675 lines
25 KiB
C#
675 lines
25 KiB
C#
using ClumsyCore.Interfaces;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Globalization;
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using System.IO;
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using System.Numerics;
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using System.Text;
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using System.Threading;
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using MyParking.Shared;
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using MultiWheelC.StateEstimation;
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namespace MultiWheelC
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{
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// C层实验数据：保存一个采样时刻的定位与控制命令。
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public sealed class TrackingSample
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{
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public double ElapsedSeconds;
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// Detour位置单位为mm，航向单位为deg。
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public double DetourX;
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public double DetourY;
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public double DetourTheta;
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// 车体速度单位为m/s，角速度统一使用rad/s。
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public float CommandSpeed;
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public float CommandVx;
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public float CommandVy;
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public float CommandAngularSpeed;
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// 新版状态估计统一使用SI单位；无有效控制器状态时HasProcessedState为false。
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public bool HasProcessedState;
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public double StateTimestampSeconds;
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public double StateXmeters;
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public double StateYMeters;
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public double StateYawRadians;
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public double StateWorldVxMetersPerSecond;
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public double StateWorldVyMetersPerSecond;
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public double StateBodyVxMetersPerSecond;
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public double StateBodyVyMetersPerSecond;
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public double StateAngularSpeedRadiansPerSecond;
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public bool StateVelocityEstimateValid;
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public bool HasControlReference;
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public double ControlReferenceArcLengthMeters;
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public double ControlReferenceSpeedMetersPerSecond;
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public double ControlLateralErrorMeters;
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public double ControlHeadingErrorRadians;
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public double ControlDistanceToTrajectoryMeters;
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public double ControlRemainingDistanceMeters;
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}
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// C层实验工具：统一采集并保存轨迹跟踪实验数据。
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public sealed class TrackingExperimentRecorder
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{
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private readonly string _controllerName;
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private readonly string _trajectoryName;
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private readonly int _trialNumber;
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private readonly Vector2 _referenceStart;
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private readonly Vector2 _referenceEnd;
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private readonly float _referenceSpeed;
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private readonly float _referenceAngularSpeed;
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private readonly float _referenceMotionFrameYawDegrees;
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private readonly float _referenceAccelerationMetersPerSecondSquared;
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private readonly float _referenceDecelerationMetersPerSecondSquared;
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private readonly int _sampleIntervalMs;
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private readonly List<TrackingSample> _samples =
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new List<TrackingSample>();
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private readonly object _sampleSyncRoot =
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new object();
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private readonly object _commandSyncRoot =
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new object();
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private readonly object _stateSyncRoot =
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new object();
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private readonly Stopwatch _stopwatch =
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new Stopwatch();
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private Thread _worker;
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private volatile bool _running;
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private int _started;
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private int _saved;
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private bool _hasExternalCommand;
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private float _externalCommandSpeed;
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private float _externalCommandVx;
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private float _externalCommandVy;
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private float _externalCommandAngularSpeed;
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private VehicleState? _latestProcessedState;
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private bool _hasControlReference;
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private double _controlReferenceArcLengthMeters;
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private double _controlReferenceSpeedMetersPerSecond;
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private double _controlLateralErrorMeters;
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private double _controlHeadingErrorRadians;
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private double _controlDistanceToTrajectoryMeters;
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private double _controlRemainingDistanceMeters;
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public TrackingExperimentRecorder(
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string controllerName,
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string trajectoryName,
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int trialNumber,
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Vector2 referenceStart,
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Vector2 referenceEnd,
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float referenceSpeed,
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float referenceAngularSpeed = 0f,
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int sampleIntervalMs = 50,
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float referenceMotionFrameYawDegrees = 0f,
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float referenceAccelerationMetersPerSecondSquared = 0f,
