diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000..c6c8654
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,2 @@
+*.cs text eol=crlf
+.gitattributes text eol=lf
diff --git a/MultiWheel/MultiWheelC/MovementTests.cs b/MultiWheel/MultiWheelC/MovementTests.cs
index c4b2bae..f09ed91 100644
--- a/MultiWheel/MultiWheelC/MovementTests.cs
+++ b/MultiWheel/MultiWheelC/MovementTests.cs
@@ -212,7 +212,7 @@ public class FleetRotateInPlace : MovementDefinition
if (accel > 1e-3) estDuration += maxOmega / (2 * accel);
DLog.Log(
- $"START target={TargetDeltaDeg:0.0} dir={dir} omega={maxOmega:0.0} accel={accel:0.0} " +
+ $"REQUEST target={TargetDeltaDeg:0.0} dir={dir} omega={maxOmega:0.0} accel={accel:0.0} " +
$"slowDeg={slowDeg:0.0} minOmega={minOmega:0.0} useDetourHeading={hasPos} startTh={startTh:0.00} " +
$"estDuration={estDuration:0.00}s syncUseDetour={conf.MultiVehicleSyncUseDetour}",
"FleetRotateDbg");
@@ -224,6 +224,35 @@ public class FleetRotateInPlace : MovementDefinition
self.MultiVehicleScriptMode = 2;
self.MultiVehicleScriptVth = 0;
self.MultiVehicleScriptEnabled = true;
+ self.MultiVehicleRotateWheelsReady = false;
+ self.MultiVehicleRotateFleetReady = false;
+
+ DLog.Log("WAIT_ALIGN fleet rotate wheels", "FleetRotateDbg");
+ while (!self.MultiVehicleRotateFleetReady)
+ {
+ self.MultiVehicleScriptVx = 0;
+ self.MultiVehicleScriptVy = 0;
+ self.MultiVehicleScriptMode = 2;
+ self.MultiVehicleScriptVth = 0;
+ self.MultiVehicleScriptEnabled = true;
+ Hedingben.ToastText("车队原地旋转舵轮预对齐中", "FleetRotate");
+ yield return true;
+ }
+
+ if (hasPos)
+ {
+ prevTh = (float)DetourInterface.getCartLocation().th;
+ startTh = prevTh;
+ }
+ accumulated = 0f;
+ start = DateTime.Now;
+ lastTime = start;
+ lastLog = DateTime.MinValue;
+ cmdMag = 0f;
+ DLog.Log(
+ $"START target={TargetDeltaDeg:0.0} dir={dir} omega={maxOmega:0.0} startTh={startTh:0.00} " +
+ $"fleetAligned={self.MultiVehicleRotateFleetReady}",
+ "FleetRotateDbg");
var stopReason = "stop()";
while (true)
@@ -335,39 +364,32 @@ public class FleetRotateInPlaceTest : MovementTest
}
// ===== 车队联动-自动蟹行动作 =====
-// 以当前车队中心为起点，构造与车队朝向夹角 x、长度 y 的直线路径；执行侧复用
-// TickMultiVehicle 的脚本手动等价输入(mode=1)，也就是 FleetRemote 手动蟹行同一条下发链路。
+// 以当前车队中心为起点，构造指定方向和长度的直线路径；
+// 执行侧直接写 MultiVehicleAuto...，由 TickMultiVehicle 自动分支统一下发。
//
-// 手动蟹行已验证丝滑，自动动作只额外做两件事：
-// 1) 读取主车 Detour 反推车队中心，计算沿直线的进度和横向偏差；
-// 2) 用小幅、带斜率限制的方向修正写 MultiVehicleScriptVx/Vy，避免几何控制器 bias/dTh 阶跃造成抖动。
-//
-// 与 FleetRemote 手动蟹行(mode==1)对照：TickMultiVehicle 仍负责合成 frontTh==rearTh 的蟹行舵角并广播给从车。
+// 控制思路参考 MDCSToolbox 几何控制器，但实现收在 MultiWheelC 内：
+// 1) 读取主车 Detour 反推车队中心，计算沿直线的进度、横向偏差和车身目标朝向偏差；
+// 2) 根据横向偏差给前后 GCP 同向修正，根据车身目标朝向偏差给前后 GCP 反向修正；
+// 3) 根据终点距离减速，并发布 ideal fleet center 给从车做前馈。
//
// 前提：在主车(MultiVehicleMasterEndpoint=="/")运行，且主车有 Detour 定位。
public class FleetCrabWalk : MovementDefinition
{
- /// 与当前车队朝向的夹角(deg，逆时针为正)。
+ /// 路径方向相对启动时车队朝向的夹角(deg，逆时针为正)。
public float CrabAngleDeg = 45f;
+ /// 路径方向相对车身目标朝向的夹角(deg，逆时针为正)。MovementTest 会设为 CrabAngleDeg，以保持启动时车身朝向。
+ public float BodyToPathAngleDeg = 45f;
+
/// 路径长度(mm)。
public float CrabLengthMm = 2000f;
/// 行驶速度(m/s)。
public float CrabSpeed = 0.2f;
- /// 兼容旧配置；当前脚本手动等价实现不再直接使用几何控制器 gcp 上限。
+ /// 前后 GCP 舵角修正上限(deg)。
public float GcpThetaThreshold = 95f;
- /// 横向误差转向增益，沿用 Stanley 形式：atan(gain * lateral / speed)。
- public float CorrectionGain = 1f;
-
- /// 自动纠偏最大改向角(deg)。越小越接近手动蟹行，越大收敛越快。
- public float CorrectionAngleThreshold = 8f;
-
- /// 脚本 Vx/Vy 命令斜率限制(m/s^2)，避免纠偏量变化造成舵角阶跃。
- public float CommandAccel = 0.4f;
-
private bool _stopping;
private void Cleanup()
@@ -391,11 +413,20 @@ public class FleetCrabWalk : MovementDefinition
Cleanup();
}
- private static float Slew(float current, float target, float maxStep)
+ private static float Clamp(float value, float min, float max)
{
- var diff = target - current;
- if (Math.Abs(diff) <= maxStep) return target;
- return current + Math.Sign(diff) * maxStep;
+ if (value < min) return min;
+ if (value > max) return max;
+ return value;
+ }
+
+ private static float ClampAbs(float value, float limit)
+ {
+ var absLimit = Math.Abs(limit);
+ if (absLimit <= 0) return value;
+ if (value > absLimit) return absLimit;
+ if (value < -absLimit) return -absLimit;
+ return value;
}
public override IEnumerable Get()
@@ -408,7 +439,8 @@ public class FleetCrabWalk : MovementDefinition
$"ENTER master?={conf.MultiVehicleMasterEndpoint == "/"} endpoint={conf.MultiVehicleMasterEndpoint} " +
$"fleetNum={conf.MultiVehicleFleetNum} useDetect={conf.MultiVehicleUseDetect} " +
$"syncUseDetour={conf.MultiVehicleSyncUseDetour} useIdealCenter={conf.MultiVehicleAutoUseIdealCenter} " +
- $"manualLike=true corrGain={CorrectionGain:0.00} corrMax={CorrectionAngleThreshold:0.0} accel={CommandAccel:0.00}",
+ $"autoFields=true pathAngle={CrabAngleDeg:0.0} bodyToPath={BodyToPathAngleDeg:0.0} " +
+ $"gcpLimit={GcpThetaThreshold:0.0} biasFac={conf.BiasFac:0.00} dthFac={conf.DthLinearFac:0.00}",
"FleetCrabDbg");
if (conf.MultiVehicleMasterEndpoint != "/")
@@ -429,25 +461,34 @@ public class FleetCrabWalk : MovementDefinition
DLog.Log($"CENTER 车队中心=({x0:0},{y0:0},{theta:0.0})", "FleetCrabDbg");
var phi = CommonMath.RoundTh(theta + CrabAngleDeg);
+ var targetBodyTh = CommonMath.RoundTh(phi - BodyToPathAngleDeg);
var dst = CommonMath.Transform2D(new Vector2(x0, y0), phi, new Vector2(CrabLengthMm, 0));
var phiRad = phi / 180.0 * Math.PI;
var pathDir = new Vector2((float)Math.Cos(phiRad), (float)Math.Sin(phiRad));
var pathLeft = new Vector2(-pathDir.Y, pathDir.X);
DLog.Log(
- $"START center=({x0:0},{y0:0},{theta:0.0}) crabAngle={CrabAngleDeg:0.0} phi={phi:0.0} " +
+ $"START center=({x0:0},{y0:0},{theta:0.0}) pathAngle={CrabAngleDeg:0.0} bodyToPath={BodyToPathAngleDeg:0.0} " +
+ $"phi={phi:0.0} targetBody={targetBodyTh:0.0} " +
$"len={CrabLengthMm:0} dst=({dst.X:0},{dst.Y:0}) speed={CrabSpeed:0.000}",
"FleetCrabDbg");
- // 手动蟹行已验证丝滑：这里复用 TickMultiVehicle 的脚本手动等价输入(mode=1)，
- // 只在本动作内根据车队中心相对直线的横向误差缓慢调整 Vx/Vy 方向。
- self.MultiVehicleScriptEnabled = true;
- self.MultiVehicleScriptMode = 1;
+ self.MultiVehicleScriptEnabled = false;
+ self.MultiVehicleScriptMode = 0;
self.MultiVehicleScriptVx = 0;
self.MultiVehicleScriptVy = 0;
self.MultiVehicleScriptVth = 0;
+ self.MultiVehicleAutoEnabled = true;
+ self.MultiVehicleAutoVx = 0;
+ self.MultiVehicleAutoFrontTh = 0;
+ self.MultiVehicleAutoRearTh = 0;
+ self.MultiVehicleAutoIdealX = x0;
+ self.MultiVehicleAutoIdealY = y0;
+ self.MultiVehicleAutoIdealTh = targetBodyTh;
+ self.MultiVehicleAutoHasIdeal = true;
+ self.MultiVehicleAutoCmdTime = DateTime.Now;
self.PrimeMasterAutoFromSlam();
- DLog.Log("WARMUP 已启用脚本蟹行(mode=1)，等待编队成员就位…", "FleetCrabDbg");
+ DLog.Log("WARMUP auto fields enabled, waiting for fleet members...", "FleetCrabDbg");
var warmEnd = DateTime.Now.AddSeconds(2.0);
var warmIter = 0;
@@ -455,8 +496,17 @@ public class FleetCrabWalk : MovementDefinition
while (!_stopping && DateTime.Now < warmEnd)
{
warmIter++;
- self.MultiVehicleScriptEnabled = true;
- self.MultiVehicleScriptMode = 1;
+ self.MultiVehicleScriptEnabled = false;
+ self.MultiVehicleScriptMode = 0;
+ self.MultiVehicleAutoEnabled = true;
+ self.MultiVehicleAutoVx = 0;
+ self.MultiVehicleAutoFrontTh = 0;
+ self.MultiVehicleAutoRearTh = 0;
+ self.MultiVehicleAutoIdealX = x0;
+ self.MultiVehicleAutoIdealY = y0;
+ self.MultiVehicleAutoIdealTh = targetBodyTh;
+ self.MultiVehicleAutoHasIdeal = true;
+ self.MultiVehicleAutoCmdTime = DateTime.Now;
self.PrimeMasterAutoFromSlam();
var snap = self.GetFleetCenterSnapshot();
int cnt;
@@ -464,7 +514,7 @@ public class FleetCrabWalk : MovementDefinition
if (warmIter % 5 == 0)
DLog.Log(
$"WARMUP#{warmIter} 快照=({snap.X:0},{snap.Y:0},{snap.Th:0.0}) tick={snap.Tick} " +
- $"scriptEn={self.MultiVehicleScriptEnabled} cnt={cnt}/{conf.MultiVehicleFleetNum}",
+ $"autoEn={self.MultiVehicleAutoEnabled} scriptEn={self.MultiVehicleScriptEnabled} cnt={cnt}/{conf.MultiVehicleFleetNum}",
"FleetCrabDbg");
if (cnt >= conf.MultiVehicleFleetNum)
{
@@ -477,27 +527,30 @@ public class FleetCrabWalk : MovementDefinition
yield return true;
}
if (!warmReady)
- DLog.Log("WARMUP 超时：编队仍未就位，继续进入脚本蟹行（若不动请查看 FleetDiagClumsy ready/cnt）",
