test: verify rolling EM execution
This commit is contained in:
梁薄云
@@ -19,6 +19,14 @@ internal static class CoordinatorChecks
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VerifiesSafePreviousTrajectoryHandoffs();
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}
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public static void RunRollingEndToEnd()
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{
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VerifiesLatestCycleWinsAndEveryIdentityFieldSuppressesStaleResults();
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VerifiesSafePreviousTrajectoryHandoffs();
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VerifiesPublishedForwardAndReverseCommands();
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VerifiesFailureLeavesPublishedZeroSpeedTailExecutable();
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}
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private static void VerifiesCallerSuppliedSchedulingDecision()
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{
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var service = new ControlledPlanningService();
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@@ -177,6 +185,142 @@ internal static class CoordinatorChecks
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"coordinator consumes only its published immutable trajectory");
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}
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private static void VerifiesPublishedForwardAndReverseCommands()
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{
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DateTimeOffset effectiveAt = DateTimeOffset.UnixEpoch.AddSeconds(800d);
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var service = new ControlledPlanningService();
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var coordinator = new EmPlanningCoordinator(service);
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var executor = new TrajectoryExecutor();
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PlanningCycleInput forwardInput = CreateInput(CreateMap(30), "rolling-reference", 90L, string.Empty, 6,
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"rolling-forward", effectiveAt, null, CreateMeasuredState(0d, 0d, 0d, 0.10d, effectiveAt, 90L));
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EmTrajectory forward = CreateExecutionTrajectory("rolling-forward", TravelDirection.Forward, effectiveAt,
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EmBoundaryType.RollingSafetyStop, EmTerminalType.RollingSafetyStop);
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PlanningCycleResult forwardResult = Publish(service, coordinator, forwardInput, forward);
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Verification.True(forwardResult.Published, "first forward rolling cycle publishes");
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TrajectoryControlCommand forwardCommand = executor.UpdateCommand(effectiveAt,
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forwardInput.Request.VehicleState, coordinator.PublishedTrajectory, TravelDirection.Forward,
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TravelDirection.Forward, false);
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AssertPublishedMotion(forwardCommand, coordinator.PublishedTrajectory.Points[0], "forward rolling command");
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PlanningCycleInput forwardRepeat = CreateInput(CreateMap(31), "rolling-reference", 91L, "rolling-forward", 6,
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"rolling-forward-repeat", effectiveAt.AddSeconds(0.20d), null,
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CreateMeasuredState(0.02d, 0d, 0d, 0.10d, effectiveAt.AddSeconds(0.20d), 91L));
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EmTrajectory repeatedForward = CreateExecutionTrajectory("rolling-forward-repeat", TravelDirection.Forward,
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effectiveAt.AddSeconds(0.20d), EmBoundaryType.RollingSafetyStop, EmTerminalType.RollingSafetyStop);
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Publish(service, coordinator, forwardRepeat, repeatedForward);
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Verification.Equal("rolling-forward-repeat", coordinator.PublishedTrajectory.Metadata.TrajectoryId,
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"repeated forward replan replaces only the published trajectory");
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PlanningCycleInput reverseInput = CreateInput(CreateMap(32), "rolling-reference", 92L,
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"rolling-forward-repeat", 7, "rolling-reverse", effectiveAt.AddSeconds(0.40d), null,
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CreateMeasuredState(0d, 0d, 0d, -0.10d, effectiveAt.AddSeconds(0.40d), 92L));
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EmTrajectory reverse = CreateExecutionTrajectory("rolling-reverse", TravelDirection.Reverse,
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effectiveAt.AddSeconds(0.40d), EmBoundaryType.Goal, EmTerminalType.Goal);
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PlanningCycleResult reverseResult = Publish(service, coordinator, reverseInput, reverse);
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Verification.True(reverseResult.Published, "reverse rolling cycle publishes");
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TrajectoryControlCommand reverseCommand = executor.UpdateCommand(effectiveAt.AddSeconds(0.40d),
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reverseInput.Request.VehicleState, coordinator.PublishedTrajectory, TravelDirection.Reverse,
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TravelDirection.Reverse, false);
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AssertPublishedMotion(reverseCommand, coordinator.PublishedTrajectory.Points[0], "reverse rolling command");
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Verification.True(reverseCommand.SignedLongitudinalVelocity < 0d,
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"reverse rolling command preserves negative longitudinal velocity");
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PlanningCycleInput unsafeTracking = CreateInput(CreateMap(32), "rolling-reference", 93L, "rolling-reverse", 7,
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"unsafe-tracking", effectiveAt.AddSeconds(0.41d), CreateHandoffConfiguration(),
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CreateMeasuredState(5d, 0d, 0d, -0.10d, effectiveAt.AddSeconds(0.41d), 93L));
