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test: verify rolling EM execution

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This commit is contained in:
梁薄云
2026-08-04 13:28:13 +08:00
parent 3c84e36893
commit 4058230eb8
6 changed files with 322 additions and 16 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/Program.cs
+23 -16
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@@ -13,40 +13,40 @@ internal static class Program
args[0] != "longitudinal-model" && args[0] != "longitudinal-integration" &&
args[0] != "longitudinal-real-osqp-probe" && args[0] != "trajectory" &&
args[0] != "em-planning-service" && args[0] != "em-core-all" && args[0] != "coordinator" &&
args[0] != "executor" && args[0] != "plugin-package"))
args[0] != "executor" && args[0] != "plugin-package" && args[0] != "em-all"))
{
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");
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");
return 2;
}
try
{
if (args[0] == "foundation" || args[0] == "all-foundation")
if (args[0] == "foundation" || args[0] == "all-foundation" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.FoundationChecks.Run();
Console.