+ DLog.Log("WARMUP timeout: fleet members are not ready; continue with auto fields and safety interlock.",
"FleetCrabDbg");
- Hedingben.ToastText($"车队蟹行 夹角{CrabAngleDeg:0.0}° 长度{CrabLengthMm:0}mm", "FleetCrab");
+ Hedingben.ToastText($"车队蟹行 路径{CrabAngleDeg:0.0}° 车身夹角{BodyToPathAngleDeg:0.0}° 长度{CrabLengthMm:0}mm", "FleetCrab");
var iter = 0;
- var cmdVx = 0f;
- var cmdVy = 0f;
- var lastTime = DateTime.Now;
var lastLog = DateTime.MinValue;
var finishDistance = Math.Max(20f, conf.FinishDistance);
+ var slowDistance = Math.Max(finishDistance + 1f, conf.SlowDistance);
+ var baseSpeed = Math.Abs(CrabSpeed);
+ var finishSpeed = Math.Min(baseSpeed, Math.Abs(conf.FinishSpeed));
+ var gcpLimit = Math.Max(1f, Math.Abs(GcpThetaThreshold));
var stopReason = "done";
while (!_stopping)
{
iter++;
- var now = DateTime.Now;
- var dt = (float)Math.Min(0.2, Math.Max(0.001, (now - lastTime).TotalSeconds));
- lastTime = now;
- self.TryGetFleetCenterFromSlam(out var cx, out var cy, out var cth);
+ if (!self.TryGetFleetCenterFromSlam(out var cx, out var cy, out var cth))
+ {
+ stopReason = "fleet center invalid";
+ DLog.Log("ABORT: TryGetFleetCenterFromSlam returned false during auto crab.", "FleetCrabDbg");
+ break;
+ }
var delta = new Vector2(cx - x0, cy - y0);
var along = Vector2.Dot(delta, pathDir);
var lateral = Vector2.Dot(delta, pathLeft);
@@ -505,29 +558,37 @@ public class FleetCrabWalk : MovementDefinition
if (remain <= finishDistance)
break;
- var speed = Math.Abs(CrabSpeed);
- if (remain < conf.SlowDistance && conf.SlowDistance > 1)
+ var speed = baseSpeed;
+ if (remain < slowDistance)
{
- var ratio = (float)Math.Pow(Math.Max(0, remain) / conf.SlowDistance, conf.SlowingPow);
- speed = ratio * (speed - Math.Abs(conf.FinishSpeed)) + Math.Abs(conf.FinishSpeed);
+ var ratio = (float)Math.Pow(Clamp(Math.Max(0, remain) / slowDistance, 0f, 1f), conf.SlowingPow);
+ speed = ratio * (baseSpeed - finishSpeed) + finishSpeed;
}
- var correction = (float)(-Math.Atan(CorrectionGain * lateral / 1000f / Math.Max(speed, 0.3f)) / Math.PI * 180.0);
- correction = Math.Sign(correction) * Math.Min(Math.Abs(correction), Math.Abs(CorrectionAngleThreshold));
- var desiredWorldAngle = CommonMath.RoundTh(phi + correction);
- var localAngle = (float)CommonMath.ThDiff(desiredWorldAngle, cth);
- var localRad = localAngle / 180.0 * Math.PI;
- var targetVx = speed * (float)Math.Cos(localRad);
- var targetVy = speed * (float)Math.Sin(localRad);
- var maxStep = Math.Max(0.05f, CommandAccel) * dt;
- cmdVx = Slew(cmdVx, targetVx, maxStep);
- cmdVy = Slew(cmdVy, targetVy, maxStep);
+ var baseCrabTh = (float)CommonMath.ThDiff(phi, cth);
+ var headingErr = (float)CommonMath.ThDiff(targetBodyTh, cth);
+ var dthItem = ClampAbs(conf.DthLinearFac * headingErr, conf.DthLinearThreshold);
+ var biasItem = (float)(-Math.Atan(conf.BiasFac * lateral / 1000f / Math.Max(speed, 0.3f)) / Math.PI * 180.0);
+ biasItem = ClampAbs(biasItem, conf.BiasThreshold);
+ var frontTh = ClampAbs(baseCrabTh + biasItem + dthItem, gcpLimit);
+ var rearTh = ClampAbs(baseCrabTh + biasItem - dthItem, gcpLimit);
+ var idealAlong = Clamp(along, 0f, CrabLengthMm);
+ var ideal = new Vector2(x0, y0) + pathDir * idealAlong;
- self.MultiVehicleScriptEnabled = true;
- self.MultiVehicleScriptMode = 1;
- self.MultiVehicleScriptVx = cmdVx;
- self.MultiVehicleScriptVy = cmdVy;
+ self.MultiVehicleScriptEnabled = false;
+ self.MultiVehicleScriptMode = 0;
+ self.MultiVehicleScriptVx = 0;
+ self.MultiVehicleScriptVy = 0;
self.MultiVehicleScriptVth = 0;
+ self.MultiVehicleAutoEnabled = true;
+ self.MultiVehicleAutoVx = speed;
+ self.MultiVehicleAutoFrontTh = frontTh;
+ self.MultiVehicleAutoRearTh = rearTh;
+ self.MultiVehicleAutoIdealX = ideal.X;
+ self.MultiVehicleAutoIdealY = ideal.Y;
+ self.MultiVehicleAutoIdealTh = targetBodyTh;
+ self.MultiVehicleAutoHasIdeal = true;
+ self.MultiVehicleAutoCmdTime = DateTime.Now;
if ((DateTime.Now - lastLog).TotalMilliseconds >= 300)
{
@@ -537,8 +598,11 @@ public class FleetCrabWalk : MovementDefinition
lock (self.FleetLock) fleetCnt = self.MultiVehicleFleet.Count;
DLog.Log(
$"ITER#{iter} center=({cx:0},{cy:0},{cth:0.0}) snap=({snap.X:0},{snap.Y:0},{snap.Th:0.0}) " +
- $"along={along:0} lateral={lateral:0} remain={remain:0} corr={correction:0.0} " +
- $"localAngle={localAngle:0.0} cmd=({cmdVx:0.000},{cmdVy:0.000}) cnt={fleetCnt}/{conf.MultiVehicleFleetNum}",
+ $"along={along:0} lateral={lateral:0} remain={remain:0} headingErr={headingErr:0.0} " +
+ $"baseTh={baseCrabTh:0.0} bias={biasItem:0.0} dth={dthItem:0.0} " +
+ $"auto=(vx:{speed:0.000},fTh:{frontTh:0.0},rTh:{rearTh:0.0}) " +
+ $"ideal=({ideal.X:0},{ideal.Y:0},{targetBodyTh:0.0}) scriptEn={self.MultiVehicleScriptEnabled} " +
+ $"cnt={fleetCnt}/{conf.MultiVehicleFleetNum}",
"FleetCrabDbg");
}
yield return true;
@@ -547,14 +611,20 @@ public class FleetCrabWalk : MovementDefinition
if (_stopping)
stopReason = "stop";
- self.MultiVehicleScriptVx = 0;
- self.MultiVehicleScriptVy = 0;
- self.MultiVehicleScriptVth = 0;
+ self.MultiVehicleAutoVx = 0;
+ self.MultiVehicleAutoFrontTh = 0;
+ self.MultiVehicleAutoRearTh = 0;
+ self.MultiVehicleAutoCmdTime = DateTime.Now;
var settleEnd = DateTime.Now.AddMilliseconds(Math.Max(100, conf.MultiVehicleSyncInterval * 3));
while (!_stopping && DateTime.Now < settleEnd)
{
- self.MultiVehicleScriptEnabled = true;
- self.MultiVehicleScriptMode = 1;
+ self.MultiVehicleScriptEnabled = false;
+ self.MultiVehicleScriptMode = 0;
+ self.MultiVehicleAutoEnabled = true;
+ self.MultiVehicleAutoVx = 0;
+ self.MultiVehicleAutoFrontTh = 0;
+ self.MultiVehicleAutoRearTh = 0;
+ self.MultiVehicleAutoCmdTime = DateTime.Now;
yield return true;
}
@@ -575,12 +645,10 @@ public class FleetCrabWalkTest : MovementTest
_proc = new FleetCrabWalk
{
CrabAngleDeg = PilotDefinition.Conf.FleetCrabAngleDeg,
+ BodyToPathAngleDeg = PilotDefinition.Conf.FleetCrabAngleDeg,
CrabLengthMm = PilotDefinition.Conf.FleetCrabLengthMm,
CrabSpeed = PilotDefinition.Conf.FleetCrabSpeed,
- GcpThetaThreshold = PilotDefinition.Conf.FleetCrabGcpThetaThreshold,
- CorrectionGain = PilotDefinition.Conf.FleetCrabCorrectionGain,
- CorrectionAngleThreshold = PilotDefinition.Conf.FleetCrabCorrectionAngleDeg,
- CommandAccel = PilotDefinition.Conf.FleetCrabCommandAccel
+ GcpThetaThreshold = PilotDefinition.Conf.FleetCrabGcpThetaThreshold
};
_task = new DriveTask(_proc.Get());
_task.Wait();
diff --git a/MultiWheel/MultiWheelC/PilotConfig.cs b/MultiWheel/MultiWheelC/PilotConfig.cs
index 1a41616..912e607 100644
--- a/MultiWheel/MultiWheelC/PilotConfig.cs
+++ b/MultiWheel/MultiWheelC/PilotConfig.cs
@@ -23,6 +23,8 @@ public class PilotConfig : MultiWheelPilotConfig
// 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;
+ // 手动外部遥控联动默认只走 2 腿检测/几何同步，避免 Detour getCartLocation 阻塞导致遥控和检测可视化变慢。
+ [FieldMember(desc = "[sync] 手动联动是否启用定位姿态纠正(默认关闭)")] public bool MultiVehicleManualUseDetourCorrection = 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;
@@ -96,6 +98,9 @@ public class PilotConfig : MultiWheelPilotConfig
[FieldMember(desc = "Playground WebAPI 基地址")]
public string PlaygroundWebApiUrl = "http://localhost:18090";
+ [FieldMember(desc = "MultiVehicle rotate pose WebAPI diagnostics (simulation only)")]
+ public bool MultiVehicleRotatePoseWebApiDiagEnabled = false;
+
[FieldMember(desc = "Playground 小车名称（场景 robots[].name）")]
public string PlaygroundRobotName = "agv_multi_1";
@@ -149,9 +154,9 @@ public class PilotConfig : MultiWheelPilotConfig
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)")]
+ // 以当前车队中心为起点，构造一条直线路径；MovementTest 中车身保持启动朝向追踪该路径。
+ // 动作侧参考几何控制器的路径跟踪思路，直接写入 MultiVehicleAuto... 字段，不再复用脚本手动链路。
+ [FieldMember(desc = "车队蟹行：路径方向相对启动时车队朝向夹角(deg，逆时针为正；路径在车右侧x度时填-x)")]
public float FleetCrabAngleDeg = 45f;
[FieldMember(desc = "车队蟹行：路径长度(mm)")]
@@ -160,19 +165,9 @@ public class PilotConfig : MultiWheelPilotConfig
[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)")]
+ [FieldMember(desc = "车队蟹行：GCP舵角修正上限(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";
diff --git a/MultiWheel/MultiWheelC/PilotDefinition.cs b/MultiWheel/MultiWheelC/PilotDefinition.cs
index 018ad2d..4128399 100644
--- a/MultiWheel/MultiWheelC/PilotDefinition.cs
+++ b/MultiWheel/MultiWheelC/PilotDefinition.cs
@@ -13,10 +13,10 @@ using ClumsyCore.Pilot;
