Add fleet curve walk support
This commit is contained in:
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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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using ClumsyCore;
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using ClumsyCore.Interfaces;
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using ClumsyCore.Pilot;
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using FundamentalLib;
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using CommonUsage.Chassis;
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using CommonUsage.Mathematics;
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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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// ===== 车队联动-自动蟹行动作 =====
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// 以当前车队中心为起点，构造指定方向和长度的直线路径；
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// 执行侧直接写 MultiVehicleAuto...，由 TickMultiVehicle 自动分支统一下发。
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//
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// 控制思路参考 MDCSToolbox 几何控制器，但实现收在 MultiWheelC 内：
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// 1) 读取主车 Detour 反推车队中心，计算沿直线的进度、横向偏差和车身目标朝向偏差；
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// 2) 根据横向偏差给前后 GCP 同向修正，根据车身目标朝向偏差给前后 GCP 反向修正；
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// 3) 根据终点距离减速，并发布 ideal fleet center 给从车做前馈。
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//
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// 前提：在主车(MultiVehicleMasterEndpoint=="/")运行，且主车有 Detour 定位。
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public class FleetCrabWalk : MovementDefinition
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{
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/// <summary>路径方向相对启动时车队朝向的夹角(deg，逆时针为正)。</summary>
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public float CrabAngleDeg = 45f;
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/// <summary>路径方向相对车身目标朝向的夹角(deg，逆时针为正)。MovementTest 会设为 CrabAngleDeg，以保持启动时车身朝向。</summary>
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public float BodyToPathAngleDeg = 45f;
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/// <summary>路径长度(mm)。</summary>
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public float CrabLengthMm = 2000f;
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/// <summary>行驶速度(m/s)。</summary>
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public float CrabSpeed = 0.2f;
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/// <summary>速度命令加速度限制(m/s^2)，小于等于 0 表示不限制。</summary>
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public float FleetCrabAccel = 0.2f;
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/// <summary>预对齐后正式下发速度前 5 秒加速度限制(m/s^2)，小于等于 0 表示不限制。</summary>
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public float FleetCrabStartAccel = 0.01f;
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/// <summary>末端开始减速距离(mm)。</summary>
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public float FleetCrabSlowDistance = 2000f;
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/// <summary>完成距离(mm)，低于该剩余距离结束动作。</summary>
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public float FleetCrabFinishDistance = 20f;
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/// <summary>末端最低速度(m/s)。</summary>
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public float FleetCrabFinishSpeed = 0.02f;
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/// <summary>末端减速曲线指数。</summary>
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public float FleetCrabSlowingPow = 0.8f;
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/// <summary>前后 GCP 舵角修正上限(deg)。</summary>
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public float GcpThetaThreshold = 95f;
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private bool _stopping;
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private void Cleanup()
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{
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var self = PilotDefinition.Self;
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self.MultiVehicleScriptVx = 0;
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self.MultiVehicleScriptVy = 0;
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self.MultiVehicleScriptVth = 0;
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self.MultiVehicleScriptMode = 0;
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self.MultiVehicleScriptEnabled = false;
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self.MultiVehicleAutoVx = 0;
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self.MultiVehicleAutoFrontTh = 0;
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self.MultiVehicleAutoRearTh = 0;
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self.MultiVehicleAutoHasIdeal = false;
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self.MultiVehicleAutoEnabled = false;
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}
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public void Stop()
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{
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_stopping = true;
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Cleanup();
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}
