feat: add scientific planning dashboard

2026-08-06 09:52:04 +08:00
parent 00501055eb
commit 1ad324ca64
9 changed files with 404 additions and 2 deletions
@@ -1,16 +1,26 @@
 using System;
+using System.Diagnostics;
+using System.Threading;
+using TrajectoryPlanningVisualization;

 namespace TrajectoryPlanningVisualizationVerificationHost;

 internal static class Program
 {
-    private static int Main()
+    private static int Main(string[] args)
    {
+        if (args.Length == 2 && args[0] == "--smoke-seconds" &&
+            int.TryParse(args[1], out int seconds) && seconds > 0)
+        {
+            return RunSmoke(seconds);
+        }
+
        try
        {
            ContractChecks.Run();
            RuntimeChecks.Run();
            ServerChecks.Run();
+            WebAssetChecks.Run();
            Console.WriteLine("PASS trajectory-planning-visualization");
            return 0;
        }
@@ -20,4 +30,36 @@ internal static class Program
            return 1;
        }
    }
+
+    private static int RunSmoke(int seconds)
+    {
+        try
+        {
+            using var session = new PlanningVisualizationSession(
+                new PlanningVisualizationOptions { Port = 0, RefreshRateHz = 10, HistoryCycleLimit = 60 });
+            PlanningVisualizationSessionInfo info = session.Start(SampleSnapshotFactory.CreateStaticSnapshot());
+            Console.WriteLine(info.Uri.AbsoluteUri);
+            Stopwatch stopwatch = Stopwatch.StartNew();
+            long sequence = 1L;
+            while (stopwatch.Elapsed < TimeSpan.FromSeconds(seconds))
+            {
+                session.Publish(SampleSnapshotFactory.CreateDynamicSnapshot(sequence++));
+                TimeSpan remaining = TimeSpan.FromSeconds(seconds) - stopwatch.Elapsed;
+                if (remaining <= TimeSpan.Zero)
+                {
+                    break;
+                }
+
+                Thread.Sleep(remaining < TimeSpan.FromMilliseconds(100) ? remaining : TimeSpan.FromMilliseconds(100));
+            }
+
+            session.Stop();
+            return 0;
+        }
+        catch (Exception exception)
+        {
+            Console.Error.WriteLine(exception);
+            return 1;
+        }
+    }
 }
@@ -0,0 +1,100 @@
+using System;
+using System.Collections.Generic;
+using TrajectoryPlanningVisualization;
+
+namespace TrajectoryPlanningVisualizationVerificationHost;
+
+internal static class SampleSnapshotFactory
+{
+    private static readonly DateTimeOffset Origin = DateTimeOffset.Parse("2026-08-06T00:00:00+00:00");
+
+    public static PlanningVisualizationStaticSnapshot CreateStaticSnapshot()
+    {
+        return new PlanningVisualizationStaticSnapshot(
+            "合成轨迹规划观察",
+            new VisualizationBounds(0d, 12d, 0d, 8d),
+            new VisualizationOccupancyGrid(new VisualizationBounds(0d, 12d, 0d, 8d), 2d, 4, 6,
+                new byte[] { 0b00100001, 0b00000100, 0b00000010 }),
+            new[]
+            {
+                new VisualizationPolyline("global", "全局参考路径", "global", VisualizationLineStyle.Solid,
+                    Points((0d, 1d), (3d, 1d), (6d, 2d), (8d, 4d), (11d, 6d)))
+            },
+            new[] { new VisualizationMarker("gear-1", "gear-switch", "换向 1", new VisualizationPoint(6d, 2d)) },
+            new[]
+            {
+                new VisualizationDirectionSegment(0, "forward", false, true, Points((0d, 1d), (3d, 1d), (6d, 2d))),
+                new VisualizationDirectionSegment(1, "reverse", true, false, Points((6d, 2d), (8d, 4d), (11d, 6d)))
+            },
+            new[]
+            {
+                new VisualizationConfigurationGroup("调度", new[]
+                {
+                    new VisualizationValue("网页刷新率", "RefreshRateHz", "10", "Hz", "normal"),
+                    new VisualizationValue("历史容量", "HistoryCycleLimit", "60", "cycles", "normal")
+                }),
+                new VisualizationConfigurationGroup("观察安全边界", new[]
+                {
+                    new VisualizationValue("观察模式", "OBSERVE_ONLY", "true", "", "notice")
+                })
+            });
+    }
+
+    public static PlanningVisualizationDynamicSnapshot CreateDynamicSnapshot(long sequence)
+    {
+        double offset = (sequence - 1L) * 0.05d;
+        return new PlanningVisualizationDynamicSnapshot(
+            sequence,
+            Origin.AddMilliseconds(sequence * 100L),
+            "合成数据运行中",
+            0,
+            "forward",
+            new VisualizationPose(2d + offset, 1d, 0d),
+            new[]
+            {
+                new VisualizationPolyline("previous", "上一轮轨迹", "previous", VisualizationLineStyle.Dashed, Points((1d, 1d), (2.5d, 1d), (4d, 1.3d))),
