添加单车底盘仿真平台并完善运动控制与夹臂功能
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using MyParking.Simulation.Core;
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namespace MyParking.Simulation.Commands;
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/// <summary>
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/// 内置离线测试动作；新增带特性的方法后网页会自动生成按钮。
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/// </summary>
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public static class BuiltInSimulationActions
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{
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[SimulationAction(
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"mode-normal",
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"正常",
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"舵轮模式",
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10)]
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public static bool NormalMode(
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SimulationVehicle vehicle)
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{
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return vehicle.SetMode("Normal");
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}
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[SimulationAction(
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"mode-crab-left",
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"左蟹行",
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"舵轮模式",
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20)]
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public static bool CrabLeftMode(
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SimulationVehicle vehicle)
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{
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return vehicle.SetMode("CrabLeft");
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}
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[SimulationAction(
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"mode-crab-right",
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"右蟹行",
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"舵轮模式",
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30)]
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public static bool CrabRightMode(
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SimulationVehicle vehicle)
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{
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return vehicle.SetMode("CrabRight");
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}
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[SimulationAction(
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"mode-spin",
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"自转",
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"舵轮模式",
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40)]
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public static bool SpinMode(
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SimulationVehicle vehicle)
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{
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return vehicle.SetMode("Spin");
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}
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[SimulationAction(
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"forward",
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"前进",
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"运动测试",
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10)]
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public static bool Forward(
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SimulationVehicle vehicle)
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{
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return vehicle.Move(1.0);
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}
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[SimulationAction(
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"turn-left",
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"左转",
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"运动测试",
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20)]
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public static bool TurnLeft(
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SimulationVehicle vehicle)
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{
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return vehicle.Turn(1.0);
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}
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[SimulationAction(
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"stop",
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"停止",
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"运动测试",
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30)]
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public static bool Stop(
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SimulationVehicle vehicle)
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{
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vehicle.Stop();
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return true;
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}
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[SimulationAction(
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"turn-right",
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"右转",
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"运动测试",
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40)]
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public static bool TurnRight(
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SimulationVehicle vehicle)
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{
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return vehicle.Turn(-1.0);
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}
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[SimulationAction(
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"backward",
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"后退",
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"运动测试",
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50)]
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public static bool Backward(
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SimulationVehicle vehicle)
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{
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return vehicle.Move(-1.0);
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}
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[SimulationAction(
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"reset",
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"单车复位",
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"维护",
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10)]
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public static bool Reset(
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SimulationVehicle vehicle)
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{
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vehicle.Reset();
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return true;
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}
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}
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@@ -0,0 +1,31 @@
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using MyParking.Shared;
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using MyParking.Simulation.Core;
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namespace MyParking.Simulation.Commands;
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/// <summary>
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/// 我自己增加的停车机器人仿真测试动作。
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/// </summary>
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public static class MySimulationTests
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{
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/// <summary>
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/// 测试车辆以0.2m/s向车体左侧运动。
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/// </summary>
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// [SimulationAction(
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// key: "move-left-020",
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// displayName: "向左移动0.2m/s",
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// group: "我的测试",
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// order: 10)]
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// public static bool MoveLeft(
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// SimulationVehicle vehicle)
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// {
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// var command = new ChassisCommand(
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// vehicle.VehicleId,
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// new Twist2D(
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// vxMetersPerSecond: 0.0,
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// vyMetersPerSecond: 0.2,
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// omegaRadiansPerSecond: 0.0));
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// return vehicle.ApplyCommand(command);
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// }
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}
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@@ -0,0 +1,38 @@
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namespace MyParking.Simulation.Commands;
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/// <summary>
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/// 将一个静态仿真测试方法自动注册为网页按钮。
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/// 方法签名必须为bool Xxx(SimulationVehicle vehicle)。
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/// </summary>
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[AttributeUsage(AttributeTargets.Method)]
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public sealed class SimulationActionAttribute : Attribute
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{
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public SimulationActionAttribute(
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string key,
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string displayName,
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string group,
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int order = 0)
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{
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Key = key;
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DisplayName = displayName;
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Group = group;
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Order = order;
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}
