feat: publish one-shot EM trajectories
This commit is contained in:
梁薄云
@@ -0,0 +1,367 @@
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Threading;
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using EMPlannerVerificationHost;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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internal static class EmPlanningServiceChecks
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{
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public static void Run()
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{
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VerifiesForwardReverseAndBoundarySuccessesAreDeterministic();
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VerifiesRequestAndStateFailuresPublishNoTrajectory();
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VerifiesProjectionCorridorAndOptimizationFailuresPublishNoTrajectory();
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VerifiesTimeoutFallbackAndCancellationSemantics();
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VerifiesPublicationFailureAndDebugIsolation();
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}
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private static void VerifiesForwardReverseAndBoundarySuccessesAreDeterministic()
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{
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EmPlanningRequest forwardRequest = CreateRequest(TravelDirection.Forward, 0d, false, false);
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var forwardService = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success));
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EmPlanningResult firstForward = forwardService.Plan(forwardRequest, CancellationToken.None);
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EmPlanningResult secondForward = forwardService.Plan(forwardRequest, CancellationToken.None);
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VerifySuccess(firstForward, forwardRequest, EmTerminalType.Goal, "forward");
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VerifySuccess(secondForward, forwardRequest, EmTerminalType.Goal, "forward repeat");
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VerifySameTrajectory(firstForward, secondForward, "forward deterministic result");
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Verification.Equal(2, forwardRequest.ReferencePath.Path.Count, "request-owned reference list remains unchanged");
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EmPlanningRequest reverseRequest = CreateRequest(TravelDirection.Reverse, 0d, false, false);
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EmPlanningResult reverse = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(reverseRequest,
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CancellationToken.None);
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VerifySuccess(reverse, reverseRequest, EmTerminalType.Goal, "reverse");
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Verification.True(reverse.Trajectory.Points[1].SignedLongitudinalVelocity < 0d,
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"reverse service publishes negative signed velocity");
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EmPlanningRequest gearRequest = CreateRequest(TravelDirection.Forward, 0d, true, false);
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EmPlanningResult gear = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(gearRequest,
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CancellationToken.None);
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VerifySuccess(gear, gearRequest, EmTerminalType.GearSwitch, "gear switch");
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EmPlanningRequest rollingRequest = CreateRequest(TravelDirection.Forward, 0d, false, true);
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EmPlanningResult rolling = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(rollingRequest,
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CancellationToken.None);
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VerifySuccess(rolling, rollingRequest, EmTerminalType.RollingSafetyStop, "rolling stop");
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}
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private static void VerifiesRequestAndStateFailuresPublishNoTrajectory()
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{
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EmPlanningRequest invalidSmoothing = CreateRequest(TravelDirection.Forward, 0d, false, false,
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PathSmoothingResult.Failure(PathSmoothingStatus.Failed, new PathSmoothingDiagnostics()));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(invalidSmoothing,
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CancellationToken.None), EmPlanningStatus.InvalidReferencePath, "invalid smoothing");
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EmPlanningRequest stale = CreateRequest(TravelDirection.Forward, 0d, false, false);
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stale = ReplaceState(stale, new VehicleMotionState(new Pose2D(0d, 0d, 0d), 0d, null,
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stale.RequestedAtUtc.AddSeconds(-1d), stale.VehicleState.SequenceId));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(stale,
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CancellationToken.None), EmPlanningStatus.StaleVehicleState, "stale state");
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EmPlanningRequest directionMismatch = CreateRequest(TravelDirection.Reverse, 0.02d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(directionMismatch,
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CancellationToken.None), EmPlanningStatus.StateDirectionMismatch, "state direction mismatch");
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}
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private static void VerifiesProjectionCorridorAndOptimizationFailuresPublishNoTrajectory()
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{
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EmPlanningRequest projectionFailure = CreateRequest(TravelDirection.Forward, 0d, false, false);
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projectionFailure = ReplaceState(projectionFailure, new VehicleMotionState(new Pose2D(1d, 0d, 0d), 0d, null,