using ClumsyCore.Utilities;
using CommonUsage;
using CommonUsage.Chassis;
+using CommonUsage.Mathematics;
using FundamentalLib;
using FundamentalLib.Utilities;
using MDCSToolBox.Clumsy.Pilot.MultiWheel;
-using Newtonsoft.Json;
using Vector = ClumsyCore.Utilities.Vector;
namespace MultiWheelC;
@@ -99,6 +99,10 @@ public class PilotDefinition : MultiWheelPilotDefinition();
+ for (var i = 0; i < wheels.Count; i++)
+ {
+ var wheel = wheels[i];
+ if (wheel is DiffSteerWheel diff)
+ {
+ parts.Add(
+ $"w{i}:tgt={diff.GetSendAngle():0.0} read={diff.ReadAngle():0.0} " +
+ $"L={diff.GetLeftSendSpeed():0.000} R={diff.GetRightSendSpeed():0.000}");
+ }
+ else
+ {
+ parts.Add(
+ $"w{i}:tgt={wheel.GetSendAngle():0.0} read={wheel.ReadAngle():0.0} " +
+ $"v={wheel.GetSendSpeed():0.000}");
+ }
+ }
+
+ DLog.Log(
+ $"car{CarNum} phase={phase} omega={omega:0.000} " + string.Join(" | ", parts),
+ "MultiVehicleRotateWheelOutput");
+ }
+
private void SetMultiVehicleMotionFeasible(bool feasible, string reason = "")
{
_multiVehicleMotionFeasible = feasible;
_multiVehicleMotionInfeasibleReason = feasible ? "" : (reason ?? "");
}
+ private static float ClampFloat(float value, float min, float max)
+ {
+ if (value < min) return min;
+ if (value > max) return max;
+ return value;
+ }
+
+ private void UpdateMultiVehicleRotateModeState(int fleetMode, bool active, float requestedOmega)
+ {
+ var rotateActive = active && fleetMode == 2;
+ if (!rotateActive)
+ {
+ _multiVehicleRotateModeActive = false;
+ MultiVehicleRotateWheelsReady = true;
+ MultiVehicleRotateFleetReady = true;
+ _multiVehicleRotateDirectionHint = 1f;
+ _multiVehicleRotateAlignDetail = "";
+ return;
+ }
+
+ if (!_multiVehicleRotateModeActive)
+ {
+ MultiVehicleRotateWheelsReady = false;
+ MultiVehicleRotateFleetReady = false;
+ _multiVehicleRotateAlignDetail = "rotate mode just entered";
+ }
+
+ _multiVehicleRotateModeActive = true;
+ if (Math.Abs(requestedOmega) > Conf.MultiVehicleRotateActiveOmega)
+ _multiVehicleRotateDirectionHint = Math.Sign(requestedOmega);
+ }
+
+ private bool PrepareMultiVehicleRotateWheels(MultiWheelChassis chassis, float requestedOmega,
+ float localCompensateX = 0f, float localCompensateY = 0f, float localCompensateTh = 0f,
+ bool rampStop = true)
+ {
+ var hint = Math.Abs(requestedOmega) > Conf.MultiVehicleRotateActiveOmega
+ ? Math.Sign(requestedOmega)
+ : Math.Sign(_multiVehicleRotateDirectionHint);
+ if (hint == 0) hint = 1;
+ _multiVehicleRotateDirectionHint = hint;
+
+ // Reuse SendRotateMotion's decomposition and angle-limit checks, but keep wheel speed at zero.
+ if (rampStop)
+ chassis.RampStop();
+ var alignOmega = Math.Abs(requestedOmega) > Conf.MultiVehicleRotateActiveOmega
+ ? requestedOmega
+ : 0.01f * hint;
+ var motionOk = chassis.SendRotateMotion(alignOmega, TimeSpan.Zero,
+ localCompensateX: localCompensateX, localCompensateY: localCompensateY,
+ localCompensateTh: localCompensateTh);
+ var wheelAligned = TryCheckRotateWheelAlignment(chassis, Conf.InPlaceRotateWheelAlignDeg,
+ out var alignDetail);
+ var aligned = motionOk && wheelAligned;
+ if (!motionOk)
+ alignDetail = string.IsNullOrWhiteSpace(chassis.LastMotionDecomposeFailureReason)
+ ? alignDetail
+ : chassis.LastMotionDecomposeFailureReason;
+
+ MultiVehicleRotateWheelsReady = aligned;
+ _multiVehicleRotateAlignDetail = alignDetail;
+
+ var now = DateTime.Now;
+ if ((now - _multiVehicleRotateAlignLastLog).TotalMilliseconds >= 200)
+ {
+ _multiVehicleRotateAlignLastLog = now;
+ DLog.Log(
+ $"car{CarNum} ROTATE_PREPARE omegaReq={requestedOmega:0.000} alignOmega={alignOmega:0.000} " +
+ $"hint={hint} comp=({localCompensateX:0.0},{localCompensateY:0.0},{localCompensateTh:0.000}) " +
+ $"rampStop={rampStop} ok={motionOk} aligned={aligned} detail={alignDetail} " +
+ $"chassisReason={chassis.LastMotionDecomposeFailureReason}",
+ "MultiVehicleRemoteDbg");
+ FleetDiag(
+ $"ROTATE_PREPARE omegaReq={requestedOmega:0.000} alignOmega={alignOmega:0.000} hint={hint} " +
+ $"comp=({localCompensateX:0.0},{localCompensateY:0.0},{localCompensateTh:0.000}) " +
+ $"ok={motionOk} aligned={aligned} detail={alignDetail}");
+ }
+
+ Hedingben.ToastText(
+ aligned ? "车队原地旋转舵轮已对齐" : $"车队原地旋转舵轮预对齐中 {alignDetail}",
+ $"MultiVehicle{CarNum}-rotate-align");
+
+ return motionOk;
+ }
+
+ private static bool TryCheckRotateWheelAlignment(MultiWheelChassis chassis, float toleranceDeg, out string detail)
+ {
+ try
+ {
+#pragma warning disable CS0612, CS0618
+ var wheels = chassis.GetSteerWheels();
+#pragma warning restore CS0612, CS0618
+ var maxDth = 0f;
+ var parts = new List();
+ for (var i = 0; i < wheels.Count; i++)
+ {
+ var sw = wheels[i];
+ var dth = Math.Abs(CommonMath.ThDiff(sw.ReadAngle(), sw.GetSendAngle()));
+ maxDth = Math.Max(maxDth, dth);
+ parts.Add($"w{i}:{dth:0.0}");
+ }
+
+ detail = $"maxDth={maxDth:0.0} tol={toleranceDeg:0.0} {string.Join(",", parts)}";
+ return maxDth <= toleranceDeg;
+ }
+ catch (Exception e)
+ {
+ detail = $"read alignment failed: {e.Message}";
+ return chassis.LastRotateAligned;
+ }
+ }
+
private void LogMultiVehicleStop(string reason, bool force = false)
{
var now = DateTime.Now;
@@ -304,62 +458,32 @@ public class PilotDefinition : MultiWheelPilotDefinition
+ PicoHttpServer.AddPostByteHandler("/multi-vehicle-register-bin", body =>
{
try
{
- var infoJson = Uri.UnescapeDataString(query.Info ?? "");
- var info = JsonConvert.DeserializeObject(infoJson)
- ?? throw new Exception("VehicleSyncInfo is null");
- lock (FleetLock)
- {
- MultiVehicleFleet[query.CarNum] = info;
- _multiVehicleFleetSeen[query.CarNum] = DateTime.Now; // C: 刷新存活时刻
- }
- return JsonConvert.SerializeObject(new { code = 200, message = "ok" });
+ var (carNum, info) = VehicleSyncBinaryCodec.DecodeRegister(body);
+ ApplyVehicleSyncRegister(carNum, info);
+ return "ok";
}
catch (Exception e)
{
- DLog.Log($"/multi-vehicle-register error: {e.FormatEx()}", "MultiVehicle");
- return JsonConvert.SerializeObject(new { code = 500, message = e.Message });
+ DLog.Log($"/multi-vehicle-register-bin error: {e.FormatEx()}", "MultiVehicle");
+ throw;
}
});
- // F: notify 改用 POST + JSON body（取代 GET query 串），避免整队 Fleet 字典撑爆 URL 长度上限；
- // 用 Seq 丢弃乱序到达的旧包，避免从车短暂套用过期指令。
- PicoHttpServer.AddPostTextHandler("/multi-vehicle-notify", body =>
+ PicoHttpServer.AddPostByteHandler("/multi-vehicle-notify-bin", body =>
{
try
{
- var notification = JsonConvert.DeserializeObject(body ?? "")
- ?? throw new Exception("notification is null");
- // 乱序丢弃：仅应用序列号大于已应用值的包。Seq==0 视为旧版无序列号始终接受；
- // 若 Seq 明显回退(差值>100)，判定为主车重启的新会话，重新接受并对齐序列号。
- if (notification.Seq != 0 && notification.Seq <= _multiVehicleAppliedSeq &&
- notification.Seq > _multiVehicleAppliedSeq - 100)
- return JsonConvert.SerializeObject(new { code = 200, message = "stale" });
- _multiVehicleAppliedSeq = notification.Seq;
-
- MultiVehicleAligned = notification.Aligned;
- lock (FleetLock)
- {
- MultiVehicleFleet = notification.Fleet ?? new Dictionary();
- // C: notify 内含整队成员，逐一刷新其本地存活时刻。
- var nowSeen = DateTime.Now;
- foreach (var key in MultiVehicleFleet.Keys)
- _multiVehicleFleetSeen[key] = nowSeen;
- }
- lock (_multiVehicleNotificationLock)
- {
- MultiVehicleNotification = notification;
- _multiVehicleLastNotifyTime = DateTime.Now;
- }
- return JsonConvert.SerializeObject(new { code = 200, message = "ok" });
+ var notification = VehicleSyncBinaryCodec.DecodeNotification(body);
+ return ApplyVehicleSyncNotification(notification);
}
catch (Exception e)
{
- DLog.Log($"/multi-vehicle-notify error: {e.FormatEx()}", "MultiVehicle");
- return JsonConvert.SerializeObject(new { code = 500, message = e.Message });
+ DLog.Log($"/multi-vehicle-notify-bin error: {e.FormatEx()}", "MultiVehicle");
+ throw;
}
});
@@ -368,6 +492,53 @@ public class PilotDefinition : MultiWheelPilotDefinition MultiVehicleLoop(hc)) { Name = "MultiVehicle", IsBackground = true }.Start();
}
+ private void ApplyVehicleSyncRegister(int carNum, VehicleSyncInfo info)
+ {
+ lock (FleetLock)
+ {
+ MultiVehicleFleet[carNum] = info;
+ _multiVehicleFleetSeen[carNum] = DateTime.Now;
+ }
+ }
+
+ private string ApplyVehicleSyncNotification(VehicleSyncNotification notification)
+ {
+ // Keep the same stale-packet semantics as the previous transport.
