feat: configure MovementTest OSQP iterations

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -32,6 +32,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
     public double ReplanPeriodSeconds = 0.20d;
     public double ObserverPeriodSeconds = 0.05d;
     public double SolverTimeoutSeconds = 0.50d;
+    public int MaximumOsqpIterations = 12000;
     public double VehicleLengthMeters = 0.80d;
     public double VehicleWidthMeters = 0.60d;
     public double SafetyMarginMeters = 0.05d;
@@ -61,6 +62,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                 ReplanPeriodSeconds = ReplanPeriodSeconds,
                 ObserverPeriodSeconds = ObserverPeriodSeconds,
                 SolverTimeoutSeconds = SolverTimeoutSeconds,
+                MaximumOsqpIterations = MaximumOsqpIterations,
                 VehicleLengthMeters = VehicleLengthMeters,
                 VehicleWidthMeters = VehicleWidthMeters,
                 SafetyMarginMeters = SafetyMarginMeters,

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs

@@ -13,6 +13,7 @@ public sealed class TrajectoryObservationSettings
     public double ReplanPeriodSeconds { get; set; } = 0.20d;
     public double ObserverPeriodSeconds { get; set; } = 0.05d;
     public double SolverTimeoutSeconds { get; set; } = 0.50d;
+    public int MaximumOsqpIterations { get; set; } = 12000;
     public double VehicleLengthMeters { get; set; } = 0.80d;
     public double VehicleWidthMeters { get; set; } = 0.60d;
     public double SafetyMarginMeters { get; set; } = 0.05d;
@@ -27,6 +28,7 @@ public sealed class TrajectoryObservationSettings
             ReplanPeriodSeconds = ReplanPeriodSeconds,
             ObserverPeriodSeconds = ObserverPeriodSeconds,
             SolverTimeoutSeconds = SolverTimeoutSeconds,
+            MaximumOsqpIterations = MaximumOsqpIterations,
             VehicleLengthMeters = VehicleLengthMeters,
             VehicleWidthMeters = VehicleWidthMeters,
             SafetyMarginMeters = SafetyMarginMeters,
@@ -43,6 +45,8 @@ public sealed class TrajectoryObservationSettings
         EnsurePositiveFinite(ReplanPeriodSeconds, nameof(ReplanPeriodSeconds));
         EnsurePositiveFinite(ObserverPeriodSeconds, nameof(ObserverPeriodSeconds));
         EnsurePositiveFinite(SolverTimeoutSeconds, nameof(SolverTimeoutSeconds));
+        if (MaximumOsqpIterations <= 0)
+            throw new ArgumentOutOfRangeException(nameof(MaximumOsqpIterations), "Value must be positive.");
         EnsurePositiveFinite(VehicleLengthMeters, nameof(VehicleLengthMeters));
         EnsurePositiveFinite(VehicleWidthMeters, nameof(VehicleWidthMeters));
         EnsurePositiveFinite(SafetyMarginMeters, nameof(SafetyMarginMeters));

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -208,6 +208,7 @@ public sealed class TrajectoryObservationController
         configuration = EmPlannerConfiguration.CreateDefault();
         configuration.Scheduling.ReplanPeriodSeconds = settings.ReplanPeriodSeconds;
         configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
+        configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
         coordinator = new EmPlanningCoordinator(planningService);
         executor = new TrajectoryExecutor(configuration);
         this.sessionId = sessionId;

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -108,6 +108,8 @@ internal static class TrajectoryObservationChecks
             "observer MovementTest exposes maximum curvature with Task-1 default");
         Verification.True(source.Contains("public double SolverTimeoutSeconds = 0.50d;"),
             "observer MovementTest exposes the test solver timeout default");
+        Verification.True(source.Contains("public int MaximumOsqpIterations = 12000;"),
+            "observer MovementTest exposes the test OSQP iteration default");
         Verification.True(source.Contains("VehicleLengthMeters = VehicleLengthMeters,"),
             "observer MovementTest copies vehicle length into settings");
         Verification.True(source.Contains("VehicleWidthMeters = VehicleWidthMeters,"),
@@ -118,12 +120,16 @@ internal static class TrajectoryObservationChecks
             "observer MovementTest copies maximum curvature into settings");
         Verification.True(source.Contains("SolverTimeoutSeconds = SolverTimeoutSeconds,"),
             "observer MovementTest copies solver timeout into settings");
+        Verification.True(source.Contains("MaximumOsqpIterations = MaximumOsqpIterations,"),
+            "observer MovementTest copies OSQP iteration limit into settings");
         string normalizedSource = source.Replace("\r\n", "\n");
         Verification.True(normalizedSource.Contains(
                 "VehicleMotionState state = ReadVehicleState();\n            DateTimeOffset now = state.CapturedAtUtc;"),
             "observer host uses the fresh state snapshot time for each observation tick");
         Verification.NearlyEqual(0.50d, new TrajectoryObservationSettings().SolverTimeoutSeconds,
             "observer settings use the test solver timeout default");
+        Verification.Equal(12000, new TrajectoryObservationSettings().MaximumOsqpIterations,
+            "observer settings use the test OSQP iteration default");
 