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projectionFailure.RequestedAtUtc, projectionFailure.VehicleState.SequenceId));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(projectionFailure,
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CancellationToken.None), EmPlanningStatus.ProjectionFailed, "bounded projection failure");
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EmPlanningRequest corridorFailure = CreateRequest(TravelDirection.Forward, 0d, false, false,
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referencePath: null, map: CreateMap(true));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(corridorFailure,
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CancellationToken.None), EmPlanningStatus.CorridorInfeasible, "corridor infeasible");
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EmPlanningRequest stoppingFailure = CreateRequest(TravelDirection.Forward, 0.20d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(stoppingFailure,
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CancellationToken.None), EmPlanningStatus.StoppingDistanceInsufficient, "stopping distance insufficient");
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EmPlanningRequest regular = CreateRequest(TravelDirection.Forward, 0d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.LateralInfeasible)).Plan(regular,
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CancellationToken.None), EmPlanningStatus.LateralInfeasible, "lateral infeasible");
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.LongitudinalInfeasible)).Plan(regular,
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CancellationToken.None), EmPlanningStatus.LongitudinalInfeasible, "longitudinal infeasible");
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.SolverUnavailable)).Plan(regular,
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CancellationToken.None), EmPlanningStatus.SolverUnavailable, "solver unavailable");
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}
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private static void VerifiesTimeoutFallbackAndCancellationSemantics()
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{
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EmPlanningRequest request = CreateRequest(TravelDirection.Forward, 0d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.TimeoutWithoutFallback)).Plan(request,
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CancellationToken.None), EmPlanningStatus.SolverTimedOut, "timeout without fallback");
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EmPlanningResult fallback = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.TimeoutWithFallback)).Plan(
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request, CancellationToken.None);
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Verification.Equal(EmPlanningStatus.SuccessWithFallback, fallback.Status, "timeout uses only strict fallback");
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Verification.True(fallback.Trajectory != null && fallback.Trajectory.Points.Count > 0,
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"timeout fallback publishes a complete trajectory");
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using (var cancellation = new CancellationTokenSource())
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{
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cancellation.Cancel();
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(request,
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cancellation.Token), EmPlanningStatus.Cancelled, "cancellation");
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}
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}
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private static void VerifiesPublicationFailureAndDebugIsolation()
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{
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EmPlanningRequest validationFailure = CreateRequest(TravelDirection.Forward, 0d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.PublicationValidationFailure,
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validationFailure.Map)).Plan(validationFailure, CancellationToken.None), EmPlanningStatus.ValidationFailed,
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"publication validation failure");
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EmPlanningRequest debugRequest = CreateRequest(TravelDirection.Forward, 0d, false, false);
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debugRequest.Configuration.Solver.NativeVerbose = true;
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EmPlanningResult debugIsolated = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success),
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new ThrowingDebugSink()).Plan(debugRequest, CancellationToken.None);
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VerifySuccess(debugIsolated, debugRequest, EmTerminalType.Goal, "debug-sink isolation");
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}
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private static void VerifySuccess(EmPlanningResult result, EmPlanningRequest request, EmTerminalType terminalType,
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string name)
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{
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Verification.True(result.Status == EmPlanningStatus.Success || result.Status == EmPlanningStatus.SuccessWithFallback,
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name + " successful status: " + result.FailureReason);
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Verification.True(result.Trajectory != null && result.Trajectory.Metadata.TerminalType == terminalType,
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name + " terminal type");
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string identifiers = "map=" + request.Map.SnapshotId + ";reference=" + request.ReferencePathId + ";state=" +
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request.VehicleState.SequenceId + ";previous=" + request.PreviousTrajectoryId + ";segment=" + request.SegmentIndex;
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Verification.True(result.FailureReason.IndexOf(identifiers, StringComparison.Ordinal) >= 0,
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name + " preserves request identifiers in deterministic diagnostics");