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private static float Clamp(float value, float min, float max)
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{
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if (value < min) return min;
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if (value > max) return max;
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return value;
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}
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private static float ClampAbs(float value, float limit)
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{
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var absLimit = Math.Abs(limit);
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if (absLimit <= 0) return value;
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if (value > absLimit) return absLimit;
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if (value < -absLimit) return -absLimit;
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return value;
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}
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private static float Slew(float current, float target, float maxDelta)
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{
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if (maxDelta <= 0) return target;
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if (target > current + maxDelta) return current + maxDelta;
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if (target < current - maxDelta) return current - maxDelta;
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return target;
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}
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private static float AverageAngle(float frontTh, float rearTh)
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{
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var diff = (float)CommonMath.ThDiff(frontTh, rearTh);
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return (float)CommonMath.RoundTh(rearTh + diff / 2f);
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}
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private static void ResolveCrabDriveEquivalent(float speed, float rawFrontTh, float rawRearTh, float steerLimit,
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out float driveSpeed, out float frontTh, out float rearTh, out bool reverseEquivalent, out float rawBaseTh)
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{
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var limit = Math.Min(179f, Math.Max(1f, Math.Abs(steerLimit)));
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rawBaseTh = AverageAngle(rawFrontTh, rawRearTh);
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driveSpeed = speed;
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frontTh = rawFrontTh;
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rearTh = rawRearTh;
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reverseEquivalent = false;
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if (rawBaseTh > limit)
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{
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frontTh = (float)CommonMath.RoundTh(frontTh - 180f);
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rearTh = (float)CommonMath.RoundTh(rearTh - 180f);
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driveSpeed = -driveSpeed;
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reverseEquivalent = true;
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}
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else if (rawBaseTh < -limit)
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{
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frontTh = (float)CommonMath.RoundTh(frontTh + 180f);
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rearTh = (float)CommonMath.RoundTh(rearTh + 180f);
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driveSpeed = -driveSpeed;
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reverseEquivalent = true;
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}
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frontTh = ClampAbs(frontTh, limit);
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rearTh = ClampAbs(rearTh, limit);
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}
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private static float ProbeSpeed(float speed)
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{
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return Math.Abs(speed) > 1e-4f ? speed : 1f;
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}
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private static bool TryGetMotionYawSign(float frontTh, float rearTh, float driveSpeed, float controlRadius,
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out float yawSign)
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{
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yawSign = 0f;
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if (Math.Abs(CommonMath.ThDiff(frontTh, rearTh)) <= 1e-3f)
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return false;
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var radius = Math.Max(1f, Math.Abs(controlRadius));
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Vector2 pFront = new(radius, 0), pRear = new(-radius, 0),
