Add Clumsy plugins and dual-vehicle fleet sync demo.

Restructure into DiffWheel/MultiWheel folders, add DiffWheelC and MultiWheelC with MovementTests, FleetRemote multi-vehicle manual sync, deploy templates, and documentation. Update dependency paths to D:\MDCS\Release and mirror motor feedback in MotorRoutine for simulation. Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-28 15:04:55 +08:00
parent e5aeae9c33
commit 235c6c70ac
40 changed files with 2750 additions and 99 deletions
@@ -0,0 +1,40 @@
+using System.Collections.Generic;
+using ClumsyCore;
+using Newtonsoft.Json;
+
+namespace MultiWheelC;
+
+public class VehicleSyncInfo
+{
+    [JsonProperty("Master")] public bool Master { get; set; }
+    [JsonProperty("Ip")] public string Ip { get; set; } = "";
+    [JsonProperty("Port")] public int Port { get; set; } = 8008;
+    [JsonProperty("PosAvailable")] public bool PosAvailable { get; set; }
+    [JsonProperty("X")] public float X { get; set; }
+    [JsonProperty("Y")] public float Y { get; set; }
+    [JsonProperty("Th")] public float Th { get; set; }
+    [JsonProperty("LayoutX")] public float LayoutX { get; set; }
+    [JsonProperty("LayoutY")] public float LayoutY { get; set; }
+    [JsonProperty("LayoutTh")] public float LayoutTh { get; set; }
+    [JsonProperty("Aligned")] public bool Aligned { get; set; }
+    // 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。
+    [JsonProperty("DetectOk")] public bool DetectOk { get; set; }
+}
+
+public class VehicleSyncNotification
+{
+    [JsonProperty("PosAvailable")] public bool PosAvailable { get; set; }
+    [JsonProperty("CenterX")] public float CenterX { get; set; }
+    [JsonProperty("CenterY")] public float CenterY { get; set; }
+    [JsonProperty("CenterTh")] public float CenterTh { get; set; }
+    [JsonProperty("Aligned")] public bool Aligned { get; set; }
+    [JsonProperty("Fleet")] public Dictionary<int, VehicleSyncInfo> Fleet { get; set; } = new();
+    [JsonProperty("FleetVx")] public float FleetVx { get; set; }
+    [JsonProperty("FleetFrontTh")] public float FleetFrontTh { get; set; }
+    [JsonProperty("FleetRearTh")] public float FleetRearTh { get; set; }
+    [JsonProperty("AutoEnabled")] public bool AutoEnabled { get; set; }
+    [JsonProperty("ManualEnabled")] public bool ManualEnabled { get; set; }
+    [JsonProperty("SyncTh")] public float SyncTh { get; set; }
+    [JsonProperty("SyncDistance")] public float SyncDistance { get; set; }
+    [JsonProperty("DeltaDetectCenter")] public float DeltaDetectCenter { get; set; }
+}