71 lines
8.9 KiB
Plaintext
71 lines
8.9 KiB
Plaintext
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour航向连续异常达到确认条件，航向暂不可用。最后原因：Detour航向创新超过当前动态允许值。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour航向连续异常达到确认条件，航向暂不可用。最后原因：Detour航向创新超过当前动态允许值。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 401
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
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at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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*p.InnerException * (InvalidOperationException):MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
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at MyParking.Shared.MultiWheelChassisAdapter.EnsureMotionFrameIsActive(Double motionDirectionRadians) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 115
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at MyParking.Shared.MultiWheelChassisAdapter.SendRollingTwistInActiveMotionFrame(Twist2D bodyTwist, Double linearSpeedMetersPerSecond, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 365
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at MyParking.Shared.MultiWheelChassisAdapter.SendBodyTwist(Twist2D bodyTwist, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 351
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at MultiWheelC.Control.Execution.GcpCommandExecutor.Execute(GcpMotionCommand command, Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\GcpCommandExecutor.cs:line 125
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at MultiWheelC.Control.Execution.ParkingGeometricController.ExecuteCycle(Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\ParkingGeometricController.cs:line 517
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: * (Exception):DriveTask failed, msg=停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
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at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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*p.InnerException * (InvalidOperationException):MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
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at MyParking.Shared.MultiWheelChassisAdapter.EnsureMotionFrameIsActive(Double motionDirectionRadians) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 115
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at MyParking.Shared.MultiWheelChassisAdapter.SendRollingTwistInActiveMotionFrame(Twist2D bodyTwist, Double linearSpeedMetersPerSecond, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 365
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at MyParking.Shared.MultiWheelChassisAdapter.SendBodyTwist(Twist2D bodyTwist, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 351
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at MultiWheelC.Control.Execution.GcpCommandExecutor.Execute(GcpMotionCommand command, Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\GcpCommandExecutor.cs:line 125
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at MultiWheelC.Control.Execution.ParkingGeometricController.ExecuteCycle(Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\ParkingGeometricController.cs:line 517
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: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour疑似坐标跳变未能在0.60s内确认，车辆状态已置为不可用。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour疑似坐标跳变未能在0.60s内确认，车辆状态已置为不可用。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.163m，航向2.26°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.163m，航向2.26°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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