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normFront = CommonMath.Transform2D(pFront, frontTh + 90f, Vector2.UnitX),
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normRear = CommonMath.Transform2D(pRear, rearTh + 90f, Vector2.UnitX);
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var (intersect, center) = CommonMath.TwoLinesIntersection(pFront, normFront, pRear, normRear);
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if (!intersect)
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return false;
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// Match MultiWheelChassis.SendMotion: the tangent side is selected by
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// rotCenter.Y > 1, and reverse-equivalent motion flips the yaw direction.
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var tangentSign = center.Y > 1f ? 1f : -1f;
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var speedSign = driveSpeed >= 0f ? 1f : -1f;
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yawSign = speedSign * tangentSign;
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return true;
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}
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private static float GetYawSplitSign(float baseTh, float speed, float steerLimit, float controlRadius)
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{
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const float probeDth = 1f;
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ResolveCrabDriveEquivalent(ProbeSpeed(speed), baseTh + probeDth, baseTh - probeDth, steerLimit,
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out var probeSpeed, out var probeFrontTh, out var probeRearTh, out _, out _);
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return TryGetMotionYawSign(probeFrontTh, probeRearTh, probeSpeed, controlRadius, out var yawSign)
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? yawSign
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: 1f;
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}
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private static float EstimateLateralVelocity(float bodyTh, float frontTh, float rearTh, float driveSpeed,
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Vector2 pathLeft)
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{
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var motionTh = (float)CommonMath.RoundTh(bodyTh + AverageAngle(frontTh, rearTh));
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var rad = motionTh / 180f * Math.PI;
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var dir = new Vector2((float)Math.Cos(rad), (float)Math.Sin(rad));
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if (driveSpeed < 0f)
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dir = -dir;
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return Vector2.Dot(dir, pathLeft);
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}
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private static float ScoreBiasSign(float baseTh, float bodyTh, float speed, float steerLimit, Vector2 pathLeft,
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float lateral, float biasProbe)
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{
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ResolveCrabDriveEquivalent(ProbeSpeed(speed), baseTh + biasProbe, baseTh + biasProbe, steerLimit,
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out var probeSpeed, out var probeFrontTh, out var probeRearTh, out _, out _);
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var lateralVelocity = EstimateLateralVelocity(bodyTh, probeFrontTh, probeRearTh, probeSpeed, pathLeft);
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return -Math.Sign(lateral) * lateralVelocity;
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}
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private static float GetLateralBiasSign(float baseTh, float bodyTh, float speed, float steerLimit, Vector2 pathLeft,
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float lateral)
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{
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if (Math.Abs(lateral) <= 1e-3f)
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return 1f;
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const float probeBias = 1f;
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var positiveScore = ScoreBiasSign(baseTh, bodyTh, speed, steerLimit, pathLeft, lateral, probeBias);
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var negativeScore = ScoreBiasSign(baseTh, bodyTh, speed, steerLimit, pathLeft, lateral, -probeBias);
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return positiveScore >= negativeScore ? 1f : -1f;
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}
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private static bool TryGetControlFleetCenter(PilotDefinition self, out float centerX, out float centerY,
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out float centerTh, out string source)
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{
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if (self.TryGetFleetCenterFromMembers(out centerX, out centerY, out centerTh))
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{
