Merge branch 'master' of http://git.fairylandtech.com/ruifeng.zhou/Tutorial

MultiWheel/MultiWheelC/PilotDefinition.cs

@@ -37,14 +37,17 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
     [AsLowerIO(desc = "（手动）多车联动模式")] public int MultiVehicleManualMode;
     [FieldMember(desc = "多车联动已同步")] public bool MultiVehicleAligned;
 
-    [AsLowerIO(desc = "多车联动：遥控器Vx")] public float MultiVehicleManualVx;
-    [AsLowerIO(desc = "多车联动：遥控器Vy")] public float MultiVehicleManualVy;
-    [AsLowerIO(desc = "多车联动：遥控器Vth")] public float MultiVehicleManualVth;
+    [AsLowerIO(desc = "多车联动：遥控器Vx比例")] public float MultiVehicleManualVx;
+    [AsLowerIO(desc = "多车联动：遥控器Vy比例")] public float MultiVehicleManualVy;
+    [AsLowerIO(desc = "多车联动：遥控器Vth比例")] public float MultiVehicleManualVth;
+    [AsLowerIO(desc = "多车联动：遥控暂停")] public bool MultiVehicleHold;
 
     // ===== Clumsy 侧脚本/动作驱动的手动等价输入（不走 Medulla IO，不会被 IO 同步覆盖）=====
     // 手动 IO 字段是 [AsLowerIO]（Medulla→Clumsy，Medulla 每周期回写），Clumsy 侧 MovementTest 写它们会被覆盖。
-    // 因此提供这组内部字段，让 Clumsy 侧动作（如 FleetRotateInPlace）能像 FleetRemote 一样驱动车队联动：
-    // ScriptEnabled=使能；Mode 0=常规 1=蟹行 2=原地旋转；Vx/Vy/Vth 语义与手动遥控完全一致（m/s、m/s、deg/s）。
+    // 因此提供这组内部字段，让 Clumsy 侧动作（如 FleetRotateInPlace）能像 FleetRemote 一样驱动车队联动。
+    // ScriptEnabled=使能；Mode 0=常规 1=蟹行 2=原地旋转。
+    // 注意：Medulla 遥控 IO 是归一化摇杆比例；脚本字段保持物理量，避免动作参数再被 FleetManual* 二次缩放。
+    // Mode0: Vx=m/s, Vth=目标舵角deg；Mode1: Vx=m/s, Vy=蟹行舵角deg；Mode2: Vth=角速度deg/s。
     [FieldMember(desc = "多车联动：脚本驱动使能")] public bool MultiVehicleScriptEnabled;
     [FieldMember(desc = "多车联动：脚本驱动模式")] public int MultiVehicleScriptMode;
     [FieldMember(desc = "多车联动：脚本驱动Vx")] public float MultiVehicleScriptVx;
@@ -214,7 +217,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
 
         DLog.Log(
             $"INPUT master={isMaster} endpoint={Conf.MultiVehicleMasterEndpoint} selfEndpoint={Conf.MultiVehicleSelfEndpoint} car={CarNum} " +
-            $"rawEn={MultiVehicleManualEnabled} rawMode={MultiVehicleManualMode} rawVx={MultiVehicleManualVx:0.000} rawVy={MultiVehicleManualVy:0.000} rawVth={MultiVehicleManualVth:0.000} " +
+            $"rawEn={MultiVehicleManualEnabled} rawHold={MultiVehicleHold} rawMode={MultiVehicleManualMode} rawVx={MultiVehicleManualVx:0.000} rawVy={MultiVehicleManualVy:0.000} rawVth={MultiVehicleManualVth:0.000} " +
             $"scriptOn={scriptOn} effEn={manualEnabled} effMode={manualMode} effVx={manualVx:0.000} effVy={manualVy:0.000} effVth={manualVth:0.000} " +
             $"auto={autoEnabled} notifFresh={notifFresh} notifAgeMs={notifAgeMs:0} fleetCnt={fleetCnt}/{Conf.MultiVehicleFleetNum}",
             "MultiVehicleRemoteDbg");
@@ -624,6 +627,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
         var manualVx = scriptOn ? MultiVehicleScriptVx : MultiVehicleManualVx;
         var manualVy = scriptOn ? MultiVehicleScriptVy : MultiVehicleManualVy;
         var manualVth = scriptOn ? MultiVehicleScriptVth : MultiVehicleManualVth;
+        var manualHold = !scriptOn && MultiVehicleHold;
         VehicleSyncNotification activeNotification = null;
 
