Tutorial/MultiWheel/MultiWheelC/PilotConfig.cs

using ClumsyCore;
using MDCSToolBox.Clumsy.Pilot.MultiWheel;
using Newtonsoft.Json;

namespace MultiWheelC;

public class PilotConfig : MultiWheelPilotConfig
{
    // ===== 多车联动（已从 MDCSToolBox 内联回 Tutorial）=====
    [FieldMember(desc = "[sync] 转向角加速度(deg/s^2)")] public float SyncThAccPerSec = 30f;
    [FieldMember(desc = "[sync] 编队车间距(mm)")] public float TestCarSyncDistance = 2400f;
    [FieldMember(desc = "[sync] 编队布局偏角(deg)")] public float TestCarSyncTh = 0f;
    // 手动遥控 Vx 已是 m/s、Vth 已是转向角(deg)，此处系数保持 1（直通），不要再次缩放。
    [FieldMember(desc = "[sync] 手动Vx系数")] public float ManualCarSyncVxFac = 1f;
    [FieldMember(desc = "[sync] 手动Vy系数(蟹行横向)")] public float ManualCarSyncVyFac = 1f;
    [FieldMember(desc = "[sync] 手动Vth系数")] public float ManualCarSyncVthFac = 1f;
    [FieldMember(desc = "[sync] 蟹行舵角上限(deg，应与Medulla舵轮角度限制匹配，默认120)")] public float MultiVehicleCrabSteerLimitDeg = 120f;
    [FieldMember(desc = "[sync] 检测中心偏移(mm)")] public float DeltaDetectCenter = 350f;
    // 仅控制"车队内姿态纠正"(POS 补偿)是否使用 Detour 的 SLAM 位姿，不影响"整个车队姿态的计算"。
    // 默认 false：定位不参与车队内姿态纠正（各车按编队几何/互识别保持队形，不做 SLAM 逐车纠偏）。
    // 为 true：额外用 getCartLocation() 反推每台车相对编队中心的偏差并做 POS 补偿。
    // 注意：无论该开关如何，自动模式下整队姿态(反推/广播车队中心、SLAM 间距、自动安全门)始终依赖 Detour 全局定位；
    // 主车自动模式必调用 getCartLocation()，若无有效全局定位该调用会阻塞 → 联动线程阻塞不下发速度（安全停车）。
    [FieldMember(desc = "[sync] 定位是否参与车队内姿态纠正(不影响整队姿态计算)")] public bool MultiVehicleSyncUseDetour = false;

    [FieldMember(desc = "多车联动：总车数")] public int MultiVehicleFleetNum = 2;
    [FieldMember(desc = "联动线程周期(ms)")] public int MultiVehicleSyncInterval = 50;
    [FieldMember(desc = "多车联动：主车端点 ip:port，/ 表示本车为主车")] public string MultiVehicleMasterEndpoint = "/";
    [FieldMember(desc = "多车联动：本车同步 IP")] public string SimpleIp = "127.0.0.1";

    [FieldMember(desc = "多车联动：本车回连端点 ip:port，供主车 notify 回连，空=127.0.0.1:本车port")] public string MultiVehicleSelfEndpoint = "";

    [JsonProperty("MultiVehicleMasterIp")]
    private string LegacyMasterIpSetter
    {
        set
        {
            if (string.IsNullOrEmpty(value) || value == "/") return;
            if (MultiVehicleMasterEndpoint == "/")
                MultiVehicleMasterEndpoint = value.Contains(":") ? value : $"{value}:8008";
        }
    }

    [FieldMember(desc = "多车联动：启用互识别纠正")] public bool MultiVehicleUseDetect = false;

