ParkingRobot/Simulation/Program.cs

using MyParking.Simulation.Commands;
using MyParking.Simulation.Core;

var builder = WebApplication.CreateBuilder(args);

builder.Services.AddSingleton<SimulationWorld>();
builder.Services.AddSingleton<SimulationCommandDispatcher>();
builder.Services.AddHostedService<SimulationClock>();

var app = builder.Build();

app.UseDefaultFiles();
app.UseStaticFiles();

app.MapGet("/api/vehicles", (SimulationWorld world) =>
    Results.Ok(world.GetSnapshot()));

app.MapGet(
    "/api/actions",
    (SimulationCommandDispatcher dispatcher) =>
        Results.Ok(dispatcher.GetActions()));

app.MapGet("/api/configuration", (SimulationWorld world) =>
    Results.Ok(world.GetConfiguration()));

app.MapPost(
    "/api/configuration",
    (MyParking.Simulation.Models.SimulationConfigurationDto configuration,
        SimulationWorld world) =>
    {
        try
        {
            world.ApplyConfiguration(configuration);
            return Results.Ok(world.GetConfiguration());
        }
        catch (ArgumentException exception)
        {
            return Results.BadRequest(new
            {
                message = exception.Message
            });
        }
    });

app.MapPost(
    "/api/vehicles/{vehicleId:int}/commands/{command}",
    (int vehicleId, string command, SimulationCommandDispatcher dispatcher) =>
    {
        var result = dispatcher.Execute(vehicleId, command);
        return result.Success
            ? Results.Ok(result)
            : Results.BadRequest(result);
    });

app.MapPost(
    "/api/vehicles/{vehicleId:int}/manual-control",
    (int vehicleId,
        MyParking.Simulation.Models.ManualControlInputDto input,
        SimulationWorld world) =>
    {
        try
        {
            var success = world.WithVehicle(
                vehicleId,
                vehicle => vehicle.ManualDrive(
                    input.Throttle,
                    input.Steering,
                    input.SpeedScale,
                    input.SteeringScale));

            var result = new CommandResult(
                success,
                success
                    ? $"车辆{vehicleId}虚拟遥控输入已更新。"
                    : $"车辆{vehicleId}舵轮尚未到位或输入无效。");

            return success
                ? Results.Ok(result)
                : Results.BadRequest(result);
        }
        catch (KeyNotFoundException exception)
        {
            return Results.NotFound(new CommandResult(
                false,
                exception.Message));
        }
    });

app.MapPost("/api/reset", (SimulationWorld world) =>
{
    world.Reset();
    return Results.Ok(new { message = "全部仿真车已复位。" });
});

app.MapFallbackToFile("index.html");

app.Run();