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Fix fleet rotate synchronization

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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/VehicleSyncModels.cs
+4
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@@ -21,6 +21,8 @@ public class VehicleSyncInfo
[JsonProperty("DetectOk")] public bool DetectOk { get; set; }
[JsonProperty("MotionFeasible")] public bool MotionFeasible { get; set; } = true;
[JsonProperty("MotionInfeasibleReason")] public string MotionInfeasibleReason { get; set; } = "";
[JsonProperty("RotateWheelsAligned")] public bool RotateWheelsAligned { get; set; } = true;
[JsonProperty("RotateWheelAlignDetail")] public string RotateWheelAlignDetail { get; set; } = "";
}
public class VehicleSyncNotification
@@ -38,6 +40,8 @@ public class VehicleSyncNotification
[JsonProperty("Mode")] public int Mode { get; set; }
// 原地旋转角速度(deg/s，逆时针为正)，仅 Mode==2 有效
[JsonProperty("FleetOmega")] public float FleetOmega { get; set; }
[JsonProperty("RequestedFleetOmega")] public float RequestedFleetOmega { get; set; }
[JsonProperty("FleetMotionReleased")] public bool FleetMotionReleased { get; set; } = true;
[JsonProperty("FleetStopActive")] public bool FleetStopActive { get; set; }
[JsonProperty("FleetStopReason")] public string FleetStopReason { get; set; } = "";
[JsonProperty("FleetStopSourceCar")] public int FleetStopSourceCar { get; set; }