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TrajectoryHandoffSelection reset = coordinator.SelectHandoff(unsafeTracking, TravelDirection.Reverse);
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Verification.Equal(TrajectoryHandoffSource.MeasuredState, reset.Source,
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"unsafe tracking resets rolling handoff to caller measurement");
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Verification.True(object.ReferenceEquals(unsafeTracking.Request.VehicleState, reset.StartState),
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"unsafe tracking preserves the supplied measurement snapshot");
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}
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private static void VerifiesFailureLeavesPublishedZeroSpeedTailExecutable()
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{
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DateTimeOffset effectiveAt = DateTimeOffset.UnixEpoch.AddSeconds(900d);
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var service = new ControlledPlanningService();
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var coordinator = new EmPlanningCoordinator(service);
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var executor = new TrajectoryExecutor();
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PlanningCycleInput successfulInput = CreateInput(CreateMap(40), "tail-reference", 100L, string.Empty, 8,
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"tail-published", effectiveAt, null, CreateMeasuredState(0d, 0d, 0d, 0.10d, effectiveAt, 100L));
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EmTrajectory published = CreateExecutionTrajectory("tail-published", TravelDirection.Forward, effectiveAt,
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EmBoundaryType.RollingSafetyStop, EmTerminalType.RollingSafetyStop);
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Publish(service, coordinator, successfulInput, published);
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for (int attempt = 1; attempt <= 2; attempt++)
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{
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DateTimeOffset now = effectiveAt.AddSeconds(0.20d * attempt);
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PlanningCycleInput failedInput = CreateInput(CreateMap(40 + attempt), "tail-reference", 100L + attempt,
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"tail-published", 8, "tail-failed-" + attempt, now, null,
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CreateMeasuredState(0.02d, 0d, 0d, 0.10d, now, 100L + attempt));
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Task<PlanningCycleResult> failedCycle = coordinator.PlanLatestAsync(failedInput, CancellationToken.None);
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service.WaitUntilStarted(failedInput.Request.OutputTrajectoryId);
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service.Fail(failedInput.Request.OutputTrajectoryId);
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PlanningCycleResult failure = failedCycle.GetAwaiter().GetResult();
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Verification.Equal(EmPlanningStatus.Failed, failure.Result.Status, "failed replan status " + attempt);
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Verification.True(!failure.Published, "failed replan cannot publish " + attempt);
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Verification.True(object.ReferenceEquals(published, coordinator.PublishedTrajectory),
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"failed replan retains the complete prior trajectory " + attempt);
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}
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TrajectoryControlCommand beforeTail = executor.UpdateCommand(effectiveAt.AddSeconds(0.10d),
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CreateMeasuredState(0.10d, 0d, 0d, 0.10d, effectiveAt.AddSeconds(0.10d), 103L),
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coordinator.PublishedTrajectory, TravelDirection.Forward, TravelDirection.Forward, false);
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Verification.True(beforeTail.SignedLongitudinalVelocity > 0d,
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"old trajectory remains executable before its safety tail");
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TrajectoryControlCommand atTail = executor.UpdateCommand(effectiveAt.AddSeconds(0.30d),
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CreateMeasuredState(0d, 0d, 0d, 0d, effectiveAt.AddSeconds(0.30d), 104L), coordinator.PublishedTrajectory,
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TravelDirection.Forward, TravelDirection.Forward, false);
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TrajectoryControlCommand afterTail = executor.UpdateCommand(effectiveAt.AddSeconds(10d),
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CreateMeasuredState(0d, 0d, 0d, 0d, effectiveAt.AddSeconds(10d), 105L), coordinator.PublishedTrajectory,
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TravelDirection.Forward, TravelDirection.Forward, false);
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AssertZeroTail(atTail, "exact rolling safety-stop terminal");
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AssertZeroTail(afterTail, "after rolling safety-stop terminal");
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}
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private static PlanningCycleResult Publish(ControlledPlanningService service, EmPlanningCoordinator coordinator,
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PlanningCycleInput input, EmTrajectory trajectory)
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{
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Task<PlanningCycleResult> cycle = coordinator.PlanLatestAsync(input, CancellationToken.None);
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service.WaitUntilStarted(input.Request.OutputTrajectoryId);
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service.Complete(input.Request.OutputTrajectoryId, trajectory);
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return cycle.GetAwaiter().GetResult();
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}
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private static EmTrajectory CreateExecutionTrajectory(string trajectoryId, TravelDirection direction,
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DateTimeOffset effectiveAt, EmBoundaryType terminalBoundary, EmTerminalType terminalType)
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{
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double signedVelocity = direction == TravelDirection.Forward ? 0.10d : -0.10d;