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float referenceDecelerationMetersPerSecondSquared = 0f)
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{
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if (string.IsNullOrWhiteSpace(controllerName))
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throw new ArgumentException(
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"控制器名称不能为空。",
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nameof(controllerName));
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if (string.IsNullOrWhiteSpace(trajectoryName))
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throw new ArgumentException(
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"轨迹名称不能为空。",
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nameof(trajectoryName));
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if (sampleIntervalMs <= 0)
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throw new ArgumentOutOfRangeException(
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nameof(sampleIntervalMs),
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"采样周期必须大于零。");
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_controllerName = controllerName;
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_trajectoryName = trajectoryName;
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_trialNumber = trialNumber;
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_referenceStart = referenceStart;
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_referenceEnd = referenceEnd;
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_referenceSpeed = referenceSpeed;
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_referenceAngularSpeed = referenceAngularSpeed;
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_referenceMotionFrameYawDegrees =
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referenceMotionFrameYawDegrees;
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_referenceAccelerationMetersPerSecondSquared =
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referenceAccelerationMetersPerSecondSquared;
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_referenceDecelerationMetersPerSecondSquared =
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referenceDecelerationMetersPerSecondSquared;
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_sampleIntervalMs = sampleIntervalMs;
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}
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// 保存成功后的CSV绝对路径；尚未保存时为空。
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public string SavedFilePath { get; private set; }
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/// <summary>
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/// 获取Clumsy当前运行目录下统一保存轨迹实验CSV的文件夹。
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/// </summary>
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public static string DefaultOutputDirectory =>
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Path.Combine(
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AppContext.BaseDirectory,
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"TrackingExperiments");
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// 启动后台采样线程。
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public void Start()
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{
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if (Interlocked.Exchange(ref _started, 1) != 0)
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return;
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_stopwatch.Restart();
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_running = true;
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// 立即保存起点静止状态，避免第一帧被后台线程延迟。
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CaptureSample();
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_worker = new Thread(SamplingLoop)
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{
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IsBackground = true,
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Name = "TrackingExperimentRecorder"
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};
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_worker.Start();
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}
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// 供Stanley/LQR控制器主动写入本周期最终速度命令。
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// 调用后优先记录该命令，不再使用底盘反解值。
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public void UpdateCommand(
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float commandSpeed,
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float commandAngularSpeed)
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{
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lock (_commandSyncRoot)
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{
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_externalCommandSpeed = commandSpeed;
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_externalCommandVx = commandSpeed;
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_externalCommandVy = 0f;
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_externalCommandAngularSpeed =
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commandAngularSpeed;
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_hasExternalCommand = true;
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}
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}
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// 供全向、蟹行和曲线控制器写入完整车体速度命令。
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public void UpdateBodyCommand(
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float commandVx,
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float commandVy,
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float commandAngularSpeed)
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{
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lock (_commandSyncRoot)
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{
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_externalCommandVx = commandVx;
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_externalCommandVy = commandVy;
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_externalCommandSpeed =
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(float)Math.Sqrt(
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commandVx * commandVx +
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commandVy * commandVy);
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_externalCommandAngularSpeed =
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commandAngularSpeed;
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_hasExternalCommand = true;
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}
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}
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/// <summary>
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/// 保存新版控制器本周期实际使用的校验后车辆状态，供后台采样线程写入CSV。
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/// </summary>
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public void UpdateProcessedState(VehicleState state)
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{
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lock (_stateSyncRoot)
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{
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_latestProcessedState = state;
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}
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}
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/// <summary>
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/// 保存新版控制器本周期实际使用的轨迹投影、误差和参考速度。
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/// </summary>
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public void UpdateControlReference(
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double arcLengthMeters,
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double referenceSpeedMetersPerSecond,
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double lateralErrorMeters,
