Artheru：Initial bilingual draft (auto-published)

2026-05-16T11:42:53Z

Initial bilingual draft (auto-published)

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<languages/>

== 概述 / Overview ==
Medulla 是 MDCS 的硬件层：它把异构硬件（电机控制器、PLC、传感器、相机、雷达）抽象成 ''IOObject'' 与 ''字段''，并提供跨进程共享内存（DObject）让上层算法订阅数据，无关进程或语言。

Medulla is the hardware-abstraction layer of MDCS: it wraps heterogeneous hardware (motor controllers, PLCs, sensors, cameras, lidars) into '''IOObject''' instances exposing typed fields, and exposes them across processes via the '''DObject''' shared-memory bus.

== 关键概念 / Key concepts ==
{| class="wikitable"
! 概念 / Concept !! 含义 / Meaning
|-
| `IOObject` || 一切硬件抽象的基类 / base class for everything: lidars, cameras, carts. File: `D:\src\M2\MedullaCore\Types\IO.cs:47`
|-
| Sub-classes || `Lidar2DIOObject`, `Lidar3DIOObject`, `CartDefinition`, camera `MainIOObject`
|-
| `[AsInitParam]` || 启动配置字段 / start-time config field (JSON-serialised)
|-
| `[AsUpperIO]` / `[AsLowerIO]` || 上 / 下位 IO 字段 / command-down / status-up field
|-
| `[UseLadderLogic]` || 周期性控制循环（默认 50 ms）/ cyclic control loop (default 50 ms)
|-
| `[IOObjectMonitor]` || 注册字段到监控面板 / dashboard registration
|-
| `[IOObjectUtility]` / `WebUtility` || 注册方法为 UI 按钮 / web API / register as UI button / web endpoint
|-
| `DObject` || 命名共享内存（跨进程）/ named shared memory (cross-process). 详见 [[Special:MyLanguage/DObject|DObject]]
|-
| `LadderLogic<T>` || 周期性回调宿主 / cyclic-callback host
|}

== 体系结构 / Architecture ==

Plugin DLL (CartDef, Lidar2DIOObject, ...)
│ reflection-loaded by name (no [Plugin] attr)
▼
MedullaCore: IOObject lifecycle, threading, DObject pub/sub
│
▼
DObject (shared memory, cross-process)
▲ ▲
│ │
Detour, Clumsy, SimpleComposer — subscribers

Medulla 既是 ''加载器'' 又是 ''运行时''：插件 DLL 通过 `io load plugins/X.dll` 启动命令载入；反射查找入口类（`MainIOObject` 或 `CartDefinition` 派生），实例化，调用 `Init()`，启动配置的 LadderLogic 周期线程。

Medulla is both loader and runtime: plugin DLLs are loaded via the `io load plugins/X.dll` startup command; reflection finds the entry type (named `MainIOObject` or derived from `CartDefinition`), instantiates it, calls `Init()`, and spawns the configured LadderLogic threads.

== 插件加载示例 / Plugin loading example ==
<syntaxhighlight lang="text">
# startup.iocmd
lidar = io load plugins/MyLidar.dll
lidar Start 192.168.0.2 2110

cart = io load plugins/MyCart.dll
cart Init
</syntaxhighlight>

`io load` 把 DLL 反射扫描后实例化入口类；其余命令通过赋值（左侧）保存引用，并把命令转发给该实例。

`io load` reflection-scans the DLL, instantiates the entry type, and the variable assignment keeps a reference. Subsequent commands forward to the instance.

== 上下位 IO 数据流 / Upper / lower IO data flow ==
见 [[Special:MyLanguage/车体抽象原理|车体抽象原理]]。简而言之：
* '''上位''' IO（`[AsUpperIO]`）= 调度 / Clumsy 写入命令；Medulla 转发到硬件。
* '''下位''' IO（`[AsLowerIO]`）= Medulla 读硬件状态；调度 / Clumsy 订阅。
* '''初始化参数''' IO（`[AsInitParam]`）= 启动时一次性 JSON 注入。
* '''监控'''（`[IOObjectMonitor]`）= 显示在 Medulla 仪表盘 + 暴露给 Web API。

== LadderLogic 周期循环 / Ladder cycles ==
LadderLogic 是 Medulla 提供的 ''周期性控制循环''宿主。一个 `CartDefinition` 可以有多个 LadderLogic 嵌套类，每个 `[UseLadderLogic(IntervalMs = N)]`：

A `CartDefinition` may declare multiple nested LadderLogic classes, each at a configured tick rate:

<syntaxhighlight lang="csharp">
[UseLadderLogic(IntervalMs = 50)]
public class ControlLoop : LadderLogic<MyCart>
{
public override void Run(MyCart self)
{
// 写 UpperIO → 读硬件 → 更新 LowerIO
}
}

[UseLadderLogic(IntervalMs = 200)]
public class BatteryMonitor : LadderLogic<MyCart>
{
public override void Run(MyCart self)
{
// 较慢的循环，例如电池电压采样
}
}
</syntaxhighlight>

== DObject 共享内存 / DObject IPC ==
DObject 是 Medulla 提供的 ''命名共享内存 pub/sub''：发布者写一个二进制 blob，订阅者按名字订阅，等到下一帧再读。Detour 用 DObject 读雷达数据；SimpleComposer 用 DObject 读车辆状态。详见 [[Special:MyLanguage/DObject|DObject]]。

DObject is the named binary pub/sub channel. The publisher writes a blob, subscribers wait on the name and consume. Used by Detour for lidar, SimpleComposer for vehicle state. See the dedicated page.

== 与 Medulla 1（旧版）的区别 / vs legacy Medulla ==
* `D:\src\M2\` 是 Medulla2（当前在用），`D:\src\Medulla\` 是 ''legacy''。
* Medulla2 引入了：DObject 替代旧 IPC、属性化 IO 表（`[AsUpperIO]` 等）、`LessokajiWeaver` 编译后处理生成代理类。
* 已 ''不要''使用 legacy Medulla 编写新插件。

== 相关页面 / See also ==
* [[Special:MyLanguage/Medulla|Medulla]] — 主页 / canonical entry
* [[Special:MyLanguage/Medulla-API|Medulla-API]]
* [[Special:MyLanguage/DObject|DObject]]
* [[Special:MyLanguage/车体抽象原理|车体抽象原理]]
* [[Special:MyLanguage/如何适配新的雷达|如何适配新的雷达]]
* [[Special:MyLanguage/LessokajiWeaver编译后处理工具|LessokajiWeaver编译后处理工具]]

[[Category:开发手册]]

Medulla软件架构 - 版本历史

Artheru：​Initial bilingual draft (auto-published)

Artheru：Initial bilingual draft (auto-published)