贯通车队运行链并支持轨迹自动推导β
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using System;
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using System.Collections.Generic;
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using MultiWheelC.Fleet;
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using MyParking.Shared;
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namespace MultiWheelC.Tests
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{
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internal static class FleetSafetySupervisorTests
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{
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private const long PlanId = 7;
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private const double CurrentTimeSeconds = 10.0;
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private const double CommunicationTimeoutSeconds = 0.5;
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public static void Run()
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{
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VerifyHealthyFleetContinues();
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VerifyMissingMemberStopsFleet();
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VerifyCommunicationTimeoutStopsFleet();
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VerifyUnavailableStateStopsFleet();
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VerifyMemberFaultStopsFleet();
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VerifyFailureCodeStopsFleet();
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VerifyPlanMismatchStopsFleet();
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VerifyStopIsLatchedUntilNewPlanStarts();
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Console.WriteLine(
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"FleetSafetySupervisor测试通过，共8个场景。");
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}
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private static void VerifyHealthyFleetContinues()
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{
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var supervisor = CreateStartedSupervisor();
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var decision = supervisor.Evaluate(
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CreateLayout(),
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CreateHealthyStatuses(),
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CurrentTimeSeconds);
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AssertFalse(
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decision.ShouldStop,
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"成员状态健康时不应停车");
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}
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private static void VerifyMissingMemberStopsFleet()
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{
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var supervisor = CreateStartedSupervisor();
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var decision = supervisor.Evaluate(
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CreateLayout(),
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new[] { CreateHealthyStatus(1) },
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CurrentTimeSeconds);
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AssertStopFromVehicle(
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decision,
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2,
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"缺少成员报告");
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}
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private static void VerifyCommunicationTimeoutStopsFleet()
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{
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var supervisor = CreateStartedSupervisor();
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var statuses = new[]
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{
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CreateHealthyStatus(1),
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new FleetMemberSafetyStatus(
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vehicleId: 2,
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planId: PlanId,
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isStateAvailable: true,
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isFaulted: false,
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failureCode: 0,
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lastAcceptedReportTimeSeconds: 9.4)
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};
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var decision = supervisor.Evaluate(
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CreateLayout(),
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statuses,
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CurrentTimeSeconds);
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AssertStopFromVehicle(
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decision,
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2,
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"通信超时");
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}
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private static void VerifyUnavailableStateStopsFleet()
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{
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var supervisor = CreateStartedSupervisor();
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var statuses = new[]
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{
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CreateHealthyStatus(1),
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new FleetMemberSafetyStatus(
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vehicleId: 2,
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planId: PlanId,
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isStateAvailable: false,
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isFaulted: false,
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failureCode: 0,
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lastAcceptedReportTimeSeconds: 9.9)
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};
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var decision = supervisor.Evaluate(
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CreateLayout(),
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statuses,
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CurrentTimeSeconds);
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AssertStopFromVehicle(
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decision,
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2,
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"状态不可用");
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}
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private static void VerifyMemberFaultStopsFleet()
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{
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var supervisor = CreateStartedSupervisor();
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var statuses = new[]
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{
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CreateHealthyStatus(1),
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new FleetMemberSafetyStatus(
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vehicleId: 2,
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planId: PlanId,
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isStateAvailable: true,
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isFaulted: true,
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failureCode: 0,
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lastAcceptedReportTimeSeconds: 9.9)
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};
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var decision = supervisor.Evaluate(
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CreateLayout(),
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statuses,
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CurrentTimeSeconds);
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AssertStopFromVehicle(
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decision,
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2,
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"成员故障状态");
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}
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private static void VerifyFailureCodeStopsFleet()
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{
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var supervisor = CreateStartedSupervisor();
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var statuses = new[]
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{
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CreateHealthyStatus(1),
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new FleetMemberSafetyStatus(
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vehicleId: 2,
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planId: PlanId,
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isStateAvailable: true,
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isFaulted: false,
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failureCode: 42,
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lastAcceptedReportTimeSeconds: 9.9)
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};
