Tutorial/MultiWheel/MultiWheelM/FleetRemote.cs

using System;
using CartActivator;
using CycleGUI;
using CycleGUI.API;
using FundamentalLib;
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）。改用 DLog 落盘：同一 topic 的日志会归到以 topic 命名的文件夹，
    // 由 DLog 统一管理落点/滚动，无需自行维护文件句柄与 session 清空逻辑。
    private void FleetDiag(string msg)
    {
        DLog.Log($"car{CarNum} {msg}", "FleetDiagMedulla");
    }

    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;
        // 运动模式开关：互斥由用户操作保证，代码用 if/else 优先级确保同一时刻只有一个模式生效。
        var crabOn = false;   // 蟹行（四轮同向平移）
        var rotateOn = false; // 原地旋转（绕车队中心）
        // 速度比例 0~1，作用于摇杆输出的线速度/横移/角速度。
        var speedRatio = 1f;
        UseGesture? manip = null;

        // 0=常规(前进+转向) 1=蟹行 2=原地旋转。crab 优先于 rotate（同时打开时蟹行生效）。
        int CurrentMode() => crabOn ? 1 : rotateOn ? 2 : 0;
        void ApplyMode() => MultiVehicleManualMode = fleetOn ? CurrentMode() : 0;

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

        manip = new UseGesture();

        manip.AddWidget(new UseGesture.StickWidget
        {
            name = "fleet_stick",
            text = "速度摇杆",
            position = "37.5%+10px, 18%+10px",
            size = "37.5%-10px, 32%-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;
                }

                var ratio = Math.Clamp(speedRatio, 0, 1);
                var px = Math.Clamp(pos.X, -1, 1);
                var py = Math.Clamp(pos.Y, -1, 1);
                var mode = CurrentMode();
                MultiVehicleManualMode = mode;

                if (mode == 2)
                {
                    // 原地旋转：pos.X(左右) → 角速度(deg/s)，绕车队中心。
                    MultiVehicleManualVx = 0;
                    MultiVehicleManualVy = 0;
                    MultiVehicleManualVth = px * MaxManualAngularSpeed * ratio;
                }
                else if (mode == 1)
                {
                    // 蟹行：pos.Y → 前后向线速度，pos.X → 横向线速度（m/s）。
                    MultiVehicleManualVx = py * MaxManualSpeed * ratio;
                    MultiVehicleManualVy = px * MaxManualSpeed * ratio;
                    MultiVehicleManualVth = 0;
                }
                else
                {
                    // 常规：pos.Y → 线速度(m/s)，pos.X → 转向角(deg)。
                    MultiVehicleManualVx = py * MaxManualSpeed * ratio;
                    MultiVehicleManualVy = 0;
                    MultiVehicleManualVth = px * MaxManualAngularSpeed * ratio;
                }

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

        manip.AddWidget(new UseGesture.ToggleWidget
        {
            name = "fleet_crab",
            text = "蟹行模式",
            position = "12.5%+10px, 52%+10px",
            size = "37.5%-10px, 10%-10px",
            OnValue = b =>
            {
                crabOn = b;
                ApplyMode();
                FleetDiag($"TOGGLE crab={b} -> mode={MultiVehicleManualMode}");
            }
        });

        manip.AddWidget(new UseGesture.ToggleWidget
        {
            name = "fleet_rotate",
            text = "原地旋转",
            position = "50%+10px, 52%+10px",
            size = "37.5%-10px, 10%-10px",
            OnValue = b =>
            {
                rotateOn = b;
                ApplyMode();
                FleetDiag($"TOGGLE rotate={b} -> mode={MultiVehicleManualMode}");
            }
        });

        manip.AddWidget(new UseGesture.ToggleWidget
        {
            name = "fleet_enable",
            text = "车队联动",
            position = "12.5%+10px, 64%+10px",
            size = "37.5%-10px, 10%-10px",
            OnValue = b =>
            {
                fleetOn = b;
                MultiVehicleManualEnabled = b;
                ApplyMode();
                if (!b)
                    ZeroFleetManualFields();
                FleetDiag($"TOGGLE fleetOn={b} -> ManualEnabled={MultiVehicleManualEnabled} mode={MultiVehicleManualMode}");
            }
        });

        manip.AddWidget(new UseGesture.ThrottleWidget
        {
            name = "fleet_speed_ratio",
            text = "速度比例",
            position = "50%+10px, 64%+10px",
            size = "37.5%-10px, 10%-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 = "31.25%+10px, 76%+10px",
            size = "37.5%-10px, 10%-10px",
            // OnPressed 是电平触发：每帧都会带当前按下状态回调一次（未按下时为 false）。
            // 必须判断 pressed，否则会每帧无条件清零，把摇杆刚写入的速度立刻抹平 → 整车不动。
            OnPressed = pressed =>
            {
                if (!pressed) return;
                MultiVehicleManualVx = 0;
                MultiVehicleManualVy = 0;
                MultiVehicleManualVth = 0;
                FleetDiag("BUTTON stop/zero");
            }
        });

        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(340, 190)
                .InitPos(false, -32, 32, 1, 0, 1, 0);

            pb.SeparatorText("状态");
            var modeName = MultiVehicleManualMode == 2 ? "原地旋转" : MultiVehicleManualMode == 1 ? "蟹行" : "常规";
            pb.Label($"车队联动: {MultiVehicleManualEnabled}  模式: {modeName}");
            pb.Label($"速度比例: {speedRatio:0.00}");
            pb.Label($"Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} m/s, Vth={MultiVehicleManualVth:0.0}");
            pb.Label($"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);
    }
}