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source = "fleet";
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return true;
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}
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if (self.TryGetFleetCenterFromSlam(out centerX, out centerY, out centerTh))
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{
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source = "slam";
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return true;
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}
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source = "none";
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return false;
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}
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public override IEnumerable<bool> Get()
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{
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var self = PilotDefinition.Self;
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var conf = PilotDefinition.Conf;
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var chassis = BasicPilotBase.Chassis as MultiWheelChassis;
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if (chassis == null)
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{
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DLog.Log("ABORT: FleetCrabWalk requires MultiWheelChassis.", "FleetCrabDbg");
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yield break;
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}
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_stopping = false;
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DLog.Log(
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$"ENTER master?={conf.MultiVehicleMasterEndpoint == "/"} endpoint={conf.MultiVehicleMasterEndpoint} " +
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$"fleetNum={conf.MultiVehicleFleetNum} useDetect={conf.MultiVehicleUseDetect} " +
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$"syncUseDetour={conf.MultiVehicleSyncUseDetour} useIdealCenter={conf.MultiVehicleAutoUseIdealCenter} " +
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$"autoFields=true pathMode=relative pathAngle={CrabAngleDeg:0.0} " +
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$"bodyToPath={BodyToPathAngleDeg:0.0} gcpLimit={GcpThetaThreshold:0.0} " +
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$"biasFac={conf.BiasFac:0.00} fleetCrabDthFac={conf.FleetCrabDthLinearFac:0.00}",
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"FleetCrabDbg");
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if (conf.MultiVehicleMasterEndpoint != "/")
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{
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DLog.Log($"ABORT: 非主车 (endpoint={conf.MultiVehicleMasterEndpoint})", "FleetCrabDbg");
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Hedingben.ToastText("车队蟹行需在主车(主车端点=\"/\")运行", "FleetCrab");
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yield break;
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}
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// 注意：getCartLocation() 在无有效 Detour 定位时会阻塞——若卡在这里且后面看不到 CENTER 日志，即定位未就绪。
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DLog.Log("主车校验通过，开始读取车队中心 (getCartLocation 无定位会阻塞)…", "FleetCrabDbg");
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if (!TryGetControlFleetCenter(self, out var x0, out var y0, out var theta, out var initialCenterSource))
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{
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DLog.Log("ABORT: TryGetFleetCenterFromSlam 返回 false (无定位)", "FleetCrabDbg");
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Hedingben.ToastText("车队蟹行需要主车 Detour 定位", "FleetCrab");
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yield break;
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}
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DLog.Log($"CENTER 车队中心=({x0:0},{y0:0},{theta:0.0})", "FleetCrabDbg");
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DLog.Log($"CENTER_SOURCE source={initialCenterSource} center=({x0:0},{y0:0},{theta:0.0})", "FleetCrabDbg");
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var pathStart = new Vector2(x0, y0);
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var pathLengthMm = CrabLengthMm;
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var phi = CommonMath.RoundTh(theta + CrabAngleDeg);
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var dst = CommonMath.Transform2D(pathStart, phi, new Vector2(pathLengthMm, 0));
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var targetBodyTh = CommonMath.RoundTh(phi - BodyToPathAngleDeg);
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var phiRad = phi / 180.0 * Math.PI;
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var pathDir = new Vector2((float)Math.Cos(phiRad), (float)Math.Sin(phiRad));
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var pathLeft = new Vector2(-pathDir.Y, pathDir.X);
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DLog.Log(
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$"START center=({x0:0},{y0:0},{theta:0.0}) pathMode=relative " +
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$"src=({pathStart.X:0},{pathStart.Y:0}) pathAngle={CrabAngleDeg:0.0} bodyToPath={BodyToPathAngleDeg:0.0} " +