    // E: 编队控制点半径(mm)。0 表示自动取 syncDistance/2（与 SetOriginBias 几何一致），>0 时按本值固定。
    //    取代历史硬编码 510，避免改间距后控制点半径不跟随导致转向/补偿几何错位。
    [FieldMember(desc = "多车联动：控制点半径(mm，0=syncDistance/2)")] public float MultiVehicleControlRadius = 0f;
    // B: 自动速度命令新鲜度(ms)。主车超过此时长未从路径控制器收到新速度命令(路径结束/早退/卡顿)，
    //    即视为失效并清零下发速度，避免车队按末速度滑行。0 表示自动取 max(200, interval*4)。
    [FieldMember(desc = "多车联动：自动速度命令超时(ms，0=auto)")] public int MultiVehicleAutoCmdTimeoutMs = 0;
    // C: fleet 成员存活 TTL(ms)。主车剔除超过此时长未 register/刷新的从车；编队就绪要求所有成员新鲜。
    //    0 表示自动取 max(500, interval*6)。
    [FieldMember(desc = "多车联动：成员存活TTL(ms，0=auto)")] public int MultiVehicleMemberTtlMs = 0;
    // D: 自动模式下用主车路径控制器的理想车队中心(idealPos/idealAngle)作为各车 layout 目标，
    //    弧线路径上做 per-car 前馈而非仅共用 frontTh/rearTh 事后纠偏。
    [FieldMember(desc = "多车联动：自动模式按理想中心前馈(弧线)")] public bool MultiVehicleAutoUseIdealCenter = true;
    // H: 自动模式必须有有效车队中心(SLAM 可反推)，全程定位丢失时停车，避免纯 SLAM 下盲跑。
    [FieldMember(desc = "多车联动：自动模式要求有效车队中心")] public bool MultiVehicleAutoRequireFleetCenter = true;
    [FieldMember(desc = "多车联动：SLAM X补偿系数")] public float MultiVehiclePosBiasXFac = 0.5f;
    [FieldMember(desc = "多车联动：SLAM Y补偿系数")] public float MultiVehiclePosBiasYFac = 0.5f;
    [FieldMember(desc = "多车联动：SLAM Th补偿系数")] public float MultiVehiclePosBiasThFac = 0.5f;
    [FieldMember(desc = "多车联动：X补偿阈值(mm)")] public float MultiVehiclePosBiasXThreshold = 50f;
    [FieldMember(desc = "多车联动：Y补偿阈值(mm)")] public float MultiVehiclePosBiasYThreshold = 50f;
    [FieldMember(desc = "多车联动：Th补偿阈值(deg)")] public float MultiVehiclePosBiasThThreshold = 5f;

    [FieldMember(desc = "多车联动：互识别 X补偿系数")] public float MultiVehicleDetectBiasXFac = 0.5f;
    [FieldMember(desc = "多车联动：互识别 Y补偿系数")] public float MultiVehicleDetectBiasYFac = 0.5f;
    [FieldMember(desc = "多车联动：互识别 Th补偿系数")] public float MultiVehicleDetectBiasThFac = 0.5f;
    [FieldMember(desc = "多车联动：互识别 X补偿阈值(mm)")] public float MultiVehicleDetectBiasXThreshold = 50f;
    [FieldMember(desc = "多车联动：互识别 Y补偿阈值(mm)")] public float MultiVehicleDetectBiasYThreshold = 50f;
    [FieldMember(desc = "多车联动：互识别 Th补偿阈值(deg)")] public float MultiVehicleDetectBiasThThreshold = 5f;

    // 原地旋转(mode2)闭环纠偏(PI)：把"本车应移动到的位置(dx,dy,mm)/应转角(dth,deg)"作为误差，
    // 用 PI 控制器换算成车体系修正速度叠加到绕队心旋转上。纯 P 对抗恒定横向滑移扰动有稳态残差，
    // 加积分项把稳态误差拉到 0；积分带限幅(抗 windup)，总输出限幅在 Max 内防过冲/振荡。
    // Fac=比例增益(mm/s per mm、deg/s per deg)；IFac=积分增益(mm/s per mm·s、deg/s per deg·s)；Max=总输出上限。
    [FieldMember(desc = "原地旋转纠偏：平移比例增益P(mm/s per mm)")] public float MultiVehicleRotateCompXyFac = 1.2f;
    [FieldMember(desc = "原地旋转纠偏：平移积分增益I(mm/s per mm·s)")] public float MultiVehicleRotateCompXyIFac = 0.8f;
    [FieldMember(desc = "原地旋转纠偏：平移速度上限(mm/s)")] public float MultiVehicleRotateCompXyMax = 150f;
    [FieldMember(desc = "原地旋转纠偏：转向比例增益P(deg/s per deg)")] public float MultiVehicleRotateCompThFac = 0.8f;
    [FieldMember(desc = "原地旋转纠偏：转向积分增益I(deg/s per deg·s)")] public float MultiVehicleRotateCompThIFac = 0.8f;
    [FieldMember(desc = "原地旋转纠偏：转向速度上限(deg/s)")] public float MultiVehicleRotateCompThMax = 15f;
    // 仅当车队实际被指令旋转(|fleetOmega|超过此阈值)时才运行纠偏 PI；否则清零并复位积分，
    // 避免松开摇杆后积分残留持续驱动车辆"自行旋转停不下来"。
    [FieldMember(desc = "原地旋转纠偏：生效的最小角速度阈值(deg/s)")] public float MultiVehicleRotateActiveOmega = 0.5f;
    // 可选硬安全网：每轮纠偏速度幅值 ≤ 该比例×本轮旋转切向速度，限制合速度相对纯切向的最大偏角。
    // 默认 <0 关闭——纠偏随转速缩放(代码 #1)已让"纠偏:切向"比例全程恒定，匀速段不应再被削弱。
    // 仅在极端启动偏差导致匀速段仍乱打方向时，可设为 ~1.0(偏角≤45°) 兜底。
    [FieldMember(desc = "原地旋转纠偏：纠偏/旋转切向比例硬上限(默认-1关闭)")] public float MultiVehicleRotateCompTangentFrac = -1f;

