Simplify fleet curve configuration

MultiWheel/MultiWheelC/AGV.cs

@@ -452,12 +452,12 @@ namespace MultiWheelC
             }
 
             track.Speed = speed;
-            track.CarDirectionBias = PilotDefinition.Conf.FleetCurveCarDirectionBias;
+            track.CarDirectionBias = 0f;
 
             DLog.Log(
                 $"call FleetCurveWalk(src=({srcX:0},{srcY:0},id:{srcId}), dst=({dstX:0},{dstY:0},id:{dstId}), " +
                 $"speed={speed:0.000}, trackType={trackType}, controls={controlPointNum}, track={track.GetType().Name}, " +
-                $"carDirectionBias={PilotDefinition.Conf.FleetCurveCarDirectionBias:0.0})",
+                $"carDirectionBias=0.0)",
                 "FleetCurveDbg");
 
             if (dstId != -1)
@@ -473,8 +473,7 @@ namespace MultiWheelC
             {
                 Track = track,
                 CurveSpeed = speed,
-                CarDirectionBias = PilotDefinition.Conf.FleetCurveCarDirectionBias,
+                CarDirectionBias = 0f,
-                BezierResolution = PilotDefinition.Conf.FleetCurveBezierResolution,
                 SlowDistance = PilotDefinition.Conf.FleetCurveSlowDistance,
                 FinishDistance = PilotDefinition.Conf.FleetCurveFinishDistance,
                 FinishSpeed = PilotDefinition.Conf.FleetCurveFinishSpeed,
@@ -492,7 +491,7 @@ namespace MultiWheelC
                 if (srcId != -1)
                 {
                     Leave(srcId);
-                    DLog.Log($"閲婃斁鏀捐溅鐐箋srcId}", "FleetCurveDbg");
+                    DLog.Log($"release srcId={srcId}", "FleetCurveDbg");
                 }
             }
         }

MultiWheel/MultiWheelC/FleetCrabWalk.cs

@@ -287,9 +287,7 @@ public class FleetCrabWalk : MovementDefinition
             "FleetCrabDbg");
 
         var gcpLimit = Math.Max(1f, Math.Abs(GcpThetaThreshold));
-        var controlRadius = Math.Max(1f, Math.Abs(conf.MultiVehicleControlRadius > 0
+        var controlRadius = Math.Max(1f, Math.Abs(conf.TestCarSyncDistance) / 2f);
-            ? conf.MultiVehicleControlRadius
-            : conf.TestCarSyncDistance / 2f));
         ResolveCrabDriveEquivalent(0f, (float)CommonMath.ThDiff(phi, theta),
             (float)CommonMath.ThDiff(phi, theta), gcpLimit, out _, out var holdFrontTh, out var holdRearTh,
             out _, out _);

MultiWheel/MultiWheelC/FleetCurveWalk.cs

@@ -289,9 +289,7 @@ public class FleetCurveWalk : MovementDefinition
         var resolution = Math.Max(2, BezierResolution);
         var speedFinish = Math.Min(baseSpeed, Math.Abs(FinishSpeed));
         var gcpLimit = Math.Max(1f, Math.Abs(GcpThetaThreshold));
-        var controlRadius = Math.Max(1f, Math.Abs(conf.MultiVehicleControlRadius > 0
+        var controlRadius = Math.Max(1f, Math.Abs(conf.TestCarSyncDistance) / 2f);
-            ? conf.MultiVehicleControlRadius
-            : conf.TestCarSyncDistance / 2f));
 
         ApplyFleetControlPointRadius(chassis, controlRadius);
 

MultiWheel/MultiWheelC/MovementTests.cs

@@ -9,6 +9,7 @@ using CommonUsage.Chassis;
 using CommonUsage.Mathematics;
 using MDCSToolBox.Clumsy.Movements;
 using MDCSToolBox.Clumsy.Pilot;
+using MDCSToolBox.Clumsy.Tracks;
 
 namespace MultiWheelC;
 
