feat(track-core): add portable training runtimes

Move scheme and PID training runtime behavior into the pure track_core layer and expose render sinks for injected strip application. Add ESP compatibility adapters, Python bindings/test scaffolding, and in-memory render support so app_track_bt can consume core render and runtime logic without duplicating it. Cover circular/linear rendering boundaries, all scheme runtime types, scheme render_to parity, PID sample de-duplication, speed suppression, and live tuning in track-core tests.
2026-05-18 16:15:45 +08:00
parent 84598cad20
commit 1005e50be0
24 changed files with 4169 additions and 15 deletions
@@ -0,0 +1,108 @@
+#pragma once
+
+#include <cstddef>
+#include <vector>
+
+#include "track_core/model.hpp"
+#include "track_core/render.hpp"
+#include "track_core/scheme_decoder.hpp"
+
+namespace track_core {
+
+struct SchemeTrackState {
+    bool is_running{};
+    std::size_t primary_segment_index{};
+    std::size_t sub_segment_index{};
+    float mileage_m{};
+    float loop_mileage_m{};
+    float speed_m_s{};
+    float elapsed_s{};
+};
+
+struct SchemeTrackRuntime {
+    DecodedScheme scheme;
+    SchemeTrackState state;
+};
+
+[[nodiscard]]
+DecodedScheme make_speed_mileage_scheme(
+    std::uint8_t id,
+    Color color,
+    AccelerationProfile acceleration_profile,
+    std::vector<SMSegment> segments);
+
+[[nodiscard]]
+DecodedScheme make_mileage_time_scheme(
+    std::uint8_t id,
+    Color color,
+    AccelerationProfile acceleration_profile,
+    std::vector<MTSegment> segments);
+
+[[nodiscard]]
+DecodedScheme make_speed_time_scheme(
+    std::uint8_t id,
+    Color color,
+    AccelerationProfile acceleration_profile,
+    std::vector<STSegment> segments);
+
+[[nodiscard]]
+DecodedScheme make_repeated_speed_mileage_time_scheme(
+    std::uint8_t id,
+    Color color,
+    AccelerationProfile acceleration_profile,
+    std::vector<RepeatedSMSegment> segments);
+
+[[nodiscard]]
+expected<SchemeTrackRuntime, TrackError> make_scheme_track_runtime(DecodedScheme scheme);
+
+[[nodiscard]]
+SchemeTrackRuntime start_scheme_track(SchemeTrackRuntime runtime);
+
+[[nodiscard]]
+SchemeTrackRuntime stop_scheme_track(SchemeTrackRuntime runtime);
+
+[[nodiscard]]
+SchemeTrackRuntime tick_scheme_track(
+    const TrackConfig &config,
+    SchemeTrackRuntime runtime,
+    float delta_s);
+
+[[nodiscard]]
+TrackInfo scheme_track_info(const SchemeTrackRuntime &runtime);
+
+[[nodiscard]]
+TrackReport scheme_track_report(const SchemeTrackRuntime &runtime);
+
+class SchemeTrainingRuntime {
+public:
+    [[nodiscard]]
+    bool has_program() const noexcept;
+
+    [[nodiscard]]
+    bool all_stopped() const noexcept;
+
+    [[nodiscard]]
+    expected<unit, TrackError> add_scheme(DecodedScheme scheme);
+
+    void clear();
+    void start();
+    void stop();
+    void tick(const TrackConfig &config, float delta_s);
+
+    [[nodiscard]]
+    TrackStateReportCollection state_collection() const;
+
+    [[nodiscard]]
+    TrackSchemeMgrRead scheme_status() const;
+
+    [[nodiscard]]
+    expected<unit, TrackError> render_to(const TrackConfig &config, TrackRenderSink sink) const;
+
+    [[nodiscard]]
+    expected<std::vector<Color>, TrackError> render_pixels(const TrackConfig &config) const;
+
+private:
+    std::vector<SchemeTrackRuntime> tracks_;
+};
+
+} // namespace track_core