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var metadata = new EmTrajectoryMetadata(trajectoryId, effectiveAt, effectiveAt, 110L, "rolling-reference", 100L,
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string.Empty, 8, direction, terminalType);
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return new EmTrajectory(metadata, new[]
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{
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new EmTrajectoryPoint(0d, 0d, 0d, signedVelocity, 0d, 0.20d, 8, 0d, 0d, direction,
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EmBoundaryType.None, 0d, 0d),
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new EmTrajectoryPoint(signedVelocity * 3d, 0d, 0d, 0d, 0.30d, 0.20d, 8, 0.03d, 0.03d, direction,
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terminalBoundary, 0d, 0d),
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});
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}
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private static void AssertPublishedMotion(TrajectoryControlCommand command, EmTrajectoryPoint point, string name)
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{
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Verification.NearlyEqual(point.SignedLongitudinalVelocity, command.SignedLongitudinalVelocity,
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name + " originates from the currently published trajectory");
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Verification.NearlyEqual(point.YawRate, command.YawRate,
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name + " preserves the currently published trajectory yaw rate");
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Verification.True(!command.HoldBrake && !command.IsTrajectoryComplete,
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name + " is neither a brake hold nor an extrapolated completion command");
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}
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private static void AssertZeroTail(TrajectoryControlCommand command, string name)
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{
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Verification.NearlyEqual(0d, command.SignedLongitudinalVelocity, name + " signed velocity");
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Verification.NearlyEqual(0d, command.YawRate, name + " yaw rate");
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Verification.True(command.HoldBrake && command.IsTrajectoryComplete, name + " holds a completed trajectory");
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}
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private static void AssertHandoffRejected(TrajectoryHandoffSelector selector, EmTrajectory trajectory,
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VehicleMotionState measuredState, int segmentIndex, TravelDirection direction, DateTimeOffset now,
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EmPlannerConfiguration configuration, TrajectoryHandoffRejectionReason reason, string name)
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@@ -320,6 +464,14 @@ internal static class CoordinatorChecks
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cycle.Completion.TrySetResult(result);
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}
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public void Fail(string outputTrajectoryId)
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{
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PendingCycle cycle;
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lock (gate)
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cycle = pending[outputTrajectoryId];
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cycle.Completion.TrySetResult(new EmPlanningResult(EmPlanningStatus.Failed, null, "scripted rolling failure"));
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}
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private static EmPlanningResult CreateSuccess(EmPlanningRequest request)
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{
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var metadata = new EmTrajectoryMetadata(request.OutputTrajectoryId, request.RequestedAtUtc, request.EffectiveAtUtc,
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@@ -15,6 +15,15 @@ internal static class ExecutorChecks
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VerifiesVehicleStateProviderRemainsSnapshotOnly();
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}
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public static void RunRollingEndToEnd()
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{
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VerifiesGearSwitchSequence(TravelDirection.Forward, TravelDirection.Reverse,
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"end-to-end forward-to-reverse");
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VerifiesGearSwitchSequence(TravelDirection.Reverse, TravelDirection.Forward,
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"end-to-end reverse-to-forward");
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VerifiesGoalCommandStopsAtAndAfterTerminal();
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}
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private static void VerifiesGearSwitchSequence(TravelDirection currentDirection, TravelDirection desiredDirection,
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string name)
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{
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@@ -191,6 +200,36 @@ internal static class ExecutorChecks
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Verification.Equal(84L, provider.Capture().SequenceId, "vehicle state provider returns caller-owned snapshot");
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}
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private static void VerifiesGoalCommandStopsAtAndAfterTerminal()
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{
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DateTimeOffset effectiveAt = DateTimeOffset.UnixEpoch.AddSeconds(950d);
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EmTrajectory goalTrajectory = CreateMotionTrajectory(effectiveAt, TravelDirection.Forward, 0.10d, 0.20d);
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var executor = new TrajectoryExecutor();
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VehicleMotionState moving = CreateMeasuredState(0.10d, effectiveAt, 95L);
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TrajectoryControlCommand following = executor.UpdateCommand(effectiveAt, moving, goalTrajectory,