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}
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private static void VerifyFailure(EmPlanningResult result, EmPlanningStatus expected, string name)
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{
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Verification.Equal(expected, result.Status, name + " status: " + result.FailureReason);
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Verification.True(result.Trajectory == null, name + " publishes no partial trajectory");
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}
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private static void VerifySameTrajectory(EmPlanningResult left, EmPlanningResult right, string name)
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{
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Verification.Equal(left.Status, right.Status, name + " status");
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Verification.Equal(left.Trajectory.Points.Count, right.Trajectory.Points.Count, name + " point count");
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for (int index = 0; index < left.Trajectory.Points.Count; index++)
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{
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EmTrajectoryPoint first = left.Trajectory.Points[index];
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EmTrajectoryPoint second = right.Trajectory.Points[index];
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Verification.NearlyEqual(first.X, second.X, name + " X " + index);
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Verification.NearlyEqual(first.Y, second.Y, name + " Y " + index);
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Verification.NearlyEqual(first.TimeFromStart, second.TimeFromStart, name + " time " + index);
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Verification.NearlyEqual(first.SignedLongitudinalVelocity, second.SignedLongitudinalVelocity,
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name + " signed speed " + index);
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}
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}
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private static EmPlanningRequest CreateRequest(TravelDirection direction, double signedSpeed, bool endsAtGearSwitch,
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bool rolling, PathSmoothingResult? referencePath = null, PlanningGridMap? map = null)
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{
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DateTimeOffset requestedAtUtc = DateTimeOffset.UnixEpoch.AddSeconds(10d);
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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configuration.Solver.MaximumOuterIterations = 2;
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configuration.Scheduling.SolverTimeoutSeconds = 1d;
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if (rolling)
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configuration.Scheduling.DistanceHorizonMeters = 0.003d;
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return new EmPlanningRequest(referencePath ?? CreateReferencePath(direction, endsAtGearSwitch), map ?? CreateMap(false),
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new VehicleParameters
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{
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LengthMeters = 0.10d,
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WidthMeters = 0.10d,
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SafetyMarginMeters = 0d,
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MaximumCurvaturePerMeter = 1d,
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},
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new VehicleMotionState(new Pose2D(0d, 0d, 0d), signedSpeed, 0d, requestedAtUtc, 7L), configuration, 0,
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null, requestedAtUtc, requestedAtUtc, "output-trajectory", "reference-42", "prior-42",
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EmMotionModel.NonholonomicForwardReverse);
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}
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private static EmPlanningRequest ReplaceState(EmPlanningRequest source, VehicleMotionState state)
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{
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return new EmPlanningRequest(source.ReferencePath, source.Map, source.Vehicle, state, source.Configuration,
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source.SegmentIndex, source.PreviousTrajectory, source.RequestedAtUtc, source.EffectiveAtUtc,
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source.OutputTrajectoryId, source.ReferencePathId, source.PreviousTrajectoryId, source.MotionModel);
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}
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private static PathSmoothingResult CreateReferencePath(TravelDirection direction, bool endsAtGearSwitch)
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{
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double endX = direction == TravelDirection.Forward ? 0.0055d : -0.0055d;
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var points = new List<SmoothedPathPoint>
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{
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new SmoothedPathPoint(0d, 0d, 0d, 0d, 0d, direction, 0d, 0d, 0d, 1d, false,
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SmoothedPathPointSource.Anchor),
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new SmoothedPathPoint(endX, 0d, 0d, 0d, 0.0055d, direction, 0d, 0d, 0d, 1d, endsAtGearSwitch,
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endsAtGearSwitch ? SmoothedPathPointSource.GearSwitch : SmoothedPathPointSource.Anchor),
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};
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var segments = new List<SmoothedPathSegment>
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{
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new SmoothedPathSegment(0, direction, 0, 1, false, endsAtGearSwitch),
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};
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var metrics = new PathQualityMetrics(true, 0.0055d, 0d, 0d, 0d, 0d, 1d, 0d, 0d, 0d, 0d, 0d);