@@ -441,21 +442,25 @@ public class FleetCurveWalkTest : MovementTest
             return;
         }
 
-        if (!FleetCurveWalk.TryParsePointList(PilotDefinition.Conf.FleetCurveControlPoints,
+        var pointCount = Math.Max(3, PilotDefinition.Conf.FleetCurveTestControlPointCount);
-                out var relativePoints, out var error))
+        var controlPoints = new List<Vector2>();
+        for (var i = 0; i < pointCount; i++)
+            controlPoints.Add(UI.GetPoint($"FleetCurve point {i + 1}/{pointCount}"));
+        var fleetCenter = new Vector2(x, y);
+        if (Vector2.Distance(fleetCenter, controlPoints[0]) >
+            Vector2.Distance(fleetCenter, controlPoints[controlPoints.Count - 1]))
+            controlPoints.Reverse();
+        var track = new BezierTrack(controlPoints)
         {
-            DLog.Log($"FleetCurveWalkTest abort: {error}", "FleetCurveDbg");
+            Speed = PilotDefinition.Conf.FleetCurveSpeed,
-            Hedingben.ToastText(error, "FleetCurve");
+            CarDirectionBias = 0f
-            return;
+        };
-        }
 
-        var controlPoints = FleetCurveWalk.BuildRelativeControlPoints(new Vector2(x, y), th, relativePoints);
         _proc = new FleetCurveWalk
         {
-            ControlPoints = controlPoints,
+            Track = track,
             CurveSpeed = PilotDefinition.Conf.FleetCurveSpeed,
-            CarDirectionBias = PilotDefinition.Conf.FleetCurveCarDirectionBias,
+            CarDirectionBias = 0f,
-            BezierResolution = PilotDefinition.Conf.FleetCurveBezierResolution,
             SlowDistance = PilotDefinition.Conf.FleetCurveSlowDistance,
             FinishDistance = PilotDefinition.Conf.FleetCurveFinishDistance,
             FinishSpeed = PilotDefinition.Conf.FleetCurveFinishSpeed,

MultiWheel/MultiWheelC/PilotConfig.cs

@@ -46,9 +46,6 @@ public class PilotConfig : MultiWheelPilotConfig
 
     [FieldMember(desc = "多车联动：启用互识别纠正")] public bool MultiVehicleUseDetect = false;
 
-    // E: 编队控制点半径(mm)。0 表示自动取 syncDistance/2（与 SetOriginBias 几何一致），>0 时按本值固定。
-    //    取代历史硬编码 510，避免改间距后控制点半径不跟随导致转向/补偿几何错位。
-    [FieldMember(desc = "多车联动：控制点半径(mm，0=syncDistance/2)")] public float MultiVehicleControlRadius = 0f;
     // B: 自动速度命令新鲜度(ms)。主车超过此时长未从路径控制器收到新速度命令(路径结束/早退/卡顿)，
     //    即视为失效并清零下发速度，避免车队按末速度滑行。0 表示自动取 max(200, interval*4)。
     [FieldMember(desc = "多车联动：自动速度命令超时(ms，0=auto)")] public int MultiVehicleAutoCmdTimeoutMs = 0;
@@ -204,18 +201,12 @@ public class PilotConfig : MultiWheelPilotConfig
     public float FleetCrabStartWheelAlignDeg = 2f;
 
     // ===== Fleet linked Bezier curve walk =====
-    [FieldMember(desc = "FleetCurve MovementTest control points relative to fleet start; format x,y;x,y;...")]
+    [FieldMember(desc = "FleetCurve MovementTest Bezier control point count")]
-    public string FleetCurveControlPoints = "0,0;1000,800;2000,800;3000,0";
+    public int FleetCurveTestControlPointCount = 4;
-
-    [FieldMember(desc = "FleetCurve Bezier resolution")]
-    public int FleetCurveBezierResolution = 100;
 
