Tutorial/MultiWheel/MultiWheelM/FleetRemote.cs

using System;
using System.IO;
using CartActivator;
using CycleGUI;
using CycleGUI.API;
using Medulla.Types;

namespace MultiWheelM;

public partial class CartDefinition
{
    private bool _fleetRemoteActive;
    private DateTime _fleetDiagLastStick = DateTime.MinValue;

    // 写盘诊断日志（Medulla 侧）。文件落在 Medulla 工作目录，便于复现后离线分析。
    // 每次进程启动清空一次（_fleetDiagInit），同一次运行内追加，避免跨多次运行累积。
    private static bool _fleetDiagInit;
    private void FleetDiag(string msg)
    {
        try
        {
            const string path = "fleet_diag_medulla.log";
            var line = $"{DateTime.Now:HH:mm:ss.fff} car{CarNum} {msg}{Environment.NewLine}";
            if (!_fleetDiagInit)
            {
                _fleetDiagInit = true;
                File.WriteAllText(path,
                    $"=== session start {DateTime.Now:yyyy-MM-dd HH:mm:ss} ==={Environment.NewLine}" + line);
            }
            else
                File.AppendAllText(path, line);
        }
        catch
        {
            // 诊断日志失败不影响主流程
        }
    }

    private void ZeroFleetManualFields()
    {
        MultiVehicleManualEnabled = false;
        MultiVehicleManualMode = 0;
        MultiVehicleManualVx = 0;
        MultiVehicleManualVy = 0;
        MultiVehicleManualVth = 0;
    }

    [IOObjectUtility]
    public void FleetRemote()
    {
        if (_fleetRemoteActive)
        {
            GUI.GetPanelInstancingObject(this)?.BringToFront();
            return;
        }

        _fleetRemoteActive = true;
        var fleetOn = false;
        // 速度比例 0~1，作用于摇杆输出的线速度与转向角。
        var speedRatio = 1f;
        UseGesture? manip = null;

        void CleanupFleetRemote()
        {
            manip?.End();
            manip = null;
            fleetOn = false;
            ZeroFleetManualFields();
            _fleetRemoteActive = false;
        }

        manip = new UseGesture();

        manip.AddWidget(new UseGesture.ToggleWidget
        {
            name = "fleet_enable",
            text = "车队联动",
            position = "12.5%+10px, 75%+10px",
            size = "25%-10px, 12.5%-10px",
            OnValue = b =>
            {
                fleetOn = b;
                MultiVehicleManualEnabled = b;
                MultiVehicleManualMode = 0;
                if (!b)
                    ZeroFleetManualFields();
                FleetDiag($"TOGGLE fleetOn={b} -> ManualEnabled={MultiVehicleManualEnabled}");
            }
        });

        manip.AddWidget(new UseGesture.ThrottleWidget
        {
            name = "fleet_speed_ratio",
            text = "速度比例",
            position = "50%+10px, 75%+10px",
            size = "50%-10px, 12.5%-10px",
            bounceBack = false,
            OnValue = (val, _) => speedRatio = Math.Clamp(val, 0, 1)
        });

        manip.AddWidget(new UseGesture.ButtonWidget
        {
            name = "fleet_stop",
            text = "急停/归零",
            position = "25%+10px, 87.5%+10px",
            size = "25%-10px, 12.5%-10px",
            OnPressed = _ =>
            {
                MultiVehicleManualVx = 0;
                MultiVehicleManualVy = 0;
                MultiVehicleManualVth = 0;
                FleetDiag("BUTTON stop/zero");
            }
        });

        manip.AddWidget(new UseGesture.StickWidget
        {
            name = "fleet_stick",
            text = "速度摇杆",
            position = "37.5%+10px, 25%+10px",
            size = "37.5%-10px, 37.5%-10px",
            bounceBack = true,
            keyboard = "Up,Down,Left,Right",
            joystick = "Axis0,Axis1",
            OnValue = (pos, manipulating) =>
            {
                if (!fleetOn)
                {
                    MultiVehicleManualVx = 0;
                    MultiVehicleManualVy = 0;
                    MultiVehicleManualVth = 0;
                    if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
                    {
                        _fleetDiagLastStick = DateTime.Now;
                        FleetDiag($"STICK(ignored,fleetOff) pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating}");
                    }
                    return;
                }

                // pos.Y(前后) → 车队线速度(m/s)；pos.X(左右) → 车队转向角(deg)。松手 bounceBack 自动回零。
                var ratio = Math.Clamp(speedRatio, 0, 1);
                MultiVehicleManualVx = Math.Clamp(pos.Y, -1, 1) * MaxManualSpeed * ratio;
                MultiVehicleManualVy = 0;
                MultiVehicleManualVth = Math.Clamp(pos.X, -1, 1) * MaxManualAngularSpeed * ratio;

                if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
                {
                    _fleetDiagLastStick = DateTime.Now;
                    FleetDiag($"STICK pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating} ratio={ratio:0.00} " +
                              $"maxV={MaxManualSpeed:0.00} maxW={MaxManualAngularSpeed:0.0} " +
                              $"-> Vx={MultiVehicleManualVx:0.000} Vth={MultiVehicleManualVth:0.0} en={MultiVehicleManualEnabled}");
                }
            }
        });

        manip.ChangeState(new SetAppearance { drawGuizmo = false });
        manip.Start();

        GUI.PromptOrBringToFront(pb =>
        {
            if (pb.Closing())
            {
                CleanupFleetRemote();
                pb.Panel.Exit();
                return;
            }

            pb.Panel.TopMost(true)
                .SetDefaultDocking(Panel.Docking.None)
                .ShowTitle("车队联动遥控")
                .InitSize(320, 160)
                .InitPos(false, -32, 32, 1, 0, 1, 0);

            pb.SeparatorText("状态");
            pb.Label($"车队联动: {MultiVehicleManualEnabled}");
            pb.Label($"速度比例: {speedRatio:0.00}");
            pb.Label($"Vx={MultiVehicleManualVx:0.000} m/s, Vth={MultiVehicleManualVth:0.0} deg/s");
            pb.Label($"优先级: {CartActivator.CartDefinition.currentPriority} ({CartActivator.CartDefinition.currentPriorityDesc})");
            pb.Label("请勿同时打开「手动控制」面板");
            pb.Panel.Repaint();
        }, instancingObject: this);
    }
}