初始化 shenyuxiang 分支

ClumsyPilot/ChassisController.cs

@@ -1,9 +1,5 @@
-using System;
-using System.Numerics;
 using ClumsyCore;
-using ClumsyCore.Interfaces;
 using ClumsyCore.Pilot;
-using FundamentalLib;
 using MDCSToolBox.Clumsy.MotionControllers;
 using MDCSToolBox.Clumsy.Movements;
 using MDCSToolBox.Clumsy.Pilot;
@@ -14,8 +10,7 @@ public class ChassisController : MovementDefinition<MultiWheelGeometricControlle
 {
     public float BaseSpeed = Configuration.conf.basicSpeed;
 
-    private DateTime _sendMotionDbgLast = DateTime.MinValue;
-
+    // 创建单车几何跟踪控制器（直接控本车底盘，不走多车 Auto 通道）
     public override MultiWheelGeometricController Get()
     {
         return new MultiWheelGeometricController
@@ -45,56 +40,6 @@ public class ChassisController : MovementDefinition<MultiWheelGeometricControlle
             DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
             BiasFac = PilotDefinition.Conf.BiasFac,
             BiasThreshold = PilotDefinition.Conf.BiasThreshold,
-
-            MultiVehicleSendMotion = (speed, frontTh, rearTh, idealPos, idealAngle) =>
-            {
-                var self = PilotDefinition.Self;
-                self.MultiVehicleAutoEnabled = true;
-                // A: 用固定锁对象（不再锁会被替换的字段引用）。
-                int fleetCnt;
-                lock (self.FleetLock)
-                    fleetCnt = self.MultiVehicleFleet.Count;
-
-                // 诊断（节流 ~300ms）：确认回调被调用、编队是否就绪、是否因数量不符提前 return（导致不下发速度）。
-                if ((DateTime.Now - _sendMotionDbgLast).TotalMilliseconds >= 300)
-                {
-                    _sendMotionDbgLast = DateTime.Now;
-                    DLog.Log(
-                        $"SENDMOTION speed={speed:0.000} fTh={frontTh:0.0} rTh={rearTh:0.0} " +
-                        $"ideal=({idealPos.X:0},{idealPos.Y:0},{idealAngle:0.0}) " +
-                        $"editCnt={fleetCnt}/{PilotDefinition.Conf.MultiVehicleFleetNum} " +
-                        $"earlyReturn={fleetCnt != PilotDefinition.Conf.MultiVehicleFleetNum}",
-                        "FleetCrabDbg");
-                }
-
-                if (fleetCnt != PilotDefinition.Conf.MultiVehicleFleetNum)
-                    return;
-
-                self.MultiVehicleAutoVx = speed;
-                self.MultiVehicleAutoFrontTh = frontTh;
-                self.MultiVehicleAutoRearTh = rearTh;
-                // D: 透传路径控制器算出的理想车队中心位姿（此前被丢弃），供各车按 layout 做前馈。
-                self.MultiVehicleAutoIdealX = idealPos.X;
-                self.MultiVehicleAutoIdealY = idealPos.Y;
-                self.MultiVehicleAutoIdealTh = idealAngle;
-                self.MultiVehicleAutoHasIdeal = true;
-                // B: 标记命令新鲜度。路径结束/早退/卡顿不再刷新此时刻 → 主车超时后清零速度，避免滑行。
-                self.MultiVehicleAutoCmdTime = DateTime.Now;
-            },
-
-            // G: 读取车队中心原子快照，避免跨线程读到撕裂的 x/y/th 组合。
-            MultiVehicleGetFleetPos = () =>
-            {
-                var snap = PilotDefinition.Self.GetFleetCenterSnapshot();
-                return new Location
-                {
-                    x = snap.X,
-                    y = snap.Y,
-                    th = snap.Th,
-                    l_step = 1,
-                    tick = DateTime.Now.Ticks
-                };
-            }
         };
     }
-}
+}