     [FieldMember(desc = "FleetCurve speed(m/s)")]
     public float FleetCurveSpeed = 0.2f;
 
-    [FieldMember(desc = "FleetCurve car direction bias(deg); body target follows tangent+bias")]
-    public float FleetCurveCarDirectionBias = 0f;
-
     [FieldMember(desc = "FleetCurve slow distance(mm)")]
     public float FleetCurveSlowDistance = 2000f;
 

MultiWheel/MultiWheelC/PilotDefinition.cs

@@ -1098,10 +1098,8 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
         if (fleetReady && !fleetStopActive)
         {
             chassis.SetOriginBias(layoutX, layoutY, layoutTh);
-            // E: 统一控制点半径——配置 >0 用配置值，否则取 syncDistance/2（与编队几何一致），不再硬编码 510。
+            // E: 统一控制点半径，取 syncDistance/2，与编队几何一致。
-            var controlRadius = Conf.MultiVehicleControlRadius > 0
+            var controlRadius = syncDistance / 2f;
-                ? Conf.MultiVehicleControlRadius
-                : syncDistance / 2f;
             chassis.ControlPointRadius = controlRadius;
             // #1 纠偏随旋转缩放：把每轮纠偏钳到旋转切向的比例，减速末段切向变小时纠偏同步缩小，杜绝轮向乱摆。
             chassis.RotateCompTangentFrac = rotateParams.CompTangentFrac;

docs/MultiVehicleAutoSyncReview.md

@@ -127,7 +127,7 @@ lock (MultiVehicleFleet)
 编队间距配置变更时，实际控制点半径仍固定 510mm，补偿/转向几何与 `TestCarSyncDistance` 不一致，调参困难。
 
 **建议修复**  
-统一使用 `syncDistance / 2f` 或配置项 `MultiVehicleControlRadius`，删除 magic number 510。
+统一使用 `syncDistance / 2f`，删除 magic number 510。
 
 ---
 
@@ -203,7 +203,7 @@ lock (MultiVehicleFleet)
 - **B**：`MultiVehicleSendMotion` 回调写入 `MultiVehicleAutoCmdTime`；主车自动分支按 `MultiVehicleAutoCmdTimeoutMs`(0=auto) 判定命令新鲜度，超时清零速度/idealPos 并关闭 `AutoEnabled`，避免末速度滑行。
 - **C**：新增本地 `_multiVehicleFleetSeen` 存活时刻表，register/notify 收到即刷新；主车 Tick `PruneStaleFleetMembers()` 按 `MultiVehicleMemberTtlMs`(0=auto) 剔除掉线成员，`fleetReady`(数量==总数) 因此蕴含全员新鲜。
 - **D**：回调不再丢弃 `idealPos/idealAngle`，写入 `MultiVehicleAutoIdeal*` 并经 notify(`HasIdeal/IdealX/Y/Th`) 广播；自动模式下以理想车队中心作为各车 layout 前馈目标（`MultiVehicleAutoUseIdealCenter`，默认开）。
-- **E**：新增 `MultiVehicleControlRadius`(0=syncDistance/2)，`ControlPointRadius` 与 `SendMotion(localControlRadius)` 统一取该值，删除硬编码 510。
+- **E**：`ControlPointRadius` 与 `SendMotion(localControlRadius)` 统一取 `syncDistance / 2f`，删除硬编码 510。
 - **F**：notify 改为 POST + JSON body（取代 GET query 串）；新增单调递增 `Seq`，从车丢弃乱序旧包（含主车重启回退识别）。
 - **G**：新增 `FleetCenterSnapshot` 不可变快照 + `volatile` 引用，`PublishFleetCenter` 整体赋值，控制器线程 `GetFleetCenterSnapshot()` 只读完整快照，消除 torn read。
 - **H**：自动模式新增 `MultiVehicleAutoRequireFleetCenter`(默认开) 门控——无有效车队中心（定位丢失）时强制停车，补上纯 SLAM 模式安全网；手动模式不受限。