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return PathSmoothingResult.PublishLocalG2(PathSmoothingStatus.Complete, points, segments,
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new PathSmoothingDiagnostics(metrics, TimeSpan.Zero), new List<PathSmoothingRegionReport>());
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}
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private static PlanningGridMap CreateMap(bool blockStart)
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{
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IMapObstacleSource[] sources = blockStart
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? new IMapObstacleSource[] { new ManualObstacleSource("service-obstacle", 1L, true,
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new IMapObstacle[] { new AxisAlignedRectangleObstacle(-20f, 20f, -20f, 20f) }) }
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: Array.Empty<IMapObstacleSource>();
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PlanningMapBuildResult result = new PlanningMapFactory().Create(new PlanningMapRequest
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{
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Bounds = new MapBoundsMm(-1000f, 3000f, -1000f, 1000f),
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ResolutionMm = 20f,
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ObstacleSources = sources,
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AllowExplicitEmptyMap = !blockStart,
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});
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Verification.True(result.Succeeded && result.Map != null && result.Map.PlanningReady,
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"service map builds: " + result.FailureReason);
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return result.Map!;
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}
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private enum PipelineSolverMode
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{
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Success,
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LateralInfeasible,
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LongitudinalInfeasible,
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SolverUnavailable,
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TimeoutWithoutFallback,
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TimeoutWithFallback,
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PublicationValidationFailure,
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}
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private sealed class ScriptedPipelineSolver : IQpSolver
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{
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private readonly PipelineSolverMode mode;
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private readonly PlanningGridMap? mapToCorrupt;
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private int longitudinalCallCount;
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public ScriptedPipelineSolver(PipelineSolverMode mode, PlanningGridMap? mapToCorrupt = null)
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{
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this.mode = mode;
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this.mapToCorrupt = mapToCorrupt;
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}
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public QpSolveResult Solve(QuadraticProgram problem, QpSolverSettings settings, IReadOnlyList<double> warmStart,
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CancellationToken cancellationToken)
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{
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bool longitudinal = problem.VariableCount > 100;
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if (mode == PipelineSolverMode.SolverUnavailable)
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return Result(QpSolveStatus.SolverUnavailable, Array.Empty<double>());
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if (!longitudinal)
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{
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if (mode == PipelineSolverMode.LateralInfeasible)
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return Result(QpSolveStatus.PrimalInfeasible, Array.Empty<double>());
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if (mode == PipelineSolverMode.TimeoutWithoutFallback)
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return Result(QpSolveStatus.TimeLimit, Array.Empty<double>());
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return Result(QpSolveStatus.Solved, new double[problem.VariableCount]);
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}
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if (mode == PipelineSolverMode.LongitudinalInfeasible)
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return Result(QpSolveStatus.PrimalInfeasible, Array.Empty<double>());
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if (mode == PipelineSolverMode.PublicationValidationFailure && longitudinalCallCount == 0)
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CorruptMapAtOrigin(mapToCorrupt);
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if (mode == PipelineSolverMode.TimeoutWithFallback && ++longitudinalCallCount > 1)
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return Result(QpSolveStatus.TimeLimit, Array.Empty<double>());
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longitudinalCallCount++;
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return Result(QpSolveStatus.Solved, CreateStrictLongitudinalPrimal(problem));
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}
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private static void CorruptMapAtOrigin(PlanningGridMap? map)
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{
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if (map == null || !map.TryWorldToGrid(0d, 0d, out int row, out int column))
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throw new InvalidOperationException("Unable to corrupt the publication test map.");
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FieldInfo occupiedField = typeof(PlanningGridMap).GetField("_occupied", BindingFlags.Instance | BindingFlags.NonPublic)!