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$"phi={phi:0.0} targetBody={targetBodyTh:0.0} " +
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$"len={pathLengthMm:0} dst=({dst.X:0},{dst.Y:0}) speed={CrabSpeed:0.000} startAccel={FleetCrabStartAccel:0.000} accel={FleetCrabAccel:0.000} " +
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$"slow={FleetCrabSlowDistance:0} finishDist={FleetCrabFinishDistance:0} " +
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$"finishSpeed={FleetCrabFinishSpeed:0.000} slowingPow={FleetCrabSlowingPow:0.00}",
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"FleetCrabDbg");
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var gcpLimit = Math.Max(1f, Math.Abs(GcpThetaThreshold));
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var controlRadius = Math.Max(1f, Math.Abs(conf.MultiVehicleControlRadius > 0
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? conf.MultiVehicleControlRadius
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: conf.TestCarSyncDistance / 2f));
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ResolveCrabDriveEquivalent(0f, (float)CommonMath.ThDiff(phi, theta),
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(float)CommonMath.ThDiff(phi, theta), gcpLimit, out _, out var holdFrontTh, out var holdRearTh,
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out _, out _);
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var warmStart = DateTime.Now;
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var warmSeqBaseline = self.BeginFleetMotionWarmup();
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self.MultiVehicleScriptEnabled = false;
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self.MultiVehicleScriptMode = 0;
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self.MultiVehicleScriptVx = 0;
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self.MultiVehicleScriptVy = 0;
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self.MultiVehicleScriptVth = 0;
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self.MultiVehicleAutoEnabled = true;
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self.MultiVehicleAutoVx = 0;
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self.MultiVehicleAutoFrontTh = holdFrontTh;
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self.MultiVehicleAutoRearTh = holdRearTh;
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self.MultiVehicleAutoIdealX = pathStart.X;
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self.MultiVehicleAutoIdealY = pathStart.Y;
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self.MultiVehicleAutoIdealTh = targetBodyTh;
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self.MultiVehicleAutoHasIdeal = true;
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self.MultiVehicleAutoCmdTime = DateTime.Now;
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self.PrimeMasterAutoFromSlam();
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DLog.Log(
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$"WARMUP auto fields enabled, waiting for fleet startup sync seqBase={warmSeqBaseline} " +
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$"hold=({holdFrontTh:0.00},{holdRearTh:0.00})",
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"FleetCrabDbg");
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var warmEnd = warmStart.AddSeconds(Math.Max(1.0f, conf.FleetCrabStartSyncTimeoutSec));
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var warmIter = 0;
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var warmReady = false;
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var warmDetail = "";
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while (!_stopping && DateTime.Now < warmEnd)
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{
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warmIter++;
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self.MultiVehicleScriptEnabled = false;
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self.MultiVehicleScriptMode = 0;
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self.MultiVehicleAutoEnabled = true;
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self.MultiVehicleAutoVx = 0;
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self.MultiVehicleAutoFrontTh = holdFrontTh;
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self.MultiVehicleAutoRearTh = holdRearTh;
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self.MultiVehicleAutoIdealX = pathStart.X;
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self.MultiVehicleAutoIdealY = pathStart.Y;
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self.MultiVehicleAutoIdealTh = targetBodyTh;
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self.MultiVehicleAutoHasIdeal = true;
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self.MultiVehicleAutoCmdTime = DateTime.Now;
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self.PrimeMasterAutoFromSlam();
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var snap = self.GetFleetCenterSnapshot();
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int cnt;
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lock (self.FleetLock) cnt = self.MultiVehicleFleet.Count;
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if (warmIter % 5 == 0)
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DLog.Log(
