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>
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Cursor
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using System;
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using System.IO;
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using CartActivator;
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using CycleGUI;
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using CycleGUI.API;
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using Medulla.Types;
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namespace MultiWheelM;
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public partial class CartDefinition
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{
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private bool _fleetRemoteActive;
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private DateTime _fleetDiagLastStick = DateTime.MinValue;
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// 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。
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// 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。
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private static bool _fleetDiagInit;
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private void FleetDiag(string msg)
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{
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try
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{
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const string path = "fleet_diag_medulla.log";
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var line = $"{DateTime.Now:HH:mm:ss.fff} car{CarNum} {msg}{Environment.NewLine}";
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if (!_fleetDiagInit)
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{
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_fleetDiagInit = true;
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File.WriteAllText(path,
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$"=== session start {DateTime.Now:yyyy-MM-dd HH:mm:ss} ==={Environment.NewLine}" + line);
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}
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else
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File.AppendAllText(path, line);
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}
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catch
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{
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// 诊断日志失败不影响主流程
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}
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}
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private void ZeroFleetManualFields()
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{
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MultiVehicleManualEnabled = false;
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MultiVehicleManualMode = 0;
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MultiVehicleManualVx = 0;
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MultiVehicleManualVy = 0;
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MultiVehicleManualVth = 0;
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}
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[IOObjectUtility]
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public void FleetRemote()
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{
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if (_fleetRemoteActive)
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{
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GUI.GetPanelInstancingObject(this)?.BringToFront();
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return;
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}
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_fleetRemoteActive = true;
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var fleetOn = false;
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// 速度比例 0~1，作用于摇杆输出的线速度与转向角。
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var speedRatio = 1f;
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UseGesture? manip = null;
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void CleanupFleetRemote()
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{
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manip?.End();
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manip = null;
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fleetOn = false;
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ZeroFleetManualFields();
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_fleetRemoteActive = false;
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}
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manip = new UseGesture();
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manip.AddWidget(new UseGesture.ToggleWidget
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{
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name = "fleet_enable",
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text = "车队联动",
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position = "12.5%+10px, 75%+10px",
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size = "25%-10px, 12.5%-10px",
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OnValue = b =>
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{
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fleetOn = b;
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MultiVehicleManualEnabled = b;
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MultiVehicleManualMode = 0;
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if (!b)
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ZeroFleetManualFields();
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FleetDiag($"TOGGLE fleetOn={b} -> ManualEnabled={MultiVehicleManualEnabled}");
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}
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});
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manip.AddWidget(new UseGesture.ThrottleWidget
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{
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name = "fleet_speed_ratio",
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text = "速度比例",
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position = "50%+10px, 75%+10px",
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size = "50%-10px, 12.5%-10px",
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bounceBack = false,
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OnValue = (val, _) => speedRatio = Math.Clamp(val, 0, 1)
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});
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manip.AddWidget(new UseGesture.ButtonWidget
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{
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name = "fleet_stop",
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text = "急停/归零",
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position = "25%+10px, 87.5%+10px",
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size = "25%-10px, 12.5%-10px",
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OnPressed = _ =>
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{
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MultiVehicleManualVx = 0;
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MultiVehicleManualVy = 0;
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MultiVehicleManualVth = 0;
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FleetDiag("BUTTON stop/zero");
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}
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});
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manip.AddWidget(new UseGesture.StickWidget
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{
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name = "fleet_stick",
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text = "速度摇杆",
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position = "37.5%+10px, 25%+10px",
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size = "37.5%-10px, 37.5%-10px",
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bounceBack = true,
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keyboard = "Up,Down,Left,Right",
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joystick = "Axis0,Axis1",
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OnValue = (pos, manipulating) =>
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{
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if (!fleetOn)
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{
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MultiVehicleManualVx = 0;
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MultiVehicleManualVy = 0;
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MultiVehicleManualVth = 0;
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if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
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{
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_fleetDiagLastStick = DateTime.Now;
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FleetDiag($"STICK(ignored,fleetOff) pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating}");
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}
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return;
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}
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// 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。
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var ratio = Math.Clamp(speedRatio, 0, 1);
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MultiVehicleManualVx = Math.Clamp(pos.Y, -1, 1) * MaxManualSpeed * ratio;
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MultiVehicleManualVy = 0;
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MultiVehicleManualVth = Math.Clamp(pos.X, -1, 1) * MaxManualAngularSpeed * ratio;
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if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
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{
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_fleetDiagLastStick = DateTime.Now;
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FleetDiag($"STICK pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating} ratio={ratio:0.00} " +
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$"maxV={MaxManualSpeed:0.00} maxW={MaxManualAngularSpeed:0.0} " +
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$"-> Vx={MultiVehicleManualVx:0.000} Vth={MultiVehicleManualVth:0.0} en={MultiVehicleManualEnabled}");
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}
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}
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});
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manip.ChangeState(new SetAppearance { drawGuizmo = false });
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manip.Start();
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GUI.PromptOrBringToFront(pb =>
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{
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if (pb.Closing())
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{
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CleanupFleetRemote();
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pb.Panel.Exit();
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return;
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}
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pb.Panel.TopMost(true)
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.SetDefaultDocking(Panel.Docking.None)
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.ShowTitle("车队联动遥控")
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.InitSize(320, 160)
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.InitPos(false, -32, 32, 1, 0, 1, 0);
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pb.SeparatorText("状态");
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pb.Label($"车队联动: {MultiVehicleManualEnabled}");
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pb.Label($"速度比例: {speedRatio:0.00}");
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pb.Label($"Vx={MultiVehicleManualVx:0.000} m/s, Vth={MultiVehicleManualVth:0.0} deg/s");
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pb.Label($"优先级: {CartActivator.CartDefinition.currentPriority} ({CartActivator.CartDefinition.currentPriorityDesc})");
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pb.Label("请勿同时打开「手动控制」面板");
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pb.Panel.Repaint();
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}, instancingObject: this);
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}
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}
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