+ if (notification.Seq != 0 && notification.Seq <= _multiVehicleAppliedSeq &&
+ notification.Seq > _multiVehicleAppliedSeq - 100)
+ return "stale";
+ _multiVehicleAppliedSeq = notification.Seq;
+
+ MultiVehicleAligned = notification.Aligned;
+ lock (FleetLock)
+ {
+ MultiVehicleFleet = notification.Fleet ?? new Dictionary();
+ var nowSeen = DateTime.Now;
+ foreach (var key in MultiVehicleFleet.Keys)
+ _multiVehicleFleetSeen[key] = nowSeen;
+ }
+
+ lock (_multiVehicleNotificationLock)
+ {
+ MultiVehicleNotification = notification;
+ _multiVehicleLastNotifyTime = DateTime.Now;
+ }
+
+ var applyNow = DateTime.Now;
+ if ((applyNow - _mvNotifyApplyLastLog).TotalMilliseconds >= 200)
+ {
+ _mvNotifyApplyLastLog = applyNow;
+ DLog.Log(
+ $"car{CarNum} NOTIFY_APPLY seq={notification.Seq} mode={notification.Mode} " +
+ $"omega={notification.FleetOmega:0.000} reqOmega={notification.RequestedFleetOmega:0.000} " +
+ $"released={notification.FleetMotionReleased} stop={notification.FleetStopActive} " +
+ $"reason={notification.FleetStopReason}",
+ "MultiVehicleRemoteDbg");
+ }
+
+ return "ok";
+ }
+
private void MultiVehicleLoop(HttpClient hc)
{
var carLength = CarLength;
@@ -460,7 +631,8 @@ public class PilotDefinition : MultiWheelPilotDefinition 1e-6f || !notificationMotionReleased)
+ ? notificationRequestedFleetOmega
+ : fleetOmega)
+ : fleetOmega;
+ UpdateMultiVehicleRotateModeState(fleetMode, manualEnabled || autoEnabled, requestedFleetOmega);
+
var (layoutX, layoutY, layoutTh) = GetLayoutPose(syncTh, syncDistance);
if (isMaster)
@@ -716,6 +902,7 @@ public class PilotDefinition : MultiWheelPilotDefinition> motionInfeasibleMembers;
+ List> rotateUnalignedMembers;
lock (FleetLock)
{
othersDetectOk = MultiVehicleFleet.Where(kv => kv.Key != CarNum).All(kv => kv.Value.DetectOk);
@@ -725,7 +912,21 @@ public class PilotDefinition : MultiWheelPilotDefinition kv.Key != CarNum && !kv.Value.MotionFeasible)
.ToList();
+ rotateUnalignedMembers = MultiVehicleFleet
+ .Where(kv => !kv.Value.RotateWheelsAligned)
+ .ToList();
}
+ if (!MultiVehicleRotateWheelsReady && rotateUnalignedMembers.All(kv => kv.Key != CarNum))
+ {
+ rotateUnalignedMembers.Add(new KeyValuePair(CarNum, new VehicleSyncInfo
+ {
+ RotateWheelsAligned = false,
+ RotateWheelAlignDetail = _multiVehicleRotateAlignDetail
+ }));
+ }
+ var rotateUnalignedCars = string.Join(",", rotateUnalignedMembers.Select(kv => kv.Key.ToString()));
+ var rotateFleetWheelsAligned = fleetMode != 2 || (fleetReady && rotateUnalignedMembers.Count == 0);
+ MultiVehicleRotateFleetReady = rotateFleetWheelsAligned;
var fleetStopActive = false;
var fleetStopReason = "";
@@ -794,6 +995,26 @@ public class PilotDefinition : MultiWheelPilotDefinition comp x:{xPosCompensate:F1} y:{yPosCompensate:F1} th:{thPosCompensate:F2} " +
$"| LAYOUT({layoutX:F0},{layoutY:F0},{layoutTh:F0}) R:{syncDistance / 2f:F0} " +
$"| SEND mode:{fleetMode} omega:{fleetOmega:F1} vx:{fleetVx:F3} fTh:{fleetFrontTh:F2} rTh:{fleetRearTh:F2} cx:{cx:F1} cy:{cy:F1} cth:{cth:F2} " +
- $"rotComp(vx:{_mvRotCompVx:F1} vy:{_mvRotCompVy:F1} om:{_mvRotCompOmega:F2})";
+ $"rotComp(vx:{_mvRotCompVx:F1} vy:{_mvRotCompVy:F1} om:{_mvRotCompOmega:F2}) " +
+ $"| ROT_ALIGN hold:{rotateHoldForAlignment} wheelReady:{MultiVehicleRotateWheelsReady} fleetReady:{MultiVehicleRotateFleetReady} " +
+ $"unaligned:[{rotateUnalignedCars}] reqOmega:{requestedFleetOmega:F1} detail:{_multiVehicleRotateAlignDetail}";
DLog.Log(dbg, "MultiVehicleDbg");
FleetDiag(dbg);
@@ -1046,6 +1333,8 @@ public class PilotDefinition : MultiWheelPilotDefinition
+ try
{
- if (t.IsFaulted)
- DLog.Log($"register failed: {t.Exception?.GetBaseException().Message}", "MultiVehicle");
- }, TaskScheduler.Default);
+ ParseMasterEndpoint(out var masterIp, out var masterPort);
+ var payload = VehicleSyncBinaryCodec.EncodeRegister(CarNum, info);
+ var url = $"http://{masterIp}:{masterPort}/multi-vehicle-register-bin";
+ _ = PostBinaryAsync(hc, url, payload, "register");
+ }
+ catch (Exception e)
+ {
+ DLog.Log($"register binary encode failed: {e.GetBaseException().Message}", "MultiVehicle");
+ }
}
- private static void FireAndForgetNotify(HttpClient hc, string ip, int port, VehicleSyncNotification notification)
+ private void FireAndForgetNotify(HttpClient hc, string ip, int port, VehicleSyncNotification notification)
{
- // F: POST + JSON body，payload 不再受 URL 长度限制；fire-and-forget 但记录失败。
- var notifyJson = JsonConvert.SerializeObject(notification);
- var url = $"http://{ip}:{port}/multi-vehicle-notify";
- var content = new StringContent(notifyJson, System.Text.Encoding.UTF8, "application/json");
- _ = hc.PostAsync(url, content).ContinueWith(t =>
+ try
{
- content.Dispose();
- if (t.IsFaulted)
- DLog.Log($"notify {ip}:{port} failed: {t.Exception?.GetBaseException().Message}", "MultiVehicle");
- }, TaskScheduler.Default);
+ var payload = VehicleSyncBinaryCodec.EncodeNotification(notification);
+ var url = $"http://{ip}:{port}/multi-vehicle-notify-bin";
+ _ = PostBinaryAsync(hc, url, payload, $"notify {ip}:{port}");
+ }
+ catch (Exception e)
+ {
+ DLog.Log($"notify {ip}:{port} binary encode failed: {e.GetBaseException().Message}", "MultiVehicle");
+ }
+ }
+
+ private static async Task PostBinaryAsync(HttpClient hc, string url, byte[] payload, string description)
+ {
+ try
+ {
+ using var content = new ByteArrayContent(payload);
+ content.Headers.ContentType =
+ new System.Net.Http.Headers.MediaTypeHeaderValue("application/octet-stream");
+ using var response = await hc.PostAsync(url, content).ConfigureAwait(false);
+ if (response.IsSuccessStatusCode)
+ return;
+
+ DLog.Log(
+ $"{description} binary failed: HTTP {(int)response.StatusCode} {response.ReasonPhrase}",
+ "MultiVehicle");
+ }
+ catch (Exception e)
+ {
+ DLog.Log($"{description} binary failed: {e.GetBaseException().Message}", "MultiVehicle");
+ }
}
private void ResolveMultiVehicleSelfEndpoint(out string ip, out int port)
@@ -1384,6 +1704,8 @@ public class PilotDefinition : MultiWheelPilotDefinition
private void LogRotatePoseSample()
{
+ if (!Conf.MultiVehicleRotatePoseWebApiDiagEnabled) return;
+
var now = DateTime.Now;
if ((now - _rotPoseLastLog).TotalMilliseconds < 200) return;
_rotPoseLastLog = now;
diff --git a/MultiWheel/MultiWheelC/VehicleSyncBinaryCodec.cs b/MultiWheel/MultiWheelC/VehicleSyncBinaryCodec.cs
new file mode 100644
index 0000000..11ef343
--- /dev/null
+++ b/MultiWheel/MultiWheelC/VehicleSyncBinaryCodec.cs
@@ -0,0 +1,249 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Text;
+
+namespace MultiWheelC;
+
+internal static class VehicleSyncBinaryCodec
+{
+ private const byte Version = 1;
+ private const byte RegisterType = 1;
+ private const byte NotificationType = 2;
+ private static readonly byte[] Magic = Encoding.ASCII.GetBytes("MVS1");
+
+ public static byte[] EncodeRegister(int carNum, VehicleSyncInfo info)
+ {
+ using var stream = new MemoryStream();
+ using var writer = new BinaryWriter(stream, Encoding.UTF8);
+ WriteHeader(writer, RegisterType);