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TravelDirection.Forward, TravelDirection.Forward, false);
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Verification.NearlyEqual(goalTrajectory.Points[0].SignedLongitudinalVelocity, following.SignedLongitudinalVelocity,
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"goal approach command originates from trajectory point");
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Verification.NearlyEqual(goalTrajectory.Points[0].YawRate, following.YawRate,
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"goal approach command preserves trajectory yaw rate");
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TrajectoryControlCommand atGoal = executor.UpdateCommand(effectiveAt.AddSeconds(0.30d),
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CreateMeasuredState(0d, effectiveAt.AddSeconds(0.30d), 96L), goalTrajectory, TravelDirection.Forward,
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TravelDirection.Forward, false);
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TrajectoryControlCommand afterGoal = executor.UpdateCommand(effectiveAt.AddSeconds(5d),
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CreateMeasuredState(0d, effectiveAt.AddSeconds(5d), 97L), goalTrajectory, TravelDirection.Forward,
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TravelDirection.Forward, false);
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AssertCompletedCommand(atGoal, "exact goal terminal command");
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AssertCompletedCommand(afterGoal, "after goal terminal command");
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}
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private static void AssertCompletedCommand(TrajectoryControlCommand command, string name)
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{
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Verification.NearlyEqual(0d, command.SignedLongitudinalVelocity, name + " signed velocity");
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Verification.NearlyEqual(0d, command.YawRate, name + " yaw rate");
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Verification.True(command.HoldBrake && command.IsTrajectoryComplete, name + " holds completed trajectory");
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}
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private static void AssertHeld(GearSwitchStateUpdate update, GearSwitchState expectedState, string name)
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{
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Verification.Equal(expectedState, update.State, name + " state");
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@@ -48,7 +48,11 @@ internal static class LateralIntegrationChecks
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{
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Directory.CreateDirectory(pluginDirectory);
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foreach (string sourcePath in Directory.GetFiles(AppContext.BaseDirectory))
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{
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if (string.Equals(Path.GetFileName(sourcePath), "osqp.dll", StringComparison.OrdinalIgnoreCase))
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continue;
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File.Copy(sourcePath, Path.Combine(pluginDirectory, Path.GetFileName(sourcePath)), false);
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}
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string nativeSource = Path.GetFullPath(Path.Combine(Directory.GetCurrentDirectory(), "ClumsyPilot", "ThirdParty",
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"OSQP", "win-x64", "osqp.dll"));
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Verification.True(File.Exists(nativeSource), "pinned OSQP DLL is available for the real lateral bundle");
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@@ -86,6 +86,8 @@ internal static class OsqpChecks
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string[] hostFiles = Directory.GetFiles(sourceDirectory);
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for (int index = 0; index < hostFiles.Length; index++)
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{
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if (string.Equals(Path.GetFileName(hostFiles[index]), "osqp.dll", StringComparison.OrdinalIgnoreCase))
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continue;
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string destinationPath = Path.Combine(destinationDirectory, Path.GetFileName(hostFiles[index]));
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File.Copy(hostFiles[index], destinationPath, false);
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}
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@@ -13,40 +13,40 @@ internal static class Program
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args[0] != "longitudinal-model" && args[0] != "longitudinal-integration" &&
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args[0] != "longitudinal-real-osqp-probe" && args[0] != "trajectory" &&
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args[0] != "em-planning-service" && args[0] != "em-core-all" && args[0] != "coordinator" &&
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args[0] != "executor" && args[0] != "plugin-package"))
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args[0] != "executor" && args[0] != "plugin-package" && args[0] != "em-all"))
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{
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Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all|longitudinal-model|longitudinal-integration");
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Console.Error.WriteLine("Usage: EMPlannerVerificationHost foundation|segmentation|frenet|corridor|optimization|osqp|osqp-loader|all-foundation|lateral-model|lateral-integration|lateral-real-osqp|lateral-all|longitudinal-model|longitudinal-integration|em-core-all|coordinator|executor|plugin-package|em-all");
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return 2;
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}
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try
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{
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if (args[0] == "foundation" || args[0] == "all-foundation")
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if (args[0] == "foundation" || args[0] == "all-foundation" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.FoundationChecks.Run();
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Console.WriteLine("PASS foundation");