+                new VisualizationPolyline("current", "当前轨迹", "current", VisualizationLineStyle.Solid, Points((2d + offset, 1d), (3.8d + offset, 1.2d), (5.8d + offset, 1.9d)))
+            },
+            new[] { new VisualizationMarker("handoff", "handoff", "交接", new VisualizationPoint(2d + offset, 1d)) },
+            CreateCharts(offset),
+            new[]
+            {
+                new VisualizationValue("规划耗时", "PlanningElapsedMilliseconds", "4.2", "ms", "normal"),
+                new VisualizationValue("轨迹年龄", "TrajectoryAge", "0.1", "s", "normal")
+            },
+            new VisualizationCycleSummary(sequence, Origin.AddMilliseconds(sequence * 100L), "成功", true, 4.2d, 0,
+                "forward", "rolling", "horizon", 1.2d, 0d, ""));
+    }
+
+    private static IReadOnlyList<VisualizationChart> CreateCharts(double offset)
+    {
+        return new[]
+        {
+            Chart("ls", "横向偏移", "ReferenceS (m)", "l (m)", Points((0d, .05d), (2d, .08d), (4d, .02d))),
+            Chart("st", "时空轨迹", "t (s)", "PathS (m)", Points((0d, 0d), (1d, 1.2d), (2d, 3.0d))),
+            Chart("curvature-s", "曲率—距离", "s (m)", "κ (m⁻¹)", Points((0d, .01d), (2d, .04d), (4d, .02d))),
+            Chart("curvature-t", "曲率—时间", "t (s)", "κ (m⁻¹)", Points((0d, .01d), (1d, .04d), (2d, .02d))),
+            Chart("velocity-t", "速度", "t (s)", "v (m/s)", Points((0d, 0d), (1d, 1d), (2d, 1.2d + offset))),
+            Chart("acceleration-t", "加速度", "t (s)", "a (m/s²)", Points((0d, .8d), (1d, .2d), (2d, 0d))),
+            Chart("jerk-t", "加加速度", "t (s)", "j (m/s³)", Points((0d, -.6d), (1d, -.2d))),
+            Chart("yaw-rate-t", "横摆角速度", "t (s)", "yaw rate (rad/s)", Points((0d, 0d), (1d, .08d), (2d, .04d)))
+        };
+    }
+
+    private static VisualizationChart Chart(string id, string title, string xAxis, string yAxis, IReadOnlyList<VisualizationPoint> points)
+    {
+        return new VisualizationChart(id, title, xAxis, yAxis,
+            new[] { new VisualizationSeries(id + "-current", "当前轨迹", VisualizationLineStyle.Solid, points) });
+    }
+
+    private static IReadOnlyList<VisualizationPoint> Points(params (double x, double y)[] values)
+    {
+        var points = new List<VisualizationPoint>(values.Length);
+        foreach ((double x, double y) in values)
+        {
+            points.Add(new VisualizationPoint(x, y));
+        }
+
+        return points;
+    }
+}
@@ -0,0 +1,43 @@
+using System.Linq;
+using TrajectoryPlanningVisualization;
+
+namespace TrajectoryPlanningVisualizationVerificationHost;
+
+internal static class WebAssetChecks
+{
+    public static void Run()
+    {
+        BuildsDeterministicSmokeSnapshots();
+
+        string html = EmbeddedWebAssets.ReadText("index.html");
+        string css = EmbeddedWebAssets.ReadText("app.css");
+        string js = EmbeddedWebAssets.ReadText("app.js");
+
+        Verification.True(html.Contains("路径总览"), "overview Chinese title");
+        Verification.True(html.Contains("LS / ST"), "LS/ST tab");
+        Verification.True(html.Contains("曲率与运动学"), "kinematics tab");
+        Verification.True(html.Contains("周期历史"), "history tab");
+        Verification.True(html.Contains("生效配置"), "configuration panel");
+        Verification.True(css.Contains("--current-trajectory: #1769aa"), "scientific current color");
+        Verification.True(css.Contains("stroke-width: 1.1"), "thin scientific line");
+        Verification.True(js.Contains("末点后无时间区间"), "jerk terminal explanation");
+        Verification.True(html.Contains("occupancy-grid"), "single occupancy canvas exists");
+        Verification.True(html.Contains("world-overlay"), "SVG trajectory overlay exists");
+        Verification.True(js.Contains("atob"), "compact occupancy bitset is decoded in browser");
+        Verification.True(!html.Contains("http://") && !html.Contains("https://"), "page has no CDN URL");
+    }
+
+    private static void BuildsDeterministicSmokeSnapshots()
+    {
+        PlanningVisualizationStaticSnapshot staticSnapshot = SampleSnapshotFactory.CreateStaticSnapshot();
+        PlanningVisualizationDynamicSnapshot dynamicSnapshot = SampleSnapshotFactory.CreateDynamicSnapshot(1L);
+
+        Verification.Equal(2, staticSnapshot.DirectionSegments.Count, "smoke snapshot has two direction segments");
+        Verification.True(staticSnapshot.StaticMarkers.Any(marker => marker.Kind == "gear-switch"), "smoke snapshot has a gear marker");
+        Verification.True(staticSnapshot.ConfigurationGroups.Count > 0, "smoke snapshot has effective configuration");
+        foreach (string chartId in new[] { "ls", "st", "curvature-s", "curvature-t", "velocity-t", "acceleration-t", "jerk-t", "yaw-rate-t" })
+        {
+            Verification.True(dynamicSnapshot.Charts.Any(chart => chart.Id == chartId), "smoke snapshot includes chart " + chartId);
+        }
+    }
+}