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public string Key { get; }
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public string DisplayName { get; }
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public string Group { get; }
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public int Order { get; }
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}
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/// <summary>
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/// 网页生成测试按钮所需的命令元数据。
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/// </summary>
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public sealed record SimulationActionDescriptor(
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string Key,
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string DisplayName,
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string Group,
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int Order);
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@@ -0,0 +1,150 @@
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using System.Reflection;
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using MyParking.Simulation.Core;
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namespace MyParking.Simulation.Commands;
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/// <summary>
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/// 自动发现带SimulationAction特性的测试方法并分发网页命令。
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/// </summary>
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public sealed class SimulationCommandDispatcher
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{
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private readonly SimulationWorld _world;
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private readonly IReadOnlyDictionary<string, RegisteredAction> _actions;
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public SimulationCommandDispatcher(
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SimulationWorld world)
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{
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_world = world;
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_actions = DiscoverActions();
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}
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/// <summary>
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/// 返回网页动态生成按钮所需的全部命令。
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/// </summary>
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public IReadOnlyList<SimulationActionDescriptor> GetActions()
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{
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return _actions.Values
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.Select(action => action.Descriptor)
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.OrderBy(action => action.Group)
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.ThenBy(action => action.Order)
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.ToArray();
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}
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/// <summary>
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/// 对指定车辆执行一个已注册的测试方法。
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/// </summary>
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public CommandResult Execute(
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int vehicleId,
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string command)
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{
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if (!_actions.TryGetValue(
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command,
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out var registeredAction))
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{
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return new CommandResult(
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false,
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$"未注册仿真命令：{command}。");
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}
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try
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{
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return _world.WithVehicle(vehicleId, vehicle =>
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{
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var success = registeredAction.Handler(vehicle);
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var message = success
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? $"车辆{vehicleId}已执行：{registeredAction.Descriptor.DisplayName}。"
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: $"车辆{vehicleId}暂时无法执行：{registeredAction.Descriptor.DisplayName}。";
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return new CommandResult(success, message);
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});
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}
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catch (KeyNotFoundException exception)
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{
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return new CommandResult(
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false,
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exception.Message);
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}
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}
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private static IReadOnlyDictionary<string, RegisteredAction>
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DiscoverActions()
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{
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var actions = new Dictionary<string, RegisteredAction>(
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StringComparer.OrdinalIgnoreCase);
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var methods = Assembly.GetExecutingAssembly()
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.GetTypes()
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.SelectMany(type => type.GetMethods(
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BindingFlags.Public |
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BindingFlags.NonPublic |
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BindingFlags.Static));
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foreach (var method in methods)
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{
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var attribute =
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method.GetCustomAttribute<SimulationActionAttribute>();
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if (attribute == null)
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continue;
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ValidateMethod(method, attribute);
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var handler =
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(Func<SimulationVehicle, bool>)method.CreateDelegate(
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typeof(Func<SimulationVehicle, bool>));
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var descriptor = new SimulationActionDescriptor(
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attribute.Key,
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attribute.DisplayName,
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attribute.Group,
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attribute.Order);
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if (!actions.TryAdd(
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attribute.Key,
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new RegisteredAction(descriptor, handler)))
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{
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throw new InvalidOperationException(
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$"仿真命令Key重复：{attribute.Key}。");
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}
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}
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return actions;
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}
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private static void ValidateMethod(
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MethodInfo method,
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SimulationActionAttribute attribute)
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{
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var parameters = method.GetParameters();
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if (method.ReturnType != typeof(bool) ||
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parameters.Length != 1 ||
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parameters[0].ParameterType !=
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typeof(SimulationVehicle))
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{
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throw new InvalidOperationException(
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$"[{nameof(SimulationActionAttribute)}]方法" +
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$"{method.DeclaringType?.FullName}.{method.Name}" +
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"必须是static bool Xxx(SimulationVehicle vehicle)。");
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}
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if (string.IsNullOrWhiteSpace(attribute.Key) ||
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string.IsNullOrWhiteSpace(attribute.DisplayName) ||
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string.IsNullOrWhiteSpace(attribute.Group))
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{
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throw new InvalidOperationException(
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$"仿真命令{method.Name}的特性参数不能为空。");
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}
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}
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private sealed record RegisteredAction(
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SimulationActionDescriptor Descriptor,
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Func<SimulationVehicle, bool> Handler);
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}
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/// <summary>
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/// 网页测试命令的执行结果。
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/// </summary>
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public sealed record CommandResult(
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bool Success,
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string Message);
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