chore: save current workspace progress

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationSegmentTracker.cs

@@ -106,7 +106,7 @@ public sealed class TrajectoryObservationSegmentTracker
             return CreateUpdate(false, true, "方向段已完成，忽略后续观察样本。");
 
         DirectionSegmentView current = segments[State.ActiveSegmentIndex];
-        if (!IsEligibleGearSwitchTerminal(now, measuredState, trajectory, current))
+        if (!IsEligibleTerminal(now, measuredState, trajectory, current))
         {
             if (State.Phase == TrajectoryObservationSegmentPhase.Planning)
                 return CreateUpdate(false, false, "等待当前方向段的有效换向终点轨迹。");
@@ -167,11 +167,13 @@ public sealed class TrajectoryObservationSegmentTracker
             (!lastUpdateAtUtc.HasValue || now >= lastUpdateAtUtc.Value);
     }
 
-    private bool IsEligibleGearSwitchTerminal(DateTimeOffset now, VehicleMotionState measuredState,
+    private bool IsEligibleTerminal(DateTimeOffset now, VehicleMotionState measuredState,
         EmTrajectory trajectory, DirectionSegmentView current)
     {
         if (trajectory == null || trajectory.Metadata.SegmentIndex != current.SegmentIndex ||
-            trajectory.Metadata.Direction != current.Direction || trajectory.Metadata.TerminalType != EmTerminalType.GearSwitch)
+            trajectory.Metadata.Direction != current.Direction ||
+            (trajectory.Metadata.TerminalType != EmTerminalType.GearSwitch &&
+                trajectory.Metadata.TerminalType != EmTerminalType.Goal))
             return false;
 
         EmTrajectoryPoint terminalPoint = trajectory.Points[trajectory.Points.Count - 1];
@@ -182,6 +184,8 @@ public sealed class TrajectoryObservationSegmentTracker
         if (!projector.TryProject(measuredState.Pose, current, current.LengthMeters, current.LengthMeters,
                 settings.GearSwitchProjectionToleranceMeters, current.LengthMeters, out _))
             return false;
+        if (trajectory.Metadata.TerminalType == EmTerminalType.Goal)
+            return State.ActiveSegmentIndex + 1 >= segments.Count;
         if (State.ActiveSegmentIndex + 1 >= segments.Count)
             return true;