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?? throw new InvalidOperationException("Planning map occupancy storage was unavailable.");
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FieldInfo distanceField = typeof(PlanningGridMap).GetField("_conservativeDistances",
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BindingFlags.Instance | BindingFlags.NonPublic) ?? throw new InvalidOperationException("Planning map distance storage was unavailable.");
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byte[] occupied = (byte[])occupiedField.GetValue(map)!;
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double[] distances = (double[])distanceField.GetValue(map)!;
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int index = row * map.Cols + column;
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occupied[index] = 1;
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distances[index] = 0d;
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}
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private static double[] CreateStrictLongitudinalPrimal(QuadraticProgram problem)
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{
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int variableCount = problem.VariableCount;
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int knotCount = (variableCount + 1) / 4;
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var layout = new LongitudinalVariableLayout(knotCount);
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var jerk = new double[knotCount - 1];
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const int rampIntervals = 5;
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for (int index = 0; index < rampIntervals; index++) jerk[index] = 1d;
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for (int index = rampIntervals; index < 3 * rampIntervals; index++) jerk[index] = -1d;
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for (int index = 3 * rampIntervals; index < 4 * rampIntervals; index++) jerk[index] = 1d;
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var times = new double[knotCount];
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for (int index = 0; index < times.Length; index++) times[index] = index * 0.05d;
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LongitudinalCandidate baseCandidate = LongitudinalCandidate.Integrate(times, 0d, 0d, 0d, jerk);
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double terminalPathS = ReadFixedVariable(problem, layout.S(knotCount - 1));
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double scale = terminalPathS / baseCandidate.S[baseCandidate.S.Count - 1];
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for (int index = 0; index < jerk.Length; index++) jerk[index] *= scale;
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LongitudinalCandidate candidate = LongitudinalCandidate.Integrate(times, 0d, 0d, 0d, jerk);
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var primal = new double[layout.VariableCount];
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for (int index = 0; index < knotCount; index++)
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{
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primal[layout.S(index)] = candidate.S[index];
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primal[layout.U(index)] = candidate.U[index];
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primal[layout.A(index)] = candidate.A[index];
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}
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for (int index = 0; index < jerk.Length; index++) primal[layout.J(index)] = candidate.J[index];
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for (int index = 4 * rampIntervals; index < knotCount; index++)
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{
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primal[layout.S(index)] = terminalPathS;
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primal[layout.U(index)] = 0d;
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primal[layout.A(index)] = 0d;
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}
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return primal;
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}
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private static double ReadFixedVariable(QuadraticProgram problem, int variable)
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{
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for (int row = 0; row < problem.ConstraintCount; row++)
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{
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int entryCount = 0;
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double coefficient = 0d;
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for (int column = 0; column < problem.ConstraintMatrix.ColumnCount; column++)
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{
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for (int index = problem.ConstraintMatrix.ColumnPointers[column];
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index < problem.ConstraintMatrix.ColumnPointers[column + 1]; index++)
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{
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if (problem.ConstraintMatrix.RowIndices[index] != row)
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continue;
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entryCount++;
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if (column == variable)
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coefficient = problem.ConstraintMatrix.Values[index];
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}
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}
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if (entryCount == 1 && Math.Abs(coefficient) > 1e-12d &&
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Math.Abs(problem.LowerBounds[row] - problem.UpperBounds[row]) <= 1e-12d)
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{
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return problem.LowerBounds[row] / coefficient;
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}
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}
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throw new InvalidOperationException("Expected a fixed ST variable constraint.");
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}
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private static QpSolveResult Result(QpSolveStatus status, IReadOnlyList<double> primal)
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{
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return new QpSolveResult(status, primal, 0d, 0d, 0d, 1, TimeSpan.Zero, status.ToString(), string.Empty);
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}
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}
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private sealed class ThrowingDebugSink : IEmPlannerDebugSink
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{
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public void Write(string message)
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{
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throw new InvalidOperationException("debug sink failure");
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}
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}
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}
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Reference in New Issue
Block a user