41 lines
2.0 KiB
C#
41 lines
2.0 KiB
C#
 
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using System.Collections.Generic;
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using ClumsyCore;
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using Newtonsoft.Json;
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namespace MultiWheelC;
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public class VehicleSyncInfo
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{
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[JsonProperty("Master")] public bool Master { get; set; }
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[JsonProperty("Ip")] public string Ip { get; set; } = "";
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[JsonProperty("Port")] public int Port { get; set; } = 8008;
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[JsonProperty("PosAvailable")] public bool PosAvailable { get; set; }
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[JsonProperty("X")] public float X { get; set; }
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[JsonProperty("Y")] public float Y { get; set; }
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[JsonProperty("Th")] public float Th { get; set; }
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[JsonProperty("LayoutX")] public float LayoutX { get; set; }
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[JsonProperty("LayoutY")] public float LayoutY { get; set; }
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[JsonProperty("LayoutTh")] public float LayoutTh { get; set; }
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[JsonProperty("Aligned")] public bool Aligned { get; set; }
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// 本车本轮是否成功识别到邻车（关闭互识别时恒为 true）。任一车为 false 则整队停车。
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[JsonProperty("DetectOk")] public bool DetectOk { get; set; }
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}
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public class VehicleSyncNotification
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{
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[JsonProperty("PosAvailable")] public bool PosAvailable { get; set; }
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[JsonProperty("CenterX")] public float CenterX { get; set; }
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[JsonProperty("CenterY")] public float CenterY { get; set; }
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[JsonProperty("CenterTh")] public float CenterTh { get; set; }
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[JsonProperty("Aligned")] public bool Aligned { get; set; }
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[JsonProperty("Fleet")] public Dictionary<int, VehicleSyncInfo> Fleet { get; set; } = new();
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[JsonProperty("FleetVx")] public float FleetVx { get; set; }
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[JsonProperty("FleetFrontTh")] public float FleetFrontTh { get; set; }
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[JsonProperty("FleetRearTh")] public float FleetRearTh { get; set; }
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[JsonProperty("AutoEnabled")] public bool AutoEnabled { get; set; }
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[JsonProperty("ManualEnabled")] public bool ManualEnabled { get; set; }
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[JsonProperty("SyncTh")] public float SyncTh { get; set; }
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[JsonProperty("SyncDistance")] public float SyncDistance { get; set; }
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[JsonProperty("DeltaDetectCenter")] public float DeltaDetectCenter { get; set; }
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}
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