         if (isMaster)
@@ -660,7 +664,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                              Math.Max(300, Conf.MultiVehicleSyncInterval * 5);
             FleetDiag(
                 $"ENTRY master={isMaster} | IO: ManualEn={MultiVehicleManualEnabled} Mode={MultiVehicleManualMode} " +
-                $"Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} Vth={MultiVehicleManualVth:0.0} AutoEn(IO)={MultiVehicleAutoEnabled} " +
+                $"Hold={MultiVehicleHold} Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} Vth={MultiVehicleManualVth:0.0} AutoEn(IO)={MultiVehicleAutoEnabled} " +
                 $"| SCRIPT en={MultiVehicleScriptEnabled} mode={MultiVehicleScriptMode} Vx={MultiVehicleScriptVx:0.000} Vy={MultiVehicleScriptVy:0.000} Vth={MultiVehicleScriptVth:0.0} " +
                 $"| gate: manualEnabled={manualEnabled} autoEnabled={autoEnabled} notifFresh={notifFresh} " +
                 $"notifManualEn={(MultiVehicleNotification != null ? MultiVehicleNotification.ManualEnabled.ToString() : "null")} " +
@@ -681,7 +685,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
             ResetMultiVehicleRotateCenterDrift();
             LogMultiVehicleRemoteDecision(
                 $"RETURN_IDLE master={isMaster} rawEn={MultiVehicleManualEnabled} scriptOn={scriptOn} auto={autoEnabled} " +
-                $"rawMode={MultiVehicleManualMode} rawVx={MultiVehicleManualVx:0.000} rawVy={MultiVehicleManualVy:0.000} rawVth={MultiVehicleManualVth:0.000}");
+                $"rawHold={MultiVehicleHold} rawMode={MultiVehicleManualMode} rawVx={MultiVehicleManualVx:0.000} rawVy={MultiVehicleManualVy:0.000} rawVth={MultiVehicleManualVth:0.000}");
             UI.GetPainter("MultiVehicleFleet-vis", false).Clear();
             sendMotionPainter.Clear();
             lock (FleetLock)
@@ -762,10 +766,13 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
             {
                 syncTh = 0;
                 fleetMode = manualMode;
+                var remoteRatioInput = !scriptOn;
                 if (fleetMode == 2)
                 {
-                    // 原地旋转：摇杆左右 → 绕车队中心角速度(deg/s)。底盘 SetOriginBias 已设为车队中心。
-                    fleetOmega = manualVth;
+                    // 外部遥控: Vth 为摇杆比例；内部脚本: Vth 为实际角速度(deg/s)。
+                    fleetOmega = remoteRatioInput
+                        ? ClampFloat(manualVth, -1f, 1f) * Math.Max(0f, Conf.FleetManualMaxRotateOmegaDegPerSec)
+                        : manualVth;
                     fleetVx = 0;
                     fleetFrontTh = 0;
                     fleetRearTh = 0;
@@ -774,12 +781,16 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                 }
                 else if (fleetMode == 1)
                 {
-                    // 手动蟹行：Vx 只表示线速度，Vy 表示方向摇杆比例(-1..1)，由 VyFac 映射为舵角。
-                    var speed = manualVx * Conf.ManualCarSyncVxFac;
-                    var crabRatio = Math.Max(-90f, Math.Min(90f, manualVy));
-                    var crabAngle = crabRatio * Conf.ManualCarSyncVyFac;
+                    // 外部遥控: Vx/Vy 为摇杆比例；内部脚本: Vx 为线速度(m/s), Vy 为蟹行舵角(deg)。
+                    var speed = remoteRatioInput
+                        ? ClampFloat(manualVx, -1f, 1f) * Math.Max(0f, Conf.FleetManualMaxSpeed)
+                        : manualVx;
+                    var crabRatio = remoteRatioInput ? ClampFloat(manualVy, -1f, 1f) : 0f;
+                    var crabAngle = remoteRatioInput
+                        ? crabRatio * Math.Abs(Conf.FleetManualMaxCrabAngleDeg)
+                        : manualVy;
                     crabInputVx = speed;
-                    crabInputVy = crabRatio;
+                    crabInputVy = remoteRatioInput ? crabRatio : crabAngle;
                     crabRawAngle = crabAngle;
                     crabSteerLimit = Math.Min(179f, Math.Max(1f, Math.Abs(Conf.MultiVehicleCrabSteerLimitDeg)));
 
@@ -793,8 +804,13 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                 }
                 else
                 {
-                    fleetVx = manualVx * Conf.ManualCarSyncVxFac;
-                    var targetTh = manualVth * Conf.ManualCarSyncVthFac;
+                    // 外部遥控: Vx/Vth 为摇杆比例；内部脚本: Vx 为线速度(m/s), Vth 为目标舵角(deg)。
+                    fleetVx = remoteRatioInput
+                        ? ClampFloat(manualVx, -1f, 1f) * Math.Max(0f, Conf.FleetManualMaxSpeed)
+                        : manualVx;
+                    var targetTh = remoteRatioInput
+                        ? ClampFloat(manualVth, -1f, 1f) * Math.Abs(Conf.FleetManualMaxSteerAngleDeg)
+                        : manualVth;
                     var now = DateTime.Now;
                     var dt = (float)Math.Min(0.2, Math.Max(0, (now - _multiVehicleLastThTime).TotalSeconds));
                     _multiVehicleLastThTime = now;
@@ -804,6 +820,17 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                     fleetFrontTh = _multiVehicleAccumulateTh;
                     fleetRearTh = -fleetFrontTh;
                 }
+
+                if (manualHold)
+                {
+                    fleetMode = 0;
+                    fleetVx = 0;
+                    fleetFrontTh = 0;
+                    fleetRearTh = 0;
+                    fleetOmega = 0;
+                    _multiVehicleAccumulateTh = 0f;
+                    _multiVehicleLastThTime = DateTime.Now;
+                }
             }
             else
             {
@@ -830,11 +857,9 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                 }
             }
         }
-        else if (MultiVehicleNotification != null)
+        else if (activeNotification != null)
         {
-            VehicleSyncNotification notification;
-            lock (_multiVehicleNotificationLock)
-                notification = MultiVehicleNotification;
+            var notification = activeNotification;
 
             syncTh = notification.SyncTh;
             syncDistance = notification.SyncDistance;