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Fix fleet rotate synchronization

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This commit is contained in:
ruifeng.zhou
2026-07-01 10:28:32 +08:00
parent 574987222a
commit 3aa979be8b
3 changed files with 281 additions and 7 deletions
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MultiWheel/MultiWheelC/MovementTests.cs
+30 -1
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@@ -212,7 +212,7 @@ public class FleetRotateInPlace : MovementDefinition
if (accel > 1e-3) estDuration += maxOmega / (2 * accel);
DLog.Log(
$"START target={TargetDeltaDeg:0.0} dir={dir} omega={maxOmega:0.0} accel={accel:0.0} " +
$"REQUEST target={TargetDeltaDeg:0.0} dir={dir} omega={maxOmega:0.0} accel={accel:0.0} " +
$"slowDeg={slowDeg:0.0} minOmega={minOmega:0.0} useDetourHeading={hasPos} startTh={startTh:0.00} " +
$"estDuration={estDuration:0.00}s syncUseDetour={conf.MultiVehicleSyncUseDetour}",
"FleetRotateDbg");
@@ -224,6 +224,35 @@ public class FleetRotateInPlace : MovementDefinition
self.MultiVehicleScriptMode = 2;
self.MultiVehicleScriptVth = 0;
self.MultiVehicleScriptEnabled = true;
self.MultiVehicleRotateWheelsReady = false;
self.MultiVehicleRotateFleetReady = false;
DLog.Log("WAIT_ALIGN fleet rotate wheels", "FleetRotateDbg");
while (!self.MultiVehicleRotateFleetReady)
{
self.MultiVehicleScriptVx = 0;
self.MultiVehicleScriptVy = 0;
self.MultiVehicleScriptMode = 2;
self.MultiVehicleScriptVth = 0;
self.MultiVehicleScriptEnabled = true;
Hedingben.ToastText("车队原地旋转舵轮预对齐中", "FleetRotate");
yield return true;
}
if (hasPos)
{
prevTh = (float)DetourInterface.getCartLocation().th;
startTh = prevTh;
}
accumulated = 0f;
start = DateTime.Now;
lastTime = start;
lastLog = DateTime.MinValue;
cmdMag = 0f;
DLog.Log(
$"START target={TargetDeltaDeg:0.0} dir={dir} omega={maxOmega:0.0} startTh={startTh:0.00} " +
$"fleetAligned={self.MultiVehicleRotateFleetReady}",
"FleetRotateDbg");
var stopReason = "stop()";
while (true)