    [FieldMember(desc = "单车同步 xy 精度(mm)")] public float SingleCarSyncPrecisionXy = 10f;
    [FieldMember(desc = "单车同步 th 精度(deg)")] public float SingleCarSyncPrecisionTh = 0.2f;

    [FieldMember(desc = "Playground WebAPI 基地址")]
    public string PlaygroundWebApiUrl = "http://localhost:18090";

    [FieldMember(desc = "Playground 小车名称（场景 robots[].name）")]
    public string PlaygroundRobotName = "agv_multi_1";

    [FieldMember(desc = "Playground 邻车名称（仅主车用于原地旋转位姿诊断）")]
    public string PlaygroundNeighborRobotName = "agv_multi_2";

    [FieldMember(desc = "WebAPI 平移测试：平移距离(mm)")]
    public float WebApiTranslateMm = 100f;

    [FieldMember(desc = "WebAPI 旋转测试：旋转角度(deg)")]
    public float WebApiRotateDeg = 5f;

    [FieldMember(desc = "原地旋转：目标朝向(世界坐标系, deg)")]
    public float InPlaceRotateTargetWorldDeg = 90f;

    [FieldMember(desc = "原地旋转：旋转角速度(deg/s)")]
    public float InPlaceRotateSpeed = 30f;

    [FieldMember(desc = "原地旋转：到位角度精度(deg)")]
    public float InPlaceRotateArriveDeg = 1f;

    [FieldMember(desc = "原地旋转：起转前舵轮对齐精度(deg)")]
    public float InPlaceRotateWheelAlignDeg = 2f;

    // ===== 车队联动-原地旋转动作（FleetRotateInPlace / 对应 FleetRemote 原地旋转模式）=====
    // 通过 Clumsy 内部脚本字段驱动 TickMultiVehicle 的 mode2 旋转（绕车队中心 + PI 纠偏），需主车运行。
    [FieldMember(desc = "车队原地旋转：角速度大小(deg/s，方向由目标角符号决定)")]
    public float FleetRotateOmega = 15f;

    [FieldMember(desc = "车队原地旋转：目标相对转角(deg，+逆时针)")]
    public float FleetRotateTargetDeltaDeg = 90f;

    [FieldMember(desc = "车队原地旋转：到位角度精度(deg)")]
    public float FleetRotateArriveDeg = 1.5f;

    [FieldMember(desc = "车队原地旋转：减速区宽度(deg)，抑制收尾惯性超调")]
    public float FleetRotateSlowDeg = 25f;

    [FieldMember(desc = "车队原地旋转：减速区末段最小角速度(deg/s)")]
    public float FleetRotateMinOmega = 3f;

    [FieldMember(desc = "车队原地旋转：起步缓启动角加速度(deg/s²，<=0关闭)")]
    public float FleetRotateAccel = 20f;

    [FieldMember(desc = "车队原地旋转：到位后安定时长(s)")]
    public float FleetRotateSettleSec = 0.5f;

    // 与 MultiVehicleSyncUseDetour 解耦：转到指定角度需航向反馈，默认 true 读主车 SLAM 航向闭环判停。
    // false 时退化为按估算时长开环停止（实际转速≠指令时不精确，易出现"没转到目标就停"）。
    [FieldMember(desc = "车队原地旋转：用Detour主车航向闭环判停(默认true，false=按时长开环)")]
    public bool FleetRotateUseDetourHeading = true;