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$"WARMUP#{warmIter} 快照=({snap.X:0},{snap.Y:0},{snap.Th:0.0}) tick={snap.Tick} " +
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$"autoEn={self.MultiVehicleAutoEnabled} scriptEn={self.MultiVehicleScriptEnabled} cnt={cnt}/{conf.MultiVehicleFleetNum} " +
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$"detail={warmDetail}",
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"FleetCrabDbg");
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if (self.IsFleetMotionWarmupReady(warmStart, warmSeqBaseline,
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conf.TestCarSyncTh, conf.TestCarSyncDistance, out warmDetail))
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{
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warmReady = true;
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DLog.Log(
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$"WARMUP done iter={warmIter} 快照=({snap.X:0},{snap.Y:0},{snap.Th:0.0}) cnt={cnt} detail={warmDetail}",
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"FleetCrabDbg");
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break;
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}
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yield return true;
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}
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if (!warmReady)
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{
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DLog.Log($"WARMUP timeout: fleet startup sync failed, abort action. detail={warmDetail}",
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"FleetCrabDbg");
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Hedingben.ToastText("车队蟹行启动同步超时，已取消", "FleetCrab");
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Cleanup();
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yield break;
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}
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Hedingben.ToastText($"车队蟹行 路径{phi:0.0}° 车身夹角{BodyToPathAngleDeg:0.0}° 长度{pathLengthMm:0}mm", "FleetCrab");
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if (warmReady && self.TryGetFleetCenterFromMembers(out var warmX, out var warmY, out var warmTh))
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{
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x0 = warmX;
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y0 = warmY;
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theta = warmTh;
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pathStart = new Vector2(x0, y0);
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phi = CommonMath.RoundTh(theta + CrabAngleDeg);
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dst = CommonMath.Transform2D(pathStart, phi, new Vector2(pathLengthMm, 0));
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targetBodyTh = CommonMath.RoundTh(phi - BodyToPathAngleDeg);
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phiRad = phi / 180.0 * Math.PI;
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pathDir = new Vector2((float)Math.Cos(phiRad), (float)Math.Sin(phiRad));
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pathLeft = new Vector2(-pathDir.Y, pathDir.X);
|
||||
self.MultiVehicleAutoIdealX = pathStart.X;
|
||||
self.MultiVehicleAutoIdealY = pathStart.Y;
|
||||
self.MultiVehicleAutoIdealTh = targetBodyTh;
|
||||
self.MultiVehicleAutoCmdTime = DateTime.Now;
|
||||
DLog.Log(
|
||||
$"WARMUP_REBASE source=fleet center=({x0:0},{y0:0},{theta:0.0}) phi={phi:0.0} targetBody={targetBodyTh:0.0} dst=({dst.X:0},{dst.Y:0})",
|
||||
"FleetCrabDbg");
|
||||
}
|
||||
|
||||
var iter = 0;
|
||||
var lastLog = DateTime.MinValue;
|
||||
var finishDistance = Math.Max(0f, FleetCrabFinishDistance);
|
||||
var slowDistance = Math.Max(finishDistance + 1f, FleetCrabSlowDistance);
|
||||
var baseSpeed = Math.Abs(CrabSpeed);
|
||||
var finishSpeed = Math.Min(baseSpeed, Math.Abs(FleetCrabFinishSpeed));
|
||||
var slowingPow = Math.Max(0.01f, FleetCrabSlowingPow);
|
||||
var accel = Math.Abs(FleetCrabAccel);
|
||||
var startAccel = Math.Abs(FleetCrabStartAccel);
|
||||
var cmdSpeed = 0f;
|
||||
var lastTick = DateTime.Now;
|
||||
var speedRampStart = DateTime.Now;
|
||||
var stopReason = "done";
|
||||
|
||||
while (!_stopping)
|
||||
{
|
||||
iter++;
|
||||
|
||||
if (!TryGetControlFleetCenter(self, out var cx, out var cy, out var cth, out var centerSource))
|
||||
{
|
||||
stopReason = "fleet center invalid";
|
||||
DLog.Log("ABORT: TryGetControlFleetCenter returned false during auto crab.", "FleetCrabDbg");
|
||||
break;
|
||||
}
|
||||
var delta = new Vector2(cx - pathStart.X, cy - pathStart.Y);
|
||||
var along = Vector2.Dot(delta, pathDir);
|
||||
var lateral = Vector2.Dot(delta, pathLeft);
|
||||
var remain = pathLengthMm - along;
|
||||
if (remain <= finishDistance)
|
||||
break;
|
||||
|
||||
var targetSpeed = baseSpeed;
|
||||
var slowRatio = 1f;
|
||||
if (remain < slowDistance)
|
||||
{
|
||||
slowRatio = (float)Math.Pow(Clamp(Math.Max(0, remain) / slowDistance, 0f, 1f), slowingPow);
|
||||
targetSpeed = slowRatio * (baseSpeed - finishSpeed) + finishSpeed;
|
||||
}
|
||||
var now = DateTime.Now;
|
||||
var dt = Math.Max(0.001f, (float)(now - lastTick).TotalSeconds);
|
||||
lastTick = now;
|
||||
var rampElapsed = (now - speedRampStart).TotalSeconds;
|
||||
var activeAccel = rampElapsed < 5.0 ? startAccel : accel;
|
||||
