39 lines
1.1 KiB
C#
39 lines
1.1 KiB
C#
using System.Diagnostics;
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namespace MyParking.Simulation.Core;
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/// <summary>
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/// 以固定周期推进离线仿真世界。
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/// </summary>
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public sealed class SimulationClock(
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SimulationWorld world,
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ILogger<SimulationClock> logger) : BackgroundService
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{
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private static readonly TimeSpan TickInterval =
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TimeSpan.FromMilliseconds(20);
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protected override async Task ExecuteAsync(
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CancellationToken stoppingToken)
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{
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logger.LogInformation(
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"停车机器人离线仿真时钟已启动，周期{Period}ms。",
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TickInterval.TotalMilliseconds);
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using var timer = new PeriodicTimer(TickInterval);
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var stopwatch = Stopwatch.StartNew();
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var previousSeconds = stopwatch.Elapsed.TotalSeconds;
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while (await timer.WaitForNextTickAsync(stoppingToken))
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{
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var currentSeconds = stopwatch.Elapsed.TotalSeconds;
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var deltaTimeSeconds = Math.Clamp(
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currentSeconds - previousSeconds,
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0.001,
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0.1);
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previousSeconds = currentSeconds;
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world.Step(deltaTimeSeconds);
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}
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}
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}
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