    // ===== 车队联动-自动蟹行（FleetCrabWalk）=====
    // 以当前车队中心为起点，构造与车队朝向夹角 FleetCrabAngleDeg、长度 FleetCrabLengthMm 的直线路径，
    // 复用脚本手动等价输入(mode=1)斜向平移；动作侧只把横向误差转换成小幅、带斜率限制的蟹行方向修正。
    [FieldMember(desc = "车队蟹行：与车队朝向夹角(deg，逆时针为正)")]
    public float FleetCrabAngleDeg = 45f;

    [FieldMember(desc = "车队蟹行：路径长度(mm)")]
    public float FleetCrabLengthMm = 2000f;

    [FieldMember(desc = "车队蟹行：行驶速度(m/s)")]
    public float FleetCrabSpeed = 0.2f;

    // 兼容旧版几何控制器实现；当前自动蟹行走脚本手动等价输入，不再直接使用该上限。
    [FieldMember(desc = "车队蟹行：旧几何控制器gcp角度上限(deg)")]
    public float FleetCrabGcpThetaThreshold = 95f;

    [FieldMember(desc = "车队蟹行：横向误差纠偏增益")]
    public float FleetCrabCorrectionGain = 1f;

    [FieldMember(desc = "车队蟹行：自动纠偏最大改向角(deg)")]
    public float FleetCrabCorrectionAngleDeg = 8f;

    [FieldMember(desc = "车队蟹行：脚本速度命令斜率(m/s^2)")]
    public float FleetCrabCommandAccel = 0.4f;

    // ===== 2腿检测（单线雷达识别两腿托盘 / 轮胎）=====
    [FieldMember(desc = "2腿检测：雷达名（逗号分隔可多个）")]
    public string TwoLegLidarName = "rear_left_lidar_1,rear_right_lidar_1";

    [FieldMember(desc = "2腿检测：初始猜测X(mm, 车体坐标系)")]
    public float TwoLegGuessX = 2000f;

    [FieldMember(desc = "2腿检测：两腿间距(mm)")]
    public float TwoLegWidth = 800f;

    [FieldMember(desc = "2腿检测：两腿间距允许误差(mm)")]
    public float TwoLegWidthErr = 100f;

    [FieldMember(desc = "2腿检测：聚类点间距(mm)")]
    public float TwoLegBlobDist = 100f;

    [FieldMember(desc = "2腿检测：聚类尺寸(mm)")]
    public float TwoLegBlobSize = 200f;

    [FieldMember(desc = "2腿检测：聚类最小点数")]
    public int TwoLegBlobPtCount = 5;

    [FieldMember(desc = "2腿检测：聚类 padding")]
    public int TwoLegPadding = 5;

    [FieldMember(desc = "2腿检测：腿柱搜索范围")]
    public int TwoLegPillarFindingScope = 20;

    [FieldMember(desc = "2腿检测：方向符号(±1)")]
    public int TwoLegSgnDir = 1;

    [FieldMember(desc = "2腿检测：中心X偏移(mm)")]
    public float TwoLegCenterChangeX = 0f;

    [FieldMember(desc = "2腿检测：输出X补偿(mm)")]
    public float TwoLegOutputBiasX = 0f;

    [FieldMember(desc = "2腿检测：输出Y补偿(mm)")]
    public float TwoLegOutputBiasY = 0f;

    [FieldMember(desc = "2腿检测：ROI滤波框长(mm)")]
    public float TwoLegFilterLength = 1800f;

    [FieldMember(desc = "2腿检测：ROI滤波框宽(mm)")]
    public float TwoLegFilterWidth = 600f;

    #region
    [FieldMember(desc = "轮胎识别:识别框长")] public float TireFilterLength = 1800f;
    [FieldMember(desc = "轮胎识别:识别框宽")] public float TireFilterWidth = 600f;
    [FieldMember(desc = "轮胎识别:轮胎间距")] public float TireTwoLegWidth = 800f;
    [FieldMember(desc = "轮胎识别:轮胎识别允许误差")] public float TireTwoLegWidthErr = 100f;
    [FieldMember(desc = "轮胎识别:轮胎聚类最小点云数")] public int TireTwoLegBlobPtCount = 15;