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}
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if (args[0] == "segmentation" || args[0] == "all-foundation")
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if (args[0] == "segmentation" || args[0] == "all-foundation" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.SegmentationChecks.Run();
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Console.WriteLine("PASS segmentation");
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}
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if (args[0] == "frenet" || args[0] == "all-foundation")
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if (args[0] == "frenet" || args[0] == "all-foundation" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.FrenetChecks.Run();
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Console.WriteLine("PASS frenet");
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}
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if (args[0] == "corridor" || args[0] == "all-foundation")
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if (args[0] == "corridor" || args[0] == "all-foundation" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.CorridorChecks.Run();
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Console.WriteLine("PASS corridor");
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}
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if (args[0] == "optimization")
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if (args[0] == "optimization" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.OptimizationChecks.Run();
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Console.WriteLine("PASS optimization");
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}
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if (args[0] == "osqp" || args[0] == "osqp-loader")
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if (args[0] == "osqp" || args[0] == "osqp-loader" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.OsqpChecks.Run();
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Console.WriteLine("PASS osqp-loader");
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@@ -55,12 +55,12 @@ internal static class Program
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.OsqpChecks.RunProbe();
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}
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if (args[0] == "lateral-model" || args[0] == "lateral-all")
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if (args[0] == "lateral-model" || args[0] == "lateral-all" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.LateralModelChecks.Run();
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Console.WriteLine("PASS lateral-model");
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}
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if (args[0] == "lateral-integration" || args[0] == "lateral-all")
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if (args[0] == "lateral-integration" || args[0] == "lateral-all" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.Run();
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Console.WriteLine("PASS lateral-integration");
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@@ -70,7 +70,7 @@ internal static class Program
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MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.RunRealOsqp();
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Console.WriteLine("PASS lateral-real-osqp");
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}
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if (args[0] == "lateral-real-osqp" || args[0] == "lateral-all")
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if (args[0] == "lateral-real-osqp" || args[0] == "lateral-all" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.RunRealOsqpInCleanPluginBundle();
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Console.WriteLine("PASS lateral-real-osqp");
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@@ -95,9 +95,9 @@ internal static class Program
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MultiWheelC.TrajectoryPlanning.EMPlanner.TrajectoryChecks.Run();
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Console.WriteLine("PASS trajectory");
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}
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if (args[0] == "em-planning-service" || args[0] == "em-core-all")
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if (args[0] == "em-planning-service" || args[0] == "em-core-all" || args[0] == "em-all")
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{
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if (args[0] == "em-core-all")
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if (args[0] == "em-core-all" || args[0] == "em-all")
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{
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MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalModelChecks.Run();
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Console.WriteLine("PASS longitudinal-model");
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@@ -109,21 +109,28 @@ internal static class Program
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MultiWheelC.TrajectoryPlanning.EMPlanner.EmPlanningServiceChecks.Run();
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Console.WriteLine("PASS em-planning-service");
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}
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if (args[0] == "coordinator")
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if (args[0] == "coordinator" || args[0] == "em-all")
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{
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CoordinatorChecks.Run();
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Console.WriteLine("PASS coordinator");
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}
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||||
if (args[0] == "executor")
|
||||
if (args[0] == "executor" || args[0] == "em-all")
|
||||
{
|
||||
ExecutorChecks.Run();
|
||||
Console.WriteLine("PASS executor");
|
||||
}
|
||||
if (args[0] == "plugin-package")
|
||||
if (args[0] == "plugin-package" || args[0] == "em-all")
|
||||
{
|
||||
PluginPackagingChecks.Run();
|
||||
Console.WriteLine("PASS plugin-package");
|
||||
}
|
||||
if (args[0] == "em-all")
|
||||
{
|
||||
CoordinatorChecks.RunRollingEndToEnd();
|
||||
Console.WriteLine("PASS rolling-end-to-end");
|
||||
ExecutorChecks.RunRollingEndToEnd();
|
||||
Console.WriteLine("PASS rolling-execution-tail");
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
catch (Exception exception)
|
||||
|
||||
Reference in New Issue
Block a user