增加dstTracker

MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs

@@ -390,13 +390,6 @@ namespace MultiWheelC
                     if (!running) break;
                     yield return true;
                 }
-                // 衔接速度：避免第一段结束后瞬间“掉速”，让第二段接管更连贯
-                var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
-                var handoverSpeed = Math.Max(0.08f, Math.Min(PilotDefinition.Conf.DstTrackerMaxSpeed, 0.2f));
-                var direction = Math.Sign(dst.x - src.x);
-                if (direction == 0) direction = 1;
-                chassis.SendXYThSpeed(handoverSpeed * direction, 0f, 0f);
-                yield return true;
                 foreach (var running in new DstTracker()
                 {
                     Src = src,
@@ -415,7 +408,87 @@ namespace MultiWheelC
         private DriveTask _dt;
     }
 
+    [MovementTest(name = "测试先离车再终点跟踪")]
+    public class LeaveCarThenDstTrackerTest : MovementTest
+    {
+        private readonly Painter _painter = UI.GetPainter("LeaveCarThenDstTrackerTest");
 
+        public override void TestStop()
+        {
+            _dt?.Stop();
+            _painter?.Clear();
+        }
+
+        public override void Test()
+        {
+            var src = UI.GetPoint("请在上位机选择离车后起点(src)");
+            var dst = UI.GetPoint("请在上位机选择终点(dst)");
+
+            _painter.Clear();
+            _painter.DrawLine(Color.Cyan, src.X, src.Y, dst.X, dst.Y, width: 3);
+            _painter.DrawCircle(Color.LimeGreen, src.X, src.Y, 80f);
+            _painter.DrawCircle(Color.OrangeRed, dst.X, dst.Y, 80f);
+            _painter.DrawText(Color.LimeGreen, "src", src.X + 80f, src.Y + 80f);
+            _painter.DrawText(Color.OrangeRed, "dst", dst.X + 80f, dst.Y + 80f);
+
+            IEnumerable<bool> LeaveThenFollow()
+            {
+                var following = new TireFollowing()
+                {
+                    GetController = () => new ChassisController().Get(),
+                    GuessRangeX = PilotDefinition.Conf.TireFilterLength / 2,
+                    GuessRangeY = PilotDefinition.Conf.TireFilterWidth / 2,
+                    detectors = new List<TireFollowing.DetectorDefinition>()
+                    {
+                        new TireFollowing.DetectorDefinition()
+                        {
+                            DetectFunction = (_, lastDetectX, filters) => TireDetect.Detect(lastDetectX, filters, false),
+                            StartGuessingX = -PilotDefinition.Conf.TireFollowingStage2GuessX,
+                            StartGuessingY = 0,
+                            SwitchWalkBlindCondition = rd => rd <= PilotDefinition.Conf.TireFollowingWalkBlindSwitchingDistance,
+                            FinishWalkBlindCondition = rd => rd <= PilotDefinition.Conf.TireFollowingWalkBlindFinishDistance,
+                            PathTransformation = new Tuple<float, float, float>(
+                                PilotDefinition.Conf.TireFollowingLeaveCarBackLidarPathTransformationX,
+                                PilotDefinition.Conf.TireFollowingBackLidarPathTransformationY,
+                                0),
+                        },
+                    },
+                    CarDirection = 180f,
+                    SlowDistance = PilotDefinition.Conf.TireFollowingSlowDistance,
+                    MaxSpeed = PilotDefinition.Conf.TireFollowingMaxSpeed,
+                    WalkBlindTh = 0,
+                    TireNum = 1
+                };
+
+                foreach (var running in following.Get())
+                {
+                    if (!running) break;
+                    yield return true;
+                }
+
+                foreach (var running in new DstTracker()
+                {
+                    Src = src,
+                    Dst = dst,
+                    CarDirectionBias = 180f,
+                }.Get())
+                {
+                    if (!running) break;
+                    yield return true;
+                }
+
+                yield return false;
+            }
+
+            _dt = new DriveTask(LeaveThenFollow());
+            _dt.Wait();
+        }
+
+        private DriveTask _dt;
+    }
+
+
+    [MovementTest(name = "驱动器下使能测试")]
     public class DriverDisableTest : MovementTest
     {
         public override void TestStop()