+ writer.Write(carNum);
+ WriteInfo(writer, info);
+ writer.Flush();
+ return stream.ToArray();
+ }
+
+ public static (int CarNum, VehicleSyncInfo Info) DecodeRegister(byte[] payload)
+ {
+ using var stream = new MemoryStream(payload ?? throw new ArgumentNullException(nameof(payload)));
+ using var reader = new BinaryReader(stream, Encoding.UTF8);
+ ReadHeader(reader, RegisterType);
+ var carNum = reader.ReadInt32();
+ var info = ReadInfo(reader);
+ EnsureFullyRead(stream);
+ return (carNum, info);
+ }
+
+ public static byte[] EncodeNotification(VehicleSyncNotification notification)
+ {
+ using var stream = new MemoryStream();
+ using var writer = new BinaryWriter(stream, Encoding.UTF8);
+ WriteHeader(writer, NotificationType);
+
+ writer.Write(notification.Seq);
+ writer.Write(BuildNotificationFlags(notification));
+ writer.Write(notification.Mode);
+ writer.Write(notification.FleetStopSourceCar);
+ writer.Write(notification.CenterX);
+ writer.Write(notification.CenterY);
+ writer.Write(notification.CenterTh);
+ writer.Write(notification.FleetVx);
+ writer.Write(notification.FleetFrontTh);
+ writer.Write(notification.FleetRearTh);
+ writer.Write(notification.FleetOmega);
+ writer.Write(notification.RequestedFleetOmega);
+ writer.Write(notification.SyncTh);
+ writer.Write(notification.SyncDistance);
+ writer.Write(notification.DeltaDetectCenter);
+ writer.Write(notification.IdealX);
+ writer.Write(notification.IdealY);
+ writer.Write(notification.IdealTh);
+ WriteString(writer, notification.FleetStopReason);
+
+ var fleet = notification.Fleet ?? new Dictionary();
+ if (fleet.Count > ushort.MaxValue)
+ throw new InvalidOperationException($"Fleet count {fleet.Count} exceeds binary protocol limit.");
+ writer.Write((ushort)fleet.Count);
+ foreach (var kv in fleet)
+ {
+ writer.Write(kv.Key);
+ WriteInfo(writer, kv.Value);
+ }
+
+ writer.Flush();
+ return stream.ToArray();
+ }
+
+ public static VehicleSyncNotification DecodeNotification(byte[] payload)
+ {
+ using var stream = new MemoryStream(payload ?? throw new ArgumentNullException(nameof(payload)));
+ using var reader = new BinaryReader(stream, Encoding.UTF8);
+ ReadHeader(reader, NotificationType);
+
+ var notification = new VehicleSyncNotification
+ {
+ Seq = reader.ReadInt64()
+ };
+
+ ApplyNotificationFlags(notification, reader.ReadUInt16());
+ notification.Mode = reader.ReadInt32();
+ notification.FleetStopSourceCar = reader.ReadInt32();
+ notification.CenterX = reader.ReadSingle();
+ notification.CenterY = reader.ReadSingle();
+ notification.CenterTh = reader.ReadSingle();
+ notification.FleetVx = reader.ReadSingle();
+ notification.FleetFrontTh = reader.ReadSingle();
+ notification.FleetRearTh = reader.ReadSingle();
+ notification.FleetOmega = reader.ReadSingle();
+ notification.RequestedFleetOmega = reader.ReadSingle();
+ notification.SyncTh = reader.ReadSingle();
+ notification.SyncDistance = reader.ReadSingle();
+ notification.DeltaDetectCenter = reader.ReadSingle();
+ notification.IdealX = reader.ReadSingle();
+ notification.IdealY = reader.ReadSingle();
+ notification.IdealTh = reader.ReadSingle();
+ notification.FleetStopReason = ReadString(reader);
+
+ var fleetCount = reader.ReadUInt16();
+ notification.Fleet = new Dictionary(fleetCount);
+ for (var i = 0; i < fleetCount; ++i)
+ {
+ var carNum = reader.ReadInt32();
+ notification.Fleet[carNum] = ReadInfo(reader);
+ }
+
+ EnsureFullyRead(stream);
+ return notification;
+ }
+
+ private static void WriteHeader(BinaryWriter writer, byte type)
+ {
+ writer.Write(Magic);
+ writer.Write(Version);
+ writer.Write(type);
+ writer.Write((ushort)0);
+ }
+
+ private static void ReadHeader(BinaryReader reader, byte expectedType)
+ {
+ for (var i = 0; i < Magic.Length; ++i)
+ {
+ if (reader.ReadByte() != Magic[i])
+ throw new InvalidDataException("Invalid multi-vehicle sync binary magic.");
+ }
+
+ var version = reader.ReadByte();
+ if (version != Version)
+ throw new InvalidDataException($"Unsupported multi-vehicle sync binary version {version}.");
+
+ var type = reader.ReadByte();
+ if (type != expectedType)
+ throw new InvalidDataException($"Unexpected multi-vehicle sync packet type {type}.");
+
+ var reserved = reader.ReadUInt16();
+ if (reserved != 0)
+ throw new InvalidDataException("Invalid multi-vehicle sync binary reserved field.");
+ }
+
+ private static void WriteInfo(BinaryWriter writer, VehicleSyncInfo info)
+ {
+ writer.Write(BuildInfoFlags(info));
+ WriteString(writer, info.Ip);
+ writer.Write(info.Port);
+ writer.Write(info.X);
+ writer.Write(info.Y);
+ writer.Write(info.Th);
+ writer.Write(info.LayoutX);
+ writer.Write(info.LayoutY);
+ writer.Write(info.LayoutTh);
+ WriteString(writer, info.MotionInfeasibleReason);
+ WriteString(writer, info.RotateWheelAlignDetail);
+ }
+
+ private static VehicleSyncInfo ReadInfo(BinaryReader reader)
+ {
+ var info = new VehicleSyncInfo();
+ ApplyInfoFlags(info, reader.ReadUInt16());
+ info.Ip = ReadString(reader);
+ info.Port = reader.ReadInt32();
+ info.X = reader.ReadSingle();
+ info.Y = reader.ReadSingle();
+ info.Th = reader.ReadSingle();
+ info.LayoutX = reader.ReadSingle();
+ info.LayoutY = reader.ReadSingle();
+ info.LayoutTh = reader.ReadSingle();
+ info.MotionInfeasibleReason = ReadString(reader);
+ info.RotateWheelAlignDetail = ReadString(reader);
+ return info;
+ }
+
+ private static ushort BuildInfoFlags(VehicleSyncInfo info)
+ {
+ ushort flags = 0;
+ if (info.Master) flags |= 1 << 0;
+ if (info.PosAvailable) flags |= 1 << 1;
+ if (info.Aligned) flags |= 1 << 2;
+ if (info.DetectOk) flags |= 1 << 3;
+ if (info.MotionFeasible) flags |= 1 << 4;
+ if (info.RotateWheelsAligned) flags |= 1 << 5;
+ return flags;
+ }
+
+ private static void ApplyInfoFlags(VehicleSyncInfo info, ushort flags)
+ {
+ info.Master = (flags & (1 << 0)) != 0;
+ info.PosAvailable = (flags & (1 << 1)) != 0;
+ info.Aligned = (flags & (1 << 2)) != 0;
+ info.DetectOk = (flags & (1 << 3)) != 0;
+ info.MotionFeasible = (flags & (1 << 4)) != 0;
+ info.RotateWheelsAligned = (flags & (1 << 5)) != 0;
+ }
+
+ private static ushort BuildNotificationFlags(VehicleSyncNotification notification)
+ {
+ ushort flags = 0;
+ if (notification.PosAvailable) flags |= 1 << 0;
+ if (notification.Aligned) flags |= 1 << 1;
+ if (notification.FleetMotionReleased) flags |= 1 << 2;
+ if (notification.FleetStopActive) flags |= 1 << 3;
+ if (notification.AutoEnabled) flags |= 1 << 4;
+ if (notification.ManualEnabled) flags |= 1 << 5;
+ if (notification.HasIdeal) flags |= 1 << 6;
+ return flags;
+ }
+
+ private static void ApplyNotificationFlags(VehicleSyncNotification notification, ushort flags)
+ {
+ notification.PosAvailable = (flags & (1 << 0)) != 0;
+ notification.Aligned = (flags & (1 << 1)) != 0;
+ notification.FleetMotionReleased = (flags & (1 << 2)) != 0;
+ notification.FleetStopActive = (flags & (1 << 3)) != 0;
+ notification.AutoEnabled = (flags & (1 << 4)) != 0;
+ notification.ManualEnabled = (flags & (1 << 5)) != 0;
+ notification.HasIdeal = (flags & (1 << 6)) != 0;
