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;