chore: save current workspace progress

2026-08-09 22:13:18 +08:00
parent 650c2ab0e3
commit 2f4fd15e52
449 changed files with 76593 additions and 971 deletions
@@ -554,6 +554,18 @@ internal static class LongitudinalIntegrationChecks
            Verification.Equal(0, cancellationSolver.SolveCallCount, "cancelled ST does not call the QP solver");
        }

+        using (var cancellation = new CancellationTokenSource())
+        {
+            var solver = new CancellingQpSolver(
+                new FakeQpSolver(Result(QpSolveStatus.Solved, ToPrimal(valid), 1d)), cancellation);
+            LongitudinalPlanningResult cancelledAfterStrictCandidate = new SequentialLongitudinalOptimizer(solver).Optimize(
+                input, cancellation.Token);
+            Verification.Equal(EmPlanningStatus.Cancelled, cancelledAfterStrictCandidate.Status,
+                "cancellation after a strict ST candidate is never fallback success");
+            Verification.True(cancelledAfterStrictCandidate.Candidate == null,
+                "cancelled ST result exposes no candidate");
+        }
+
        var infeasibleSolver = new FakeQpSolver(Result(QpSolveStatus.PrimalInfeasible, Array.Empty<double>(), 1d));
        LongitudinalPlanningResult infeasible = new SequentialLongitudinalOptimizer(infeasibleSolver).Optimize(input,
            CancellationToken.None);