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double headingErrorRadians,
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double distanceToTrajectoryMeters,
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double remainingDistanceMeters)
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{
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lock (_stateSyncRoot)
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{
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_controlReferenceArcLengthMeters =
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arcLengthMeters;
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_controlReferenceSpeedMetersPerSecond =
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referenceSpeedMetersPerSecond;
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_controlLateralErrorMeters =
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lateralErrorMeters;
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_controlHeadingErrorRadians =
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headingErrorRadians;
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_controlDistanceToTrajectoryMeters =
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distanceToTrajectoryMeters;
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_controlRemainingDistanceMeters =
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remainingDistanceMeters;
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_hasControlReference = true;
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}
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}
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/// <summary>
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/// 清除上一轨迹段参考量，避免停车或原地自转期间沿用已经结束的投影结果。
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/// </summary>
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public void ClearControlReference()
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{
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lock (_stateSyncRoot)
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{
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_hasControlReference = false;
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}
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}
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// 停止采样并将本次实验保存为CSV；重复调用只保存一次。
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public void StopAndSave()
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{
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if (Volatile.Read(ref _started) == 0)
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return;
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if (Interlocked.Exchange(ref _saved, 1) != 0)
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return;
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try
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{
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_running = false;
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if (_worker != null &&
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_worker != Thread.CurrentThread)
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{
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_worker.Join(
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Math.Max(1000, _sampleIntervalMs * 4));
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}
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// 保存停止时刻的最后一帧。
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CaptureSample();
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_stopwatch.Stop();
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SaveCsv();
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Console.WriteLine(
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$"轨迹实验数据已保存：{SavedFilePath}");
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}
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catch
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{
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// 保存失败后允许调用者再次尝试。
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Interlocked.Exchange(ref _saved, 0);
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throw;
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}
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}
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// 按固定周期采集Detour位姿和控制命令。
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private void SamplingLoop()
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{
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while (_running)
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{
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Thread.Sleep(_sampleIntervalMs);
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if (!_running)
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break;
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CaptureSample();
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}
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}
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// 采集一帧Detour位姿和控制命令。
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private void CaptureSample()
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{
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try
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{
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var location =
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DetourInterface.getCartLocation();
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float commandSpeed;
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float commandVx;
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float commandVy;
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float commandAngularSpeed;
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VehicleState? processedState;
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bool hasControlReference;
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double controlReferenceArcLengthMeters;
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double controlReferenceSpeedMetersPerSecond;
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double controlLateralErrorMeters;
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double controlHeadingErrorRadians;
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double controlDistanceToTrajectoryMeters;
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double controlRemainingDistanceMeters;
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lock (_commandSyncRoot)
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{
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if (_hasExternalCommand)
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{
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commandSpeed =
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_externalCommandSpeed;
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commandVx =
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_externalCommandVx;
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commandVy =
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_externalCommandVy;
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commandAngularSpeed =
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_externalCommandAngularSpeed;
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}
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else
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{
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var command =
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PilotDefinition.Chassis
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.GetCarSpeed(false);
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commandVx = command.Vx;
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commandVy = command.Vy;
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// CommonUsage.GetCarSpeed().Vw的单位为deg/s，
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// 记录器内部统一转换为rad/s。
