawLine(Color.Green, src.X, src.Y, dst.X, dst.Y, width: 3);
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var tracker = new ChassisController().Get();
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var linePath = new LineTrack(src, dst) { CarDirectionBias = LineDistance > 0 ? 0 : 180 };
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tracker.AddTrack(linePath);
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var _dt = new DriveTask(tracker.Track());
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_dt.Wait();
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if (SrcId != -1 && LeaveSrcFunction != null)
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{
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LeaveSrcFunction(SrcId);
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DLog.Log($"释放放车点{SrcId}", "straight_line");
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}
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yield return false;
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}
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}
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#endregion
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#region 旋转运动
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public class MultiWheelRotateInPlace : MovementDefinition
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{
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/// <summary>
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/// 旋转目标角度
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/// </summary>
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public float AngleTarget;
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public Func<float> ThetaReader = () => (float)DetourInterface.getCartLocation().th;
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public MultiWheelChassis Chassis = (MultiWheelChassis)PilotDefinition.Chassis;
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public Func<PIDParams> PidparamsRead = () => new PIDParams() { };
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public PIDController thPid;
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// 将本周期PID角速度输出提供给实验记录器，单位deg/s。
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public Action<float> CommandAngularSpeedObserver;
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// 自转前舵轮实际角度允许误差，单位deg。
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public float WheelAlignmentToleranceDegrees = 2f;
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// 自转舵轮连续保持到位的时间，单位s。
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public float WheelAlignmentStableSeconds = 0.3f;
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// 自转舵轮准备超时时间，单位s。
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public float WheelAlignmentTimeoutSeconds = 10f;
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// 先准备自转舵角，再通过安全版SendXYThSpeed闭环旋转到目标角度。
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public override IEnumerable<bool> Get()
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{
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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，无法执行原地自转。");
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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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try
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{
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var alignmentStarted = DateTime.Now;
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DateTime? alignedSince = null;
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while (true)
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{
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if (!adapter.PrepareSpin())
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throw new InvalidOperationException(
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"无法生成原地自转舵轮目标：" +
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adapter.LastFailureReason);
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if (adapter.AreSpinWheelsAligned)
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{
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if (alignedSince == null)
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alignedSince = DateTime.Now;
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if ((DateTime.Now - alignedSince.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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alignedSince = 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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"原地自转舵轮在限定时间内未稳定到位。");
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yield return true;
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}
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var targetAngle =
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(float)AngleMath.NormalizeDegrees(AngleTarget);
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var p = PidparamsRead();
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thPid = new PIDController(ThetaReader, p.Kp);
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thPid.ChangeParameters(p.Kp, p.Ki, p.Kd, p.MaxI, p.DeadZone,
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p.OutputUpperThreshold, p.SpeedAccPerSec);
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var lastCommandTime = DateTime.Now;
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while (true)
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{
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var s = thPid.GetResponse(targetAngle, true);
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Console.WriteLine($"s:{s} AngleTarget:{AngleTarget}");
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CommandAngularSpeedObserver?.Invoke(s);
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var now = DateTime.Now;
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var interval = now - lastCommandTime;
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lastCommandTime = now;
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|
||
// PID输出s为deg/s，Shared命令统一使用rad/s。
|
||
// adapter.Send最终调用普通安全版SendXYThSpeed。
|
||
var omegaRadiansPerSecond =
|
||
(float)AngleMath.DegreesToRadians(s);
|
||
if (!adapter.Send(
|
||
new ChassisCommand(
|
||
PilotDefinition.Self.CarNum,
|
||
new Twist2D(
|
||
0.0,
|
||
0.0,
|
||
omegaRadiansPerSecond)),
|
||
interval))
|
||
{
|
||
throw new InvalidOperationException(
|
||
"安全XYTh原地旋转底盘解算失败：" +
|
||
adapter.LastFailureReason);
|
||
}
|
||
if (thPid.IsArrived()) break;
|
||
yield return true;
|
||
}
|
||
|
||
Console.WriteLine($"final rotate to {targetAngle}");
|
||
}
|
||
finally
|
||
{
|
||
CommandAngularSpeedObserver?.Invoke(0f);
|
||
adapter.StopImmediately();
|
||
}
|
||
}
|
||
}
|
||
#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
|
||
}
|