var speed = activeAccel > 0 ? Slew(cmdSpeed, targetSpeed, activeAccel * dt) : targetSpeed;
|
||||
cmdSpeed = speed;
|
||||
|
||||
var baseCrabTh = (float)CommonMath.ThDiff(phi, cth);
|
||||
var headingErr = (float)CommonMath.ThDiff(targetBodyTh, cth);
|
||||
var headingErrReverse = (float)CommonMath.ThDiff(cth, targetBodyTh);
|
||||
var targetBodyToPath = (float)CommonMath.ThDiff(phi, targetBodyTh);
|
||||
var rawBiasMagnitude = (float)(Math.Atan(conf.BiasFac * Math.Abs(lateral) / 1000f /
|
||||
Math.Max(speed, 0.3f)) / Math.PI * 180.0);
|
||||
var biasSign = GetLateralBiasSign(baseCrabTh, cth, speed, gcpLimit, pathLeft, lateral);
|
||||
var rawBiasItem = rawBiasMagnitude * biasSign;
|
||||
var biasItem = ClampAbs(rawBiasItem, conf.BiasThreshold);
|
||||
var yawSplitSign = GetYawSplitSign(baseCrabTh + biasItem, speed, gcpLimit, controlRadius);
|
||||
var rawDthItem = conf.FleetCrabDthLinearFac * headingErr * yawSplitSign;
|
||||
var dthItem = ClampAbs(rawDthItem, conf.FleetCrabDthLinearThreshold);
|
||||
var rawFrontTh = baseCrabTh + biasItem + dthItem;
|
||||
var rawRearTh = baseCrabTh + biasItem - dthItem;
|
||||
ResolveCrabDriveEquivalent(speed, rawFrontTh, rawRearTh, gcpLimit, out var driveSpeed,
|
||||
out var frontTh, out var rearTh, out var reverseEquivalent, out var rawBaseTh);
|
||||
holdFrontTh = frontTh;
|
||||
holdRearTh = rearTh;
|
||||
var idealAlong = Clamp(along, 0f, pathLengthMm);
|
||||
var ideal = pathStart + pathDir * idealAlong;
|
||||
|
||||
self.MultiVehicleScriptEnabled = false;
|
||||
self.MultiVehicleScriptMode = 0;
|
||||
self.MultiVehicleScriptVx = 0;
|
||||
self.MultiVehicleScriptVy = 0;
|
||||
self.MultiVehicleScriptVth = 0;
|
||||
self.MultiVehicleAutoEnabled = true;
|
||||
self.MultiVehicleAutoVx = driveSpeed;
|
||||
self.MultiVehicleAutoFrontTh = frontTh;
|
||||
self.MultiVehicleAutoRearTh = rearTh;
|
||||
self.MultiVehicleAutoIdealX = ideal.X;
|
||||
self.MultiVehicleAutoIdealY = ideal.Y;
|
||||
self.MultiVehicleAutoIdealTh = targetBodyTh;
|
||||
self.MultiVehicleAutoHasIdeal = true;
|
||||
self.MultiVehicleAutoCmdTime = DateTime.Now;
|
||||
|
||||
if ((DateTime.Now - lastLog).TotalMilliseconds >= 300)
|
||||
{
|
||||
lastLog = DateTime.Now;
|
||||
var snap = self.GetFleetCenterSnapshot();
|
||||
int fleetCnt;
|
||||
lock (self.FleetLock) fleetCnt = self.MultiVehicleFleet.Count;
|
||||
DLog.Log(
|
||||
$"ITER#{iter} centerSrc={centerSource} center=({cx:0},{cy:0},{cth:0.0}) snap=({snap.X:0},{snap.Y:0},{snap.Th:0.0}) " +
|
||||
$"along={along:0} lateral={lateral:0} remain={remain:0} headingErr={headingErr:0.0} " +
|
||||
$"baseTh={baseCrabTh:0.0} bias={biasItem:0.0} dth={dthItem:0.0} " +
|
||||
$"slowRatio={slowRatio:0.000} targetV={targetSpeed:0.000} rampT={rampElapsed:0.0} accel={activeAccel:0.000} auto=(vx:{driveSpeed:0.000},fTh:{frontTh:0.0},rTh:{rearTh:0.0}) " +
|
||||
$"ideal=({ideal.X:0},{ideal.Y:0},{targetBodyTh:0.0}) scriptEn={self.MultiVehicleScriptEnabled} " +
|
||||
$"cnt={fleetCnt}/{conf.MultiVehicleFleetNum}",
|
||||
"FleetCrabDbg");
|
||||
DLog.Log(
|
||||
$"CTRL iter={iter} centerSrc:{centerSource} phi:{phi:0.00} targetBody:{targetBodyTh:0.00} startTheta:{theta:0.00} " +
|
||||
$"cth:{cth:0.00} crabAngle:{CrabAngleDeg:0.00} bodyToPathCfg:{BodyToPathAngleDeg:0.00} " +
|
||||
$"targetBodyToPath:{targetBodyToPath:0.00} bodyToPathNow:{baseCrabTh:0.00} " +
|
||||
$"headingErr(target-current):{headingErr:0.00} reverse(current-target):{headingErrReverse:0.00} yawSign:{yawSplitSign:0} " +
|
||||
$"fleetCrabDthFac:{conf.FleetCrabDthLinearFac:0.000} rawDth:{rawDthItem:0.00} dth:{dthItem:0.00} dthLimit:{conf.FleetCrabDthLinearThreshold:0.00} " +
|
||||
$"lateral:{lateral:0.0} biasFac:{conf.BiasFac:0.000} biasSign:{biasSign:0} rawBias:{rawBiasItem:0.00} bias:{biasItem:0.00} biasLimit:{conf.BiasThreshold:0.00} " +
|
||||
$"baseTh:{baseCrabTh:0.00} rawBase:{rawBaseTh:0.00} rawOut(f:{rawFrontTh:0.00},r:{rawRearTh:0.00}) " +
|
||||
$"out(f:{frontTh:0.00},r:{rearTh:0.00}) gcpLimit:{gcpLimit:0.00} revEq:{reverseEquivalent} " +
|
||||
$"speedRaw:{speed:0.000} speed:{driveSpeed:0.000} rampT:{rampElapsed:0.0} accel:{activeAccel:0.000} along:{along:0.0} remain:{remain:0.0} ideal=({ideal.X:0.0},{ideal.Y:0.0},{targetBodyTh:0.00})",
|
||||
"FleetCrabHeadingDbg");
|
||||
}
|
||||
yield return true;
|
||||
}
|
||||
|
||||
if (_stopping)
|
||||
stopReason = "stop";
|
||||
|
||||
self.MultiVehicleAutoVx = 0;
|
||||
self.MultiVehicleAutoFrontTh = holdFrontTh;
|
||||
self.MultiVehicleAutoRearTh = holdRearTh;
|
||||
self.MultiVehicleAutoCmdTime = DateTime.Now;
|
||||
DLog.Log(
|
||||
$"STOP_HOLD iter={iter} reason={stopReason} hold=(fTh:{holdFrontTh:0.0},rTh:{holdRearTh:0.0}) cmdSpeed={cmdSpeed:0.000}",
|
||||
"FleetCrabDbg");
|
||||
var settleEnd = DateTime.Now.AddMilliseconds(Math.Max(100, conf.MultiVehicleSyncInterval * 3));
|
||||
while (!_stopping && DateTime.Now < settleEnd)
|
||||
{
|
||||
self.MultiVehicleScriptEnabled = false;
|
||||
self.MultiVehicleScriptMode = 0;
|
||||
self.MultiVehicleAutoEnabled = true;
|
||||
self.MultiVehicleAutoVx = 0;
|
||||
self.MultiVehicleAutoFrontTh = holdFrontTh;
|
||||
self.MultiVehicleAutoRearTh = holdRearTh;
|
||||
self.MultiVehicleAutoCmdTime = DateTime.Now;
|
||||
yield return true;
|
||||
}
|
||||
|
||||
Cleanup();
|
||||
Hedingben.ToastText("车队蟹行完成", "FleetCrab");
|
||||
DLog.Log($"DONE iter={iter} reason={stopReason}", "FleetCrabDbg");
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user