+ }
+
+ private static void WriteString(BinaryWriter writer, string value)
+ {
+ var bytes = Encoding.UTF8.GetBytes(value ?? "");
+ if (bytes.Length > ushort.MaxValue)
+ throw new InvalidOperationException($"String payload length {bytes.Length} exceeds binary protocol limit.");
+ writer.Write((ushort)bytes.Length);
+ writer.Write(bytes);
+ }
+
+ private static string ReadString(BinaryReader reader)
+ {
+ var length = reader.ReadUInt16();
+ var bytes = reader.ReadBytes(length);
+ if (bytes.Length != length)
+ throw new EndOfStreamException("Truncated multi-vehicle sync string payload.");
+ return Encoding.UTF8.GetString(bytes);
+ }
+
+ private static void EnsureFullyRead(MemoryStream stream)
+ {
+ if (stream.Position != stream.Length)
+ throw new InvalidDataException("Unexpected trailing bytes in multi-vehicle sync packet.");
+ }
+}
diff --git a/MultiWheel/MultiWheelC/VehicleSyncModels.cs b/MultiWheel/MultiWheelC/VehicleSyncModels.cs
index 45fac8a..8c8e7b1 100644
--- a/MultiWheel/MultiWheelC/VehicleSyncModels.cs
+++ b/MultiWheel/MultiWheelC/VehicleSyncModels.cs
@@ -21,6 +21,8 @@ public class VehicleSyncInfo
[JsonProperty("DetectOk")] public bool DetectOk { get; set; }
[JsonProperty("MotionFeasible")] public bool MotionFeasible { get; set; } = true;
[JsonProperty("MotionInfeasibleReason")] public string MotionInfeasibleReason { get; set; } = "";
+ [JsonProperty("RotateWheelsAligned")] public bool RotateWheelsAligned { get; set; } = true;
+ [JsonProperty("RotateWheelAlignDetail")] public string RotateWheelAlignDetail { get; set; } = "";
}
public class VehicleSyncNotification
@@ -38,6 +40,8 @@ public class VehicleSyncNotification
[JsonProperty("Mode")] public int Mode { get; set; }
// 原地旋转角速度(deg/s，逆时针为正)，仅 Mode==2 有效
[JsonProperty("FleetOmega")] public float FleetOmega { get; set; }
+ [JsonProperty("RequestedFleetOmega")] public float RequestedFleetOmega { get; set; }
+ [JsonProperty("FleetMotionReleased")] public bool FleetMotionReleased { get; set; } = true;
[JsonProperty("FleetStopActive")] public bool FleetStopActive { get; set; }
[JsonProperty("FleetStopReason")] public string FleetStopReason { get; set; } = "";
[JsonProperty("FleetStopSourceCar")] public int FleetStopSourceCar { get; set; }
diff --git a/docs/FleetCrabWalkWorkContext.md b/docs/FleetCrabWalkWorkContext.md
index 7bd7bc1..0970702 100644
--- a/docs/FleetCrabWalkWorkContext.md
+++ b/docs/FleetCrabWalkWorkContext.md
@@ -2,7 +2,7 @@
> 本文档汇总 **当前仓库状态、外部依赖、运行/日志路径、代码地图与待解决问题**，便于后续继续调试「车队联动-自动蟹行」。
>
-> 最后更新：2026-06-29
+> 最后更新：2026-07-01
---
@@ -11,8 +11,8 @@
| 阶段 | 状态 | 说明 |
|------|------|------|
| 动作能启动、能下发运动 | ✅ 已解决 | 方案 1（预热）修复了启动期 `(0,0,0)` 快照导致 `Track()` 立即结束（`iter=0`）的问题 |
-| 路径跟踪质量 | 🔧 已改，待实测 | 2026-06-29 继续处理：自动蟹行改为复用手动蟹行同款 `mode=1` 下发链路，只叠加小幅平滑横向纠偏 |
-| 与手动蟹行对照 | ✅ 已验证 | 手动模式（FleetRemote `mode==1`）丝滑；因此自动抖动主要来自纠偏链路而非底盘执行能力 |
+| 路径跟踪质量 | 🔧 已改，待实测 | 2026-07-01 改为自动字段链路；MovementTest 中 `FleetCrabAngleDeg=-x` 表示车身保持当前角度，以 x 度夹角追踪路径 |
+| 与手动蟹行对照 | ✅ 已验证 | 手动模式（FleetRemote `mode==1`）仍保留；自动蟹行不再复用脚本手动链路 |
**触发方式**：主车 Clumsy → MovementTest 面板 → **「车队联动-自动蟹行」**（`FleetCrabWalkTest`）。
@@ -31,64 +31,66 @@
**可能相关机制**（按优先级，供下一轮对照日志）：
-1. **控制器读到的「当前位姿」与真实 SLAM 中心不同步**
- - `AbstractGeometricController.Track()` 在 `MultiVehicleSync=true` 时通过 `MultiVehicleGetFleetPos()` 读 `PilotDefinition.GetFleetCenterSnapshot()`。
+1. **控制器读到的「当前位姿」与真实 SLAM 中心不同步**
+ - `AbstractGeometricController.Track()` 在 `MultiVehicleSync=true` 时通过 `MultiVehicleGetFleetPos()` 读 `PilotDefinition.GetFleetCenterSnapshot()`。
- 已处理：`TickMultiVehicle` 每拍开头的 `PublishFleetCenter(0,0,0)` 已移除，避免动作/控制线程并发读到假中心。
-2. **横向纠偏 `bias` 项在蟹行模式下的参考系**
- - `MultiWheelGeometricController.PerformGoing` 中 `bias = -bias` 后按 Stanley 形式修正 gcp（`BiasFac` / `BiasThreshold`）。
- - 蟹行时 `thDiff` 来自路径切线（≈夹角），`dTh` 参考固定 `CrabTargetHeading`；若 `bias` 符号或 fleet 中心更新滞后，会持续向一侧推。
- - 已绕开：`FleetCrabWalk` 当前不再用几何控制器直接下发 gcp；改为 Detour 计算 `along/lateral/remain`，再写脚本 `MultiVehicleScriptVx/Vy`。
+2. **横向纠偏 `bias` 项在蟹行模式下的参考系**
+ - 当前实现不改 MDCSToolbox，只参考几何控制器思路在 `MultiWheelC` 内计算。
+ - `lateral` 通过 `BiasFac/BiasThreshold` 转为前后 GCP 同向修正；`headingErr` 通过 `DthLinearFac/DthLinearThreshold` 转为前后 GCP 反向修正。
+ - 输出直接写 `MultiVehicleAutoVx/FrontTh/RearTh/IdealX/Y/Th`，由 `TickMultiVehicle` 自动分支统一下发。
+ - MovementTest 会令 `BodyToPathAngleDeg = FleetCrabAngleDeg`，因此 `targetBodyTh = pathTh - BodyToPathAngleDeg = 启动时车队朝向`。
-3. **`MultiVehicleSyncUseDetour=true` 时的 POS 补偿与控制器抢方向盘**
- - 当前 `deploy/clumsy_agv1/clumsy.json` 中 `MultiVehicleSyncUseDetour: true`。
+3. **`MultiVehicleSyncUseDetour=true` 时的 POS 补偿与控制器抢方向盘**
+ - 当前 `deploy/clumsy_agv1/clumsy.json` 中 `MultiVehicleSyncUseDetour: true`。
- 各车 SLAM 偏差经 `PosBias*` 叠加到 `SendMotion`，可能与几何控制器横向纠偏形成耦合振荡。
-4. **动作期间关闭了 `MultiVehicleAutoUseIdealCenter`**
- - 有意为之（避免 ideal 中心回灌快照、抹平真实 bias）。副作用是仅依赖「快照中心 + bias 闭环」，对快照质量更敏感。
+4. **理想车队中心前馈**
+ - 当前动作会发布 `MultiVehicleAutoIdealX/Y/Th`。
+ - `MultiVehicleAutoUseIdealCenter=true` 时，从车使用该理想中心做 layout 前馈；关闭后只用当前广播中心和补偿项。
-5. **路径/起点几何**
- - 起点：`TryGetFleetCenterFromSlam()`；路径：`LineTrack(x0,y0 → dst)`，`phi = theta + CrabAngleDeg`。
+5. **路径/起点几何**
+ - 起点：`TryGetFleetCenterFromSlam()`；路径：`LineTrack(x0,y0 → dst)`，`phi = theta + CrabAngleDeg`。
- 若 `theta` 与运行时 `CenterTh` 不一致，或 layout 反推中心与控制器使用的快照中心有系统偏差，会表现为沿某一轴漂移。
**建议下一轮日志对照**：
-- `FleetCrabDbg`：`lateral` 是否收敛、`corr/localAngle/cmd` 是否平滑、有无到达纠偏上限
-- `MultiVehicleDbg`：`frontTh/rearTh/speed` 是否接近手动蟹行、POS/Detect 补偿是否在持续驱动，`CRAB in/raw/limit/rev` 是否显示 `raw=-95°` 这类角度未被反向等价转换
-- 如需回退旧几何控制器路线，再看 `CrabDbg` 的 `bias/biasItem/gcp/fleetPos`
+- `FleetCrabDbg`：`lateral` 是否收敛、`headingErr` 是否收敛、`bias/dth` 是否到达阈值、`auto(vx,fTh,rTh)` 是否稳定
+- `MultiVehicleDbg`：自动分支是否为 `auto:true/manual:false/script:false`，`BASE/SEND` 是否接近 `FleetCrabDbg` 输出，POS/Detect 补偿是否持续驱动
+- 重点看 `FleetCrabGcpThetaThreshold`、`BiasThreshold`、`DthLinearThreshold` 三个限幅是否过早截断纠偏
-**2026-06-29 DLog 结论（自动蟹行仍抖动）**：
-- `FleetCrabDbg` 中 `along/lateral/remain/corr/localAngle/cmd` 基本平滑，横向误差多在几十 mm 内，未见路径控制器发散。
+**2026-06-29 DLog 结论（旧脚本链路下自动蟹行仍抖动）**：
+- 旧 `FleetCrabDbg` 中 `along/lateral/remain/旧方向修正/旧命令` 基本平滑，横向误差多在几十 mm 内，未见路径控制器发散。
- 主/从 `MultiVehicleDbg` 中 `BASE vx` 在正负之间跳，同时 `fTh/rTh` 在 `+90°/-90°` 附近翻转；这是同一横移矢量被错误地按 ±90° 边界转换成两种等价表示，底盘执行层会看到接近 180° 的转向跳变。
- POS 补偿在该批日志中为关闭/零补偿（`corr:false`、`POS comp 0`），Detect 补偿有小幅值但不是主因。
-- 因此本轮判定为 **mode=1 蟹行矢量合成把 ±90° 误当舵角边界**，不是优先调 `FleetCrabCorrectionGain`。Medulla 侧 `WheelAngleLowerLimit/UpperLimit` 默认约为 `-120/+120`，自动蟹行应允许 `-95°` 直接下发。
+- 因此本轮判定为 **mode=1 蟹行矢量合成把 ±90° 误当舵角边界**，不是优先调横向纠偏增益。Medulla 侧 `WheelAngleLowerLimit/UpperLimit` 默认约为 `-120/+120`，自动蟹行应允许 `-95°` 直接下发。
**2026-06-29 DLog 结论（±120 修复后仍 Y+ 漂移）**：
- Clumsy 侧 `MultiVehicleDbg` 已显示 `CRAB raw=-9x`、`limit=120.0`、`rev:false`，`BASE vx` 不再正负翻转，说明上层 `mode=1` 表达已连续，剧烈抖动问题已消失。
- 但 `FleetCrabDbg` 中 `lateral` 仍从 `0` 单调增长到约 `+171mm`，`corr` 到达 `-8°` 上限后无法拉回；主/从 `DETECT dy` 也增长到百毫米量级，`DETECT comp y` 达到 `20mm/s` 上限。