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var decision = supervisor.Evaluate(
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CreateLayout(),
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statuses,
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CurrentTimeSeconds);
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AssertStopFromVehicle(
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decision,
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2,
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"成员故障码");
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}
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private static void VerifyPlanMismatchStopsFleet()
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{
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var supervisor = CreateStartedSupervisor();
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var statuses = new[]
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{
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CreateHealthyStatus(1),
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new FleetMemberSafetyStatus(
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vehicleId: 2,
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planId: PlanId - 1,
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isStateAvailable: true,
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isFaulted: false,
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failureCode: 0,
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lastAcceptedReportTimeSeconds: 9.9)
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};
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var decision = supervisor.Evaluate(
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CreateLayout(),
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statuses,
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CurrentTimeSeconds);
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AssertStopFromVehicle(
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decision,
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2,
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"任务编号不一致");
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}
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private static void VerifyStopIsLatchedUntilNewPlanStarts()
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{
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var supervisor = CreateStartedSupervisor();
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supervisor.Evaluate(
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CreateLayout(),
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new[] { CreateHealthyStatus(1) },
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CurrentTimeSeconds);
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var latchedDecision = supervisor.Evaluate(
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CreateLayout(),
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CreateHealthyStatuses(),
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CurrentTimeSeconds);
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AssertTrue(
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latchedDecision.ShouldStop,
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"故障恢复后停车决定仍应锁存");
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supervisor.Start(PlanId + 1);
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var recoveredDecision = supervisor.Evaluate(
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CreateLayout(),
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new[]
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{
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CreateHealthyStatus(1, PlanId + 1),
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CreateHealthyStatus(2, PlanId + 1)
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},
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CurrentTimeSeconds);
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AssertFalse(
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recoveredDecision.ShouldStop,
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"开始新任务后应清除旧任务停车锁存");
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}
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private static FleetSafetySupervisor
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CreateStartedSupervisor()
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{
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var supervisor = new FleetSafetySupervisor(
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CommunicationTimeoutSeconds);
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supervisor.Start(PlanId);
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return supervisor;
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}
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private static FleetLayout CreateLayout()
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{
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return new FleetLayout(
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new[]
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{
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new VehicleLayout(
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1,
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new Pose2D(-1.0, 0.0, 0.0)),
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new VehicleLayout(
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2,
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new Pose2D(1.0, 0.0, Math.PI))
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});
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}
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private static IReadOnlyList<FleetMemberSafetyStatus>
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CreateHealthyStatuses()
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{
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return new[]
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{
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CreateHealthyStatus(1),
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CreateHealthyStatus(2)
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};
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}
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private static FleetMemberSafetyStatus CreateHealthyStatus(
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int vehicleId,
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long planId = PlanId)
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{
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return new FleetMemberSafetyStatus(
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vehicleId,
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planId,
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isStateAvailable: true,
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isFaulted: false,
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failureCode: 0,
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lastAcceptedReportTimeSeconds: 9.9);
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}
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private static void AssertStopFromVehicle(
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FleetSafetyDecision decision,
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int expectedVehicleId,
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string scenario)
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{
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AssertTrue(
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decision.ShouldStop,
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$"{scenario}时应停车");
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AssertTrue(
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decision.SourceVehicleId == expectedVehicleId,
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$"{scenario}的来源车辆不正确");
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AssertTrue(
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!string.IsNullOrWhiteSpace(decision.Reason),
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$"{scenario}应提供停车原因");
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}
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private static void AssertTrue(
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bool condition,
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string message)
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{
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if (!condition)
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{
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throw new InvalidOperationException(message);
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}
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}
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private static void AssertFalse(
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bool condition,
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string message)
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{
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AssertTrue(!condition, message);
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}
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}
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}
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