update 增加追踪点动作

2026-07-02 17:52:55 +08:00
parent 71444b362d
commit d3b4a9eb15
4 changed files with 165 additions and 4 deletions
@@ -292,7 +292,130 @@ namespace MultiWheelC
        private DriveTask _dt;
    }

-    [MovementTest(name = "驱动器下使能测试")]
+    [MovementTest(name = "测试终点跟踪动作-前进")]
+    public class DstTrackerForward : MovementTest
+    {
+        public bool UseInteractivePick = true;
+        public float srcX;
+        public float srcY;
+        public float dstX;
+        public float dstY;
+        public float carDirectionBias = 0f;
+        private readonly Painter _painter = UI.GetPainter("DstTrackerTest");
+
+        public override void TestStop()
+        {
+            _dt?.Stop();
+            _painter?.Clear();
+        }
+        public override void Test()
+        {
+            var p1 = UI.GetPoint("point1");
+            var p2 = UI.GetPoint("point2");
+
+            _painter.Clear();
+            _dt = new DriveTask(new DstTracker()
+            {
+                Src = p1,
+                Dst = p2,
+                CarDirectionBias = carDirectionBias,
+            }.Get());
+            _dt.Wait();
+        }
+
+        private DriveTask _dt;
+    }
+
+    [MovementTest(name = "测试终点跟踪动作-后退")]
+    public class DstTrackerhoutui : MovementTest
+    {
+        public bool UseInteractivePick = true;
+        public float srcX;
+        public float srcY;
+        public float dstX;
+        public float dstY;
+        public float carDirectionBias = 180f;
+        private readonly Painter _painter = UI.GetPainter("DstTrackerTest");
+
+        public override void TestStop()
+        {
+            _dt?.Stop();
+            _painter?.Clear();
+        }
+        public override void Test()
+        {
+            var p1 = UI.GetPoint("point1");
+            var p2 = UI.GetPoint("point2");
+
+            _painter.Clear();
+            _dt = new DriveTask(new DstTracker()
+            {
+                Src = p1,
+                Dst = p2,
+                CarDirectionBias = carDirectionBias,
+            }.Get());
+            _dt.Wait();
+        }
+
+        private DriveTask _dt;
+    }
+
+    [MovementTest(name = "测试先直行再终点跟踪")]
+    public class LineTrackThenDstTrackerTest : MovementTest
+    {
+        public float carDirectionBias = 0f;
+        private readonly Painter _painter = UI.GetPainter("LineTrackThenDstTrackerTest");
+        public override void TestStop()
+        {
+            _dt?.Stop();
+            _painter?.Clear();
+        }
+        public override void Test()
+        {
+            var src = UI.GetPoint("请在上位机选择起点(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> TrackThenFollow()
+            {
+                foreach (var running in new LineTracking()
+                {
+                    Target = PilotDefinition.Conf.LineTrackDistance + (PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2,
+                }.Get())
+                {
+                    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,
+                    Dst = dst,
+                    CarDirectionBias = carDirectionBias,
+                }.Get())
+                {
+                    if (!running) break;
+                    yield return true;
+                }
+                yield return false;
+            }
+            _dt = new DriveTask(TrackThenFollow());
+            _dt.Wait();
+        }
+        private DriveTask _dt;
+    }
+
+
    public class DriverDisableTest : MovementTest
    {
        public override void TestStop()