- 进一步检查 Playground 发现：`D:\MDCS\Source\Core\Medulla\Playground\default_scene.json` 与运行目录 `bin\Debug\net8.0\default_scene.json` 中两台 `multi-steering` 仍为 `"maxSteeringAngle": 90`，而 `ActuatorModels.cs` 会把模块舵角 clamp 到 `[-MaxSteeringAngleRad,+MaxSteeringAngleRad]`。
-- 这意味着 Clumsy 发出的 `-98°` 路径纠偏，在 Playground 实际执行时会被夹回 `-90°`，纠偏分量被吞掉；这比继续调 `FleetCrabCorrectionGain` 更像 Y+ 漂移的直接原因。
+- 这意味着 Clumsy 发出的 `-98°` 路径纠偏，在 Playground 实际执行时会被夹回 `-90°`，纠偏分量被吞掉；这比继续调横向纠偏增益更像 Y+ 漂移的直接原因。
- 已把 Playground 源码场景和运行目录场景改为 `maxSteeringAngle: 120`，并在仿真器中加入 `multi-steering clamp` 节流日志；复测前必须重启 Playground 使场景重载。若复测时仍出现该日志，说明还有其他配置或场景副本在限制舵角。
### 2.2 两车抖动、不丝滑
**可能原因**：
-1. 上节 **快照 `(0,0,0)` 窗口** + 50ms 联动周期 + 50ms `DriveTaskInterval` beat frequency
-2. **notify 经 GET fire-and-forget**（`MultiVehicleAutoSyncReview.md` §F），从车命令阶跃
-3. **`dTh` 差动 + `bias` 限幅** 在阈值边界来回切换（`DthLinearThreshold` / `BiasThreshold`）
-4. **`MultiVehicleSyncUseDetour` POS 补偿** 与主车控制器不同相位
+1. 上节 **快照 `(0,0,0)` 窗口** + 50ms 联动周期 + 50ms `DriveTaskInterval` beat frequency
+2. **notify 经 GET fire-and-forget**（`MultiVehicleAutoSyncReview.md` §F），从车命令阶跃
+3. **`dTh` 差动 + `bias` 限幅** 在阈值边界来回切换（`DthLinearThreshold` / `BiasThreshold`）
+4. **`MultiVehicleSyncUseDetour` POS 补偿** 与主车控制器不同相位
5. 预热结束后 **`PrimeMasterAutoFromSlam` 不再调用**（正常）；若 `WARMUP` 期间日志显示 `cnt` 反复变化，说明编队 TTL/register 不稳定
**建议对照实验**：
-- 手动 FleetRemote 蟹行（同速度、同角度）是否也抖
-- 临时 `MultiVehicleSyncUseDetour=false` 复测
-- 看 `FleetCrabDbg` 的 `corr/localAngle/cmd` 与 `MultiVehicleDbg` 的 `frontTh/rearTh` 是否周期跳变
+- 手动 FleetRemote 蟹行（同速度、同角度）是否也抖
+- 临时 `MultiVehicleSyncUseDetour=false` 复测
+- 看 `FleetCrabDbg` 的 `auto(vx,fTh,rTh)` 与 `MultiVehicleDbg` 的 `BASE/SEND` 是否周期跳变
---
## 3. Tutorial 仓库（本仓库）
-**路径**：`D:\MDCS\Source\Tutorial`
+**路径**：`D:\MDCS\Source\Tutorial`
**分支**：`master`（截至文档编写时，自动蟹行相关改动**尚未单独 commit**，均为工作区修改）
### 3.1 已修改文件（git status）
@@ -187,8 +189,8 @@ dotnet build MultiWheel\MultiWheelM\MultiWheelM.csproj
### 5.2 触发自动蟹行测试
-1. 按上表启动双车栈
-2. 主车 Medulla 开启「车队联动」（手动联调时常按 **F**；纯自动蟹行 MovementTest 依赖 `MultiVehicleAutoEnabled`，动作内会自行置位 + 预热）
+1. 按上表启动双车栈
+2. 主车 Medulla 开启「车队联动」（手动联调时常按 **F**；纯自动蟹行 MovementTest 依赖 `MultiVehicleAutoEnabled`，动作内会自行置位 + 预热）
3. 主车 `build\Clumsy\` 的 Clumsy UI → MovementTest → **车队联动-自动蟹行**
参数来源：`clumsy.json` → `msConf` → `PilotConfig`（未写入 json 的字段用代码默认值）。
@@ -214,8 +216,8 @@ DLog 由 **Clumsy 进程工作目录**下的 `dlog\` 管理（FundamentalLib）
| Topic | 来源 | 内容 |
|-------|------|------|
-| **`FleetCrabDbg`** | `MovementTests.cs` | `ENTER/CENTER/START/WARMUP/ITER/DONE`，含 `along/lateral/remain/corr/localAngle/cmd` |
-| **`CrabDbg`** | `MultiWheelGeometricController.cs` | 旧几何控制器路线诊断；当前脚本蟹行实现不再依赖 |
+| **`FleetCrabDbg`** | `MovementTests.cs` | `ENTER/CENTER/START/WARMUP/ITER/DONE`，含 `along/lateral/remain/headingErr/baseTh/bias/dth/auto/ideal` |
+| **`CrabDbg`** | `MultiWheelGeometricController.cs` | MDCSToolbox 几何控制器诊断；当前自动蟹行只参考其思路，不修改也不依赖该源码 |
| **`MultiVehicleDbg`** | `PilotDefinition.cs` | 联动循环：速度、舵角、补偿、ready 状态 |
| **`FleetDiagClumsy`** | `PilotDefinition.cs` | 精简 fleet 诊断（带 `car{N}` 前缀） |
| **`MultiVehicle`** | `PilotDefinition.cs` | 初始化、心跳、HTTP 错误 |
@@ -223,10 +225,10 @@ DLog 由 **Clumsy 进程工作目录**下的 `dlog\` 管理（FundamentalLib）
### 6.3 建议抓取顺序（排查漂移/抖动）
-1. 主车 `FleetCrabDbg`：`WARMUP done` → `ITER#` 中 `lateral/remain/corr/localAngle/cmd`
-2. 主车 + 从车 `MultiVehicleDbg`：`frontTh/rearTh`、`PosBias*`、是否 `ready=false`
-3. 若回退旧几何控制器路线，再看主车 `CrabDbg`：`bias` 是否单调增大；`fleetPos` 是否偶发 `(0,0,0)`
-4. 从车 `FleetDiagClumsy`：是否频繁掉线 / register 超时
+1. 主车 `FleetCrabDbg`：`WARMUP done` → `ITER#` 中 `lateral/remain/headingErr/bias/dth/auto(vx,fTh,rTh)`
+2. 主车 + 从车 `MultiVehicleDbg`：`auto:true/manual:false`、`BASE/SEND`、`PosBias*`、是否 `ready=false`
+3. 若怀疑 MDCSToolbox 自动路径，再看主车 `CrabDbg`；当前 `FleetCrabWalk` 不直接调用该控制器
+4. 从车 `FleetDiagClumsy`：是否频繁掉线 / register 超时
---
@@ -237,23 +239,26 @@ MovementTest「车队联动-自动蟹行」
FleetCrabWalk.Get()
TryGetFleetCenterFromSlam() → 路径起点 (x0,y0,θ)
phi = theta + FleetCrabAngleDeg
- MultiVehicleScriptEnabled = true
- MultiVehicleScriptMode = 1 → 复用 FleetRemote 手动蟹行下发链路
+ BodyToPathAngleDeg = FleetCrabAngleDeg
+ targetBodyTh = phi - BodyToPathAngleDeg = theta
+ MultiVehicleScriptEnabled = false
+ MultiVehicleAutoEnabled = true → 进入 TickMultiVehicle 自动分支
WARMUP → 等编队成员就位
loop:
TryGetFleetCenterFromSlam() → 当前车队中心
- along/lateral/remain → 沿线进度、横向偏差、剩余距离
- corr = clamp(Stanley(lateral), ±FleetCrabCorrectionAngleDeg)
- localAngle = (phi + corr) - currentTheta
- Vx/Vy slew limit → FleetCrabCommandAccel 平滑
- MultiVehicleScriptVx/Vy = cmd
+ along/lateral/remain/headingErr → 沿线进度、横向偏差、剩余距离、车身目标朝向偏差
+ bias = clamp(Stanley(lateral), ±BiasThreshold)
+ dth = clamp(DthLinearFac * (targetBodyTh-currentTheta), ±DthLinearThreshold)
+ frontTh/rearTh = clamp(phi-currentTheta + bias ± dth, ±FleetCrabGcpThetaThreshold)
+ ideal = pathStart + pathDir * clamp(along, 0, FleetCrabLengthMm)
+ MultiVehicleAutoVx/FrontTh/RearTh/Ideal* = cmd
PilotDefinition.TickMultiVehicle (50ms)
- manual/script mode==1
- Vx/Vy → speed + frontTh==rearTh
+ auto branch
+ MultiVehicleAuto* → speed + frontTh/rearTh + ideal center
notify → 从车 SendMotion + POS/Detect 补偿
```
-**对照 baseline**：`PilotDefinition.cs` 手动分支 `fleetMode == 1`（FleetRemote 蟹行）直接合成 `frontTh/rearTh`，不经几何控制器 `bias` 闭环。
+**对照 baseline**：`PilotDefinition.cs` 手动分支 `fleetMode == 1`（FleetRemote 蟹行）仍直接合成 `frontTh/rearTh`；自动蟹行当前不走该分支。
---
@@ -263,15 +268,14 @@ MovementTest「车队联动-自动蟹行」
| 字段 | 默认 | 作用 |
|------|------|------|
-| `FleetCrabAngleDeg` | 45 | 路径与车队朝向夹角 (deg) |
+| `FleetCrabAngleDeg` | 45 | 路径方向相对启动时车队朝向的夹角 (deg)。MovementTest 同时把车身-路径夹角设为该值；若输入“路径与小车夹角 x 度”，应填 `-x` 以保持当前车身角度 |
| `FleetCrabLengthMm` | 2000 | 路径长度 (mm) |
-| `FleetCrabSpeed` | 0.2 | 速度 (m/s) |
-| `FleetCrabGcpThetaThreshold` | 95 | 兼容旧几何控制器实现；当前脚本蟹行不直接使用 |
-| `FleetCrabCorrectionGain` | 1.0 | 横向误差纠偏增益 |
-| `FleetCrabCorrectionAngleDeg` | 8 | 自动纠偏最大改向角，越小越接近手动蟹行 |
-| `FleetCrabCommandAccel` | 0.4 | 脚本 `Vx/Vy` 命令斜率限制(m/s²) |
+| `FleetCrabSpeed` | 0.2 | 巡航速度 (m/s)，接近终点时由通用减速参数下调 |
+| `FleetCrabGcpThetaThreshold` | 95 | 自动蟹行输出 `frontTh/rearTh` 的绝对值上限，应给实际舵角限位与 `AngleLimitMarginDeg` 留余量 |
-动作行为：当前不再改 `MultiVehicleAutoUseIdealCenter`，结束/急停会清零 `MultiVehicleScript*` 和 `MultiVehicleAuto*`。
+已删除旧字段：`FleetCrabCorrectionGain`、`FleetCrabCorrectionAngleDeg`、`FleetCrabCommandAccel`。旧 `clumsy.json` 若残留这些 key，会被配置反序列化忽略，不能再作为有效调参项。
+
+动作行为：当前不再改 `MultiVehicleAutoUseIdealCenter`，结束/急停会清零 `MultiVehicleAuto*`，并保持 `MultiVehicleScriptEnabled=false`。
### 8.2 影响跟踪/手感的全局项（节选）
@@ -282,7 +286,12 @@ MovementTest「车队联动-自动蟹行」
| `TestCarSyncDistance` | 2400 | 与 Playground 双车间距一致 |
| `MultiVehicleSyncInterval` | 50 | 联动周期 ms |
| `DriveTaskInterval` | 50 | `clumsy.json` 顶层 |
-| `BiasFac` / `DthLinearFac` 等 | 继承 `MultiWheelPilotConfig` | 几何控制器 PID 形态参数 |
+| `BiasFac` / `BiasThreshold` | 继承 `MultiWheelPilotConfig` | 横向偏差 `lateral` → 前后 GCP 同向修正 |
+| `DthLinearFac` / `DthLinearThreshold` | 继承 `MultiWheelPilotConfig` | 车身目标朝向偏差 `headingErr` → 前后 GCP 反向修正 |
+| `SlowDistance` / `SlowingPow` / `FinishDistance` / `FinishSpeed` | 继承 `BasicPilotConfig` | 自动蟹行终点减速和结束判定 |
+| `MultiVehicleAutoUseIdealCenter` | true（默认） | 使用自动蟹行发布的 ideal center 给从车做前馈 |