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commandAngularSpeed =
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(float)AngleMath.DegreesToRadians(
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command.Vw);
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commandSpeed = (float)Math.Sqrt(
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commandVx * commandVx +
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commandVy * commandVy);
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}
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}
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lock (_stateSyncRoot)
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{
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processedState =
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_latestProcessedState;
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hasControlReference =
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_hasControlReference;
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controlReferenceArcLengthMeters =
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_controlReferenceArcLengthMeters;
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controlReferenceSpeedMetersPerSecond =
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_controlReferenceSpeedMetersPerSecond;
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controlLateralErrorMeters =
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_controlLateralErrorMeters;
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controlHeadingErrorRadians =
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_controlHeadingErrorRadians;
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controlDistanceToTrajectoryMeters =
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_controlDistanceToTrajectoryMeters;
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controlRemainingDistanceMeters =
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_controlRemainingDistanceMeters;
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}
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var sample = new TrackingSample
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{
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ElapsedSeconds =
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_stopwatch.Elapsed.TotalSeconds,
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DetourX = location.x,
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DetourY = location.y,
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DetourTheta = location.th,
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CommandSpeed = commandSpeed,
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CommandVx = commandVx,
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CommandVy = commandVy,
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CommandAngularSpeed =
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commandAngularSpeed,
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HasProcessedState =
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processedState.HasValue,
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HasControlReference =
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hasControlReference,
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ControlReferenceArcLengthMeters =
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controlReferenceArcLengthMeters,
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ControlReferenceSpeedMetersPerSecond =
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controlReferenceSpeedMetersPerSecond,
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ControlLateralErrorMeters =
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controlLateralErrorMeters,
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ControlHeadingErrorRadians =
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controlHeadingErrorRadians,
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ControlDistanceToTrajectoryMeters =
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controlDistanceToTrajectoryMeters,
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ControlRemainingDistanceMeters =
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controlRemainingDistanceMeters
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};
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if (processedState.HasValue)
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{
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var state = processedState.Value;
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sample.StateTimestampSeconds =
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state.SampleTimestampSeconds;
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sample.StateXmeters =
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state.PoseInWorld.XMeters;
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sample.StateYMeters =
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state.PoseInWorld.YMeters;
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sample.StateYawRadians =
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state.PoseInWorld.YawRadians;
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sample.StateWorldVxMetersPerSecond =
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state.TwistInWorld.VxMetersPerSecond;
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sample.StateWorldVyMetersPerSecond =
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state.TwistInWorld.VyMetersPerSecond;
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sample.StateBodyVxMetersPerSecond =
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state.TwistInBody.VxMetersPerSecond;
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sample.StateBodyVyMetersPerSecond =
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state.TwistInBody.VyMetersPerSecond;
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sample.StateAngularSpeedRadiansPerSecond =
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state.TwistInBody.OmegaRadiansPerSecond;
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sample.StateVelocityEstimateValid =
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state.HasValidVelocityEstimate;
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}
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lock (_sampleSyncRoot)
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{
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_samples.Add(sample);
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}
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}
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catch (Exception ex)
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{
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// 单帧读取失败不应终止车辆控制或整个记录线程。
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Console.WriteLine(
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$"轨迹实验采样失败：{ex.Message}");
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}
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}
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// 将内存中的采样数据写入CSV。
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private void SaveCsv()
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{
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List<TrackingSample> snapshot;
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lock (_sampleSyncRoot)
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{
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snapshot =
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new List<TrackingSample>(_samples);
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}
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var outputDirectory =
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DefaultOutputDirectory;
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Directory.CreateDirectory(outputDirectory);
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var fileName =
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$"{DateTime.Now:yyyyMMdd_HHmmss_fff}_" +