    [FieldMember(desc = "轮胎识别:前雷达参数")] public float TireFrontTwoLegBlobDist = 100f;
    [FieldMember(desc = "轮胎识别:前雷达参数")] public float TireFrontTwoLegBlobSize = 200f;
    [FieldMember(desc = "轮胎识别:前雷达参数")] public int TireFrontPadding = 5;
    [FieldMember(desc = "轮胎识别:前雷达参数")] public int TireFrontTwoLegPillarFindingScope = 20;
    [FieldMember(desc = "轮胎识别:前雷达参数")] public int TireFrontTwoLegSgnDir = 1;
    [FieldMember(desc = "轮胎识别:前雷达参数")] public float TireFrontTwoLegCenterChangeX = 0;
    [FieldMember(desc = "轮胎识别:后雷达参数")] public float TireBackTwoLegBlobDist = 100f;
    [FieldMember(desc = "轮胎识别:后雷达参数")] public float TireBackTwoLegBlobSize = 200f;
    [FieldMember(desc = "轮胎识别:后雷达参数")] public int TireBackPadding = 5;
    [FieldMember(desc = "轮胎识别:后雷达参数")] public int TireBackTwoLegPillarFindingScope = 20;
    [FieldMember(desc = "轮胎识别:后雷达参数")] public int TireBackTwoLegSgnDir = 1;
    [FieldMember(desc = "轮胎识别:后雷达参数")] public float TireBackTwoLegCenterChangeX = 0;

    [FieldMember(desc = "直线行走距离")] public float LineTrackDistance = 1000f;
    [FieldMember(desc = "直线行走最大速度")] public float LineTrackMaxSpeed = 0.3f;
    [FieldMember(desc = "直线行走Kp")] public float LineTrackKp = 0.2f;
    [FieldMember(desc = "直线行走Ki")] public float LineTrackKi = 0f;
    [FieldMember(desc = "直线行走Kd")] public float LineTrackKd = 0f;
    [FieldMember(desc = "直线行走DeadZone")] public float LineTrackDeadZone = 50f;

    [FieldMember(desc = "轮胎跟踪:切换至盲走距离")] public float TireFollowingWalkBlindSwitchingDistance = 1200f;
    [FieldMember(desc = "轮胎跟踪:识别第一对轮胎的初始距离")] public float TireFollowingStage1GuessX = 2000f;
    [FieldMember(desc = "轮胎跟踪:识别第二对轮胎的初始距离")] public float TireFollowingStage2GuessX = 2475f;
    [FieldMember(desc = "轮胎跟踪:盲走停止距离")] public float TireFollowingWalkBlindFinishDistance = 10f;
    [FieldMember(desc = "轮胎跟踪:减速距离")] public float TireFollowingSlowDistance = 200f;
    [FieldMember(desc = "轮胎跟踪:最大速度")] public float TireFollowingMaxSpeed = 0.2f;
    [FieldMember(desc = "轮胎跟踪:前雷达识别路径偏移X")] public float TireFollowingFrontLidarPathTransformationX = 253f;
    [FieldMember(desc = "轮胎跟踪:前雷达识别路径偏移Y")] public float TireFollowingFrontLidarPathTransformationY = 13f;
    [FieldMember(desc = "轮胎跟踪:前雷达识别路径偏移Th")] public float TireFollowingFrontLidarWalkBlindTh = -1f;
    [FieldMember(desc = "轮胎跟踪:后雷达识别路径偏移X")] public float TireFollowingBackLidarPathTransformationX = 148f;
    [FieldMember(desc = "轮胎跟踪:后雷达识别路径偏移Y")] public float TireFollowingBackLidarPathTransformationY = 2f;
    [FieldMember(desc = "轮胎跟踪:后雷达识别路径偏移Th")] public float TireFollowingBackLidarWalkBlindTh = 0f;
    [FieldMember(desc = "轮胎跟踪:离车时后雷达识别路径偏移X")] public float TireFollowingLeaveCarBackLidarPathTransformationX = 1500f;
    [FieldMember(desc = "轮胎跟踪:离车时切换至盲走距离")] public float TireFollowingLeaveCarWalkBlindSwitchingDistance = 1200f;

    [FieldMember(desc = "轮胎跟踪:测试钻轮胎数量")] public int TireFollowingTireNum = 1;
    [FieldMember(desc = "轮胎跟踪:距离过近角度忽略阈值")] public float TireFollowingAngleIgnoreThr = 0.2f;
    #endregion
}