+| `MultiVehicleAutoRequireFleetCenter` | true（默认） | 自动模式无有效车队中心时整队停车 |
+| `MultiVehicleAutoCmdTimeoutMs` | 0（auto） | 自动命令新鲜度超时，避免控制器停发后沿末速度滑行 |
详见 [MultiVehicleConfig.md](./MultiVehicleConfig.md) §2–§6。
@@ -296,20 +305,20 @@ MovementTest「车队联动-自动蟹行」
| 蟹行要求朝向不变但有纠偏 | `CrabHoldHeading` + `CrabTargetHeading`；保留 `dTh` |
| 多车 firstTurn 破坏队形 | `MultiVehicleSync` 时跳过 `firstTurnN`（TODO 整队预旋转） |
| gcp 被 45° 上限截断 | 动作侧 `GcpThetaThreshold=95` |
-| ideal 中心抹平横向误差 | 动作期间关 `MultiVehicleAutoUseIdealCenter` |
+| ideal 中心抹平横向误差 | 已改为显式发布 `MultiVehicleAutoIdealX/Y/Th`，由 `MultiVehicleAutoUseIdealCenter` 控制是否前馈 |
| Tick 中间窗口发布 `(0,0,0)` 假中心 | 已移除 tick 开头 `PublishFleetCenter(0,0,0)` |
-| 自动蟹行纠偏导致抖动 | 已改为脚本手动蟹行链路 + 小幅平滑横向纠偏 |
+| 自动蟹行纠偏导致抖动 | 已改为自动字段链路，按 `lateral/headingErr/remain` 计算 `MultiVehicleAuto*` |
| 接近纯横移时速度符号/舵角表示翻转 | `fleetMode==1` 改为按 `MultiVehicleCrabSteerLimitDeg`（默认 120°）归一化；`-95°` 直接下发，超过上限才做速度取反的等价转换，并在 `MultiVehicleDbg` 输出 `CRAB in/raw/limit/rev` |
---
## 10. 后续工作建议（优先级）
-1. **复测 -90° 自动蟹行**：重点看 `MultiVehicleDbg` 的 `CRAB raw=-9x`、`limit=120.0`、`rev:false`，以及 `BASE vx/fTh/rTh` 是否不再正负翻转。
-2. **A/B：`MultiVehicleCrabSteerLimitDeg`** 默认 120，应与 Medulla 侧 `WheelAngleLowerLimit/UpperLimit` 匹配；若实际轮角限制不同，先同步该值。
-3. **A/B：`FleetCrabCorrectionAngleDeg`** 先试 4、8、12：4 最接近手动，12 收敛更快；当前不再因跨 ±90° 直接翻面。
-4. **A/B：`MultiVehicleSyncUseDetour=false`** 若仍抖，跑同一条蟹行，区分脚本纠偏 vs POS 补偿贡献。
-5. **路径误差**：若仍持续 Y+ 漂移，看 `lateral` 是否持续单向增长；若增长但 `corr` 已到上限，增大 `FleetCrabCorrectionAngleDeg` 或 `FleetCrabCorrectionGain`。
+1. **复测自动蟹行**：重点看 `FleetCrabDbg` 的 `auto=(vx,fTh,rTh)` 与 `MultiVehicleDbg` 的 `auto:true/manual:false` 是否一致。
+2. **A/B：`FleetCrabGcpThetaThreshold`** 默认 95，应与实车舵角限制和 `AngleLimitMarginDeg` 匹配；若输出很快被限幅，先核对该值。
+3. **A/B：`BiasFac/BiasThreshold`** 若 `lateral` 单向增长，先看 `bias` 是否到上限；需要更强横向纠偏时调这组参数。
+4. **A/B：`DthLinearFac/DthLinearThreshold`** 若车队朝向偏差收敛慢或前后 GCP 差动过大，调这组参数。
+5. **A/B：`MultiVehicleSyncUseDetour=false`** 若仍抖，跑同一条蟹行，区分自动路径纠偏 vs POS 补偿贡献。
6. **notify 平滑**（中长期）：见 `MultiVehicleAutoSyncReview.md` §F。
---
diff --git a/docs/MultiVehicleConfig.md b/docs/MultiVehicleConfig.md
index 4d76524..75c8f0e 100644
--- a/docs/MultiVehicleConfig.md
+++ b/docs/MultiVehicleConfig.md
@@ -144,28 +144,45 @@ TwoLegGuessX = -(TestCarSyncDistance - DeltaDetectCenter)
## 6. 自动蟹行动作（FleetCrabWalk / MovementTest「车队联动-自动蟹行」）
-在 Clumsy 侧 MovementTest 面板触发，以**当前车队中心**为起点，构造一条与车队朝向夹角 `FleetCrabAngleDeg`、长度 `FleetCrabLengthMm` 的**直线路径**，执行侧复用 FleetRemote 已验证丝滑的脚本手动等价输入（`MultiVehicleScriptEnabled + mode=1`）让整队**斜向平移（蟹行）**：
+在 Clumsy 侧 MovementTest 面板触发，以**当前车队中心**为起点，构造一条与启动时车队朝向夹角 `FleetCrabAngleDeg`、长度 `FleetCrabLengthMm` 的**直线路径**。MovementTest 会保持启动时车身朝向追踪路径；因此如果“路径相对小车”的夹角为 `x` 度（路径在车体右侧为正），应配置 `FleetCrabAngleDeg = -x`。当前实现不再复用脚本手动链路，而是参考几何控制器思路，在 `MultiWheelC` 内计算并写入 `MultiVehicleAuto...` 字段：
-- 动作每拍读取主车 Detour 反推车队中心，计算直线进度 `along`、横向偏差 `lateral` 和剩余距离 `remain`。
-- 横向偏差只转成一个**小幅、带斜率限制的蟹行方向修正**，再写入 `MultiVehicleScriptVx/Vy`；`TickMultiVehicle` 仍按手动蟹行逻辑合成 `frontTh==rearTh` 并广播从车。
-- 这样保留手动蟹行的平滑执行链路，同时让自动动作具备温和的路径纠偏；避免旧几何控制器 `bias/dTh` 直接叠到 gcp 时出现舵角阶跃。
-- **前提**：在**主车**（`MultiVehicleMasterEndpoint="/"`）上运行，且主车有 Detour 定位（用于反推车队中心起点）。
+- 动作每拍读取主车 Detour 反推车队中心，计算直线进度 `along`、横向偏差 `lateral`、剩余距离 `remain` 和车身目标朝向偏差 `headingErr`。
+- `lateral` 通过 `BiasFac/BiasThreshold` 转为前后 GCP 同向舵角修正；`headingErr` 通过 `DthLinearFac/DthLinearThreshold` 转为前后 GCP 反向舵角修正。
+- 动作直接输出 `MultiVehicleAutoVx/FrontTh/RearTh/IdealX/IdealY/IdealTh`，由 `TickMultiVehicle` 的自动分支统一广播、下发 `SendMotion`，并继续受识别丢失、成员超时、舵角余量不足等整队缓停联锁保护。
+- **前提**：在**主车**（`MultiVehicleMasterEndpoint="/"`）上运行，且主车有 Detour 定位（用于反推车队中心起点与运行中闭环）。
| 字段（`clumsy.json` → `msConf`） | 含义 | 默认值 |
|------|------|--------|
-| `FleetCrabAngleDeg` | 蟹行路径**与当前车队朝向的夹角**(deg，逆时针为正)。决定斜行方向：0=正前方，90=正左方平移，-90=正右方。稳态下即各舵轮的蟹行角 | `45` |
+| `FleetCrabAngleDeg` | 蟹行路径方向相对**启动时车队朝向**的夹角(deg，逆时针为正)。MovementTest 同时把车身-路径夹角设为该值，因此 `FleetCrabAngleDeg=-x` 会让车身保持启动朝向，并以 `x` 度夹角追踪路径 | `45` |
| `FleetCrabLengthMm` | 蟹行路径**长度**(mm)，沿夹角方向行驶该距离后停车结束 | `2000` |
-| `FleetCrabSpeed` | 蟹行**行驶速度**(m/s) | `0.2` |
-| `FleetCrabGcpThetaThreshold` | 兼容旧几何控制器实现的 gcp 舵角上限；当前脚本手动等价实现不直接使用 | `95` |
-| `FleetCrabCorrectionGain` | 横向误差纠偏增益。增大后收敛更快，但更容易出现方向摆动 | `1` |
-| `FleetCrabCorrectionAngleDeg` | 自动纠偏最大改向角(deg)。越小越接近手动蟹行，越大纠偏越强 | `8` |
-| `FleetCrabCommandAccel` | `Vx/Vy` 命令斜率限制(m/s²)，抑制纠偏方向突变 | `0.4` |
-| `MultiVehicleCrabSteerLimitDeg` | mode=1 蟹行舵角上限，应与 Medulla 侧 `WheelAngleLowerLimit/UpperLimit` 匹配；`-95°` 在默认 120° 内会直接下发 | `120` |
+| `FleetCrabSpeed` | 蟹行巡航速度(m/s)，写入 `MultiVehicleAutoVx`；接近终点时会被 `SlowDistance/SlowingPow/FinishSpeed` 降速 | `0.2` |
+| `FleetCrabGcpThetaThreshold` | 自动蟹行输出 `frontTh/rearTh` 的绝对值上限(deg)。应小于实际舵角可行范围，并给 `AngleLimitMarginDeg` 留余量 | `95` |
+
+自动蟹行还会使用下列通用控制参数：
+
+| 字段 | 影响 | 默认来源 |
+|------|------|----------|
+| `BiasFac` / `BiasThreshold` | 横向偏差 `lateral` → 前后 GCP 同向修正。增大后收敛更快，但过大可能摆动 | `MultiWheelPilotConfig` |
+| `DthLinearFac` / `DthLinearThreshold` | 车身目标朝向偏差 `headingErr` → 前后 GCP 反向修正，用于保持车身与路径夹角 | `MultiWheelPilotConfig` |
+| `SlowDistance` / `SlowingPow` / `FinishDistance` / `FinishSpeed` | 终点减速和结束判定 | `BasicPilotConfig` |
+| `MultiVehicleAutoUseIdealCenter` | 是否把自动蟹行计算出的 `IdealX/Y/Th` 广播给从车做前馈 | `true` |
+| `MultiVehicleAutoRequireFleetCenter` | 自动模式是否要求有效车队中心；定位/车队中心失效时整队停车 | `true` |
+| `MultiVehicleAutoCmdTimeoutMs` | 自动命令新鲜度超时，0 表示按联动周期自动计算 | `0` |
+| `MultiVehicleUseDetect` / `MultiVehicleDetectBias*` | 互识别纠正与安全门；检测丢失时整队停车 | 见 §5 |
+| `MultiVehicleSyncUseDetour` / `MultiVehiclePosBias*` | 车队内姿态纠正（POS 补偿）；不影响整车队中心计算 | 见 §5 |
+
+已删除的旧自动蟹行参数：
+
+| 已删除字段 | 原用途 | 当前替代 |
+|------------|--------|----------|
+| `FleetCrabCorrectionGain` | 旧脚本链路的横向误差纠偏增益 | `BiasFac` |
+| `FleetCrabCorrectionAngleDeg` | 旧脚本链路的最大改向角 | `BiasThreshold` / `FleetCrabGcpThetaThreshold` |
+| `FleetCrabCommandAccel` | 旧脚本链路的 `Vx/Vy` 斜率限制 | 由自动联动周期、底盘速度斜坡和终点减速共同约束 |
**行为要点 / 注意**
-- 当前实现不走 `MultiVehicleAuto*`/`MultiVehicleSendMotion`，也不再临时改 `MultiVehicleAutoUseIdealCenter`；结束/急停会清零脚本字段。
-- `FleetCrabDbg` 会记录 `along/lateral/remain/corr/localAngle/cmd(Vx,Vy)`；`MultiVehicleDbg` 可继续对照最终 `frontTh≈rearTh`、是否有 POS/Detect 补偿，以及 `CRAB in/raw/limit/rev` 是否在舵角上限内保持连续表达。
+- 当前实现走 `MultiVehicleAuto*` 自动字段链路，不再开启 `MultiVehicleScriptEnabled`，也不受 `MultiVehicleCrabSteerLimitDeg` 影响（该字段只影响手动 `mode=1` 蟹行）。
+- `FleetCrabDbg` 会记录 `along/lateral/remain/headingErr/baseTh/bias/dth/auto(vx,fTh,rTh)/ideal`；`MultiVehicleDbg` 可继续对照最终 `BASE/SEND`、POS/Detect 补偿、ready/stop 状态。
- `MultiVehicleUseDetect=true` 时仍受 2 腿检测安全门约束（检测丢失会被置零停车）。
- Playground 双车场景的 `actuator.maxSteeringAngle` 也必须与该上限一致；若仍为 `90`，Clumsy 发出的 `-98°` 纠偏会在仿真执行层被夹回 `-90°`，表现为纯横移路径无法收敛。
@@ -202,11 +219,7 @@ TwoLegGuessX = -(TestCarSyncDistance - DeltaDetectCenter)
"FleetCrabAngleDeg": 45,
"FleetCrabLengthMm": 2000,
"FleetCrabSpeed": 0.2,
-"FleetCrabGcpThetaThreshold": 95,
-"FleetCrabCorrectionGain": 1.0,
-"FleetCrabCorrectionAngleDeg": 8,
-"FleetCrabCommandAccel": 0.4,
-"MultiVehicleCrabSteerLimitDeg": 120
+"FleetCrabGcpThetaThreshold": 95
```
```text