         var configured = new TrajectoryObservationSettings
         {
@@ -132,6 +138,7 @@ internal static class TrajectoryObservationChecks
             SafetyMarginMeters = 0.08d,
             MaximumCurvaturePerMeter = 0.55d,
             SolverTimeoutSeconds = 0.42d,
+            MaximumOsqpIterations = 9000,
         };
         TrajectoryObservationSettings snapshot = configured.CreateValidatedSnapshot();
         configured.VehicleLengthMeters = 9.10d;
@@ -139,6 +146,7 @@ internal static class TrajectoryObservationChecks
         configured.SafetyMarginMeters = 9.30d;
         configured.MaximumCurvaturePerMeter = 9.40d;
         configured.SolverTimeoutSeconds = 9.50d;
+        configured.MaximumOsqpIterations = 9500;
 
         Verification.NearlyEqual(1.10d, snapshot.VehicleLengthMeters,
             "observer settings snapshot freezes vehicle length");
@@ -150,6 +158,8 @@ internal static class TrajectoryObservationChecks
             "observer settings snapshot freezes maximum curvature");
         Verification.NearlyEqual(0.42d, snapshot.SolverTimeoutSeconds,
             "observer settings snapshot freezes solver timeout");
+        Verification.Equal(9000, snapshot.MaximumOsqpIterations,
+            "observer settings snapshot freezes OSQP iteration limit");
 
         CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
             new Pose2D(0d, 0d, 0d), new Pose2D(1d, 0d, 0d), snapshot,
@@ -171,6 +181,8 @@ internal static class TrajectoryObservationChecks
         AssertInvalidSetting(settings => settings.MaximumCurvaturePerMeter = double.PositiveInfinity,
             "maximum curvature");
         AssertInvalidSetting(settings => settings.SolverTimeoutSeconds = 0d, "solver timeout");
+        AssertInvalidSetting(settings => settings.MaximumOsqpIterations = 0, "OSQP iteration limit");
+        AssertInvalidSetting(settings => settings.MaximumOsqpIterations = -1, "negative OSQP iteration limit");
     }
 
     private static void AssertInvalidSetting(Action<TrajectoryObservationSettings> mutate, string name)
@@ -392,7 +404,7 @@ internal static class TrajectoryObservationChecks
         Verification.NearlyEqual(10.25d, charts.LsSamples[0].PathS, "observer first LS path S");
         Verification.NearlyEqual(0.10d, charts.LsSamples[0].LateralOffset, "observer first LS offset");
 
-        var settings = new TrajectoryObservationSettings();
+        var settings = new TrajectoryObservationSettings { MaximumOsqpIterations = 9000 };
         CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
             new Pose2D(0d, 0d, 0d), new Pose2D(1d, 0d, 0d), settings,
             Array.Empty<TrajectoryObservationObstacle>(), 0L);
@@ -416,6 +428,9 @@ internal static class TrajectoryObservationChecks
         Verification.NearlyEqual(settings.SolverTimeoutSeconds,
             planningService.Requests[0].Configuration.Scheduling.SolverTimeoutSeconds,
             "observer configured solver timeout");
+        Verification.Equal(settings.MaximumOsqpIterations,
+            planningService.Requests[0].Configuration.Solver.MaximumOsqpIterations,
+            "observer configured OSQP iteration limit");
 
         TrajectoryObservationObservation observation = controller.Observe(effectiveAt.AddSeconds(0.5d), state);
         Verification.NearlyEqual(0.5d, observation.SelectedPoint.TimeFromStart,