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$"{SanitizeFileName(_controllerName)}_" +
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$"{SanitizeFileName(_trajectoryName)}_" +
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$"Trial{_trialNumber}.csv";
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SavedFilePath = Path.Combine(
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outputDirectory,
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fileName);
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using (var writer = new StreamWriter(
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SavedFilePath,
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false,
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new UTF8Encoding(true)))
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{
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writer.WriteLine(
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"ElapsedSeconds," +
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"ControllerName," +
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"TrajectoryName," +
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"TrialNumber," +
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"DetourX," +
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"DetourY," +
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"DetourTheta," +
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"CommandSpeed," +
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// 保留旧列（deg/s）供历史Python脚本兼容。
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"CommandAngularSpeed," +
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"CommandAngularSpeedRadPerSecond," +
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"CommandVx," +
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"CommandVy," +
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"ReferenceStartX," +
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"ReferenceStartY," +
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"ReferenceEndX," +
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"ReferenceEndY," +
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"ReferenceSpeed," +
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"ReferenceAngularSpeedRadPerSecond," +
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"ReferenceMotionFrameYawDegrees," +
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"ReferenceAccelerationMetersPerSecondSquared," +
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"ReferenceDecelerationMetersPerSecondSquared," +
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"HasProcessedState," +
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"StateTimestampSeconds," +
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"StateXMeters," +
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"StateYMeters," +
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"StateYawRadians," +
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"StateWorldVxMetersPerSecond," +
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"StateWorldVyMetersPerSecond," +
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"StateBodyVxMetersPerSecond," +
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"StateBodyVyMetersPerSecond," +
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"StateAngularSpeedRadiansPerSecond," +
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"StateVelocityEstimateValid," +
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"HasControlReference," +
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"ControlReferenceArcLengthMeters," +
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"ControlReferenceSpeedMetersPerSecond," +
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"ControlLateralErrorMeters," +
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"ControlHeadingErrorRadians," +
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"ControlDistanceToTrajectoryMeters," +
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"ControlRemainingDistanceMeters");
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foreach (var sample in snapshot)
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{
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writer.WriteLine(string.Join(
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",",
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Format(sample.ElapsedSeconds),
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EscapeCsv(_controllerName),
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EscapeCsv(_trajectoryName),
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_trialNumber.ToString(
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CultureInfo.InvariantCulture),
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Format(sample.DetourX),
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Format(sample.DetourY),
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Format(sample.DetourTheta),
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Format(sample.CommandSpeed),
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Format(
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AngleMath.RadiansToDegrees(
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sample.CommandAngularSpeed)),
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Format(sample.CommandAngularSpeed),
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Format(sample.CommandVx),
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Format(sample.CommandVy),
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Format(_referenceStart.X),
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Format(_referenceStart.Y),
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Format(_referenceEnd.X),
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Format(_referenceEnd.Y),
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Format(_referenceSpeed),
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Format(_referenceAngularSpeed),
|
||
Format(_referenceMotionFrameYawDegrees),
|
||
Format(
|
||
_referenceAccelerationMetersPerSecondSquared),
|
||
Format(
|
||
_referenceDecelerationMetersPerSecondSquared),
|
||
sample.HasProcessedState
|
||
? "1"
|
||
: "0",
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateTimestampSeconds),
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateXmeters),
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateYMeters),
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateYawRadians),
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateWorldVxMetersPerSecond),
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateWorldVyMetersPerSecond),
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateBodyVxMetersPerSecond),
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateBodyVyMetersPerSecond),
|
||
FormatOptional(
|
||
sample.HasProcessedState,
|
||
sample.StateAngularSpeedRadiansPerSecond),
|
||
sample.HasProcessedState
|
||
? sample.StateVelocityEstimateValid
|
||
? "1"
|
||
: "0"
|
||
: string.Empty,
|
||
sample.HasControlReference
|
||
? "1"
|
||
: "0",
|
||
FormatOptional(
|
||
sample.HasControlReference,
|
||
sample.ControlReferenceArcLengthMeters),
|
||
FormatOptional(
|
||
sample.HasControlReference,
|
||
sample.ControlReferenceSpeedMetersPerSecond),
|
||
FormatOptional(
|
||
sample.HasControlReference,
|
||
sample.ControlLateralErrorMeters),
|
||
FormatOptional(
|
||
sample.HasControlReference,
|
||
sample.ControlHeadingErrorRadians),
|
||
FormatOptional(
|
||
sample.HasControlReference,
|
||
sample.ControlDistanceToTrajectoryMeters),
|
||
FormatOptional(
|
||
sample.HasControlReference,
|
||
sample.ControlRemainingDistanceMeters)));
|
||
}
|
||
}
|
||
}
|
||
|
||
// 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);
|
||
}
|
||
|
||
/// <summary>
|
||
/// 在新版状态尚未产生时为空，否则按统一小数格式输出状态数值。
|
||
/// </summary>
|
||
private static string FormatOptional(
|
||
bool hasValue,
|
||
double value)
|
||
{
|
||
return hasValue
|
||
? Format(value)
|
||
: string.Empty;
|
||
}
|
||
|
||
// 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("\"", "\"\"") +
|
||
"\"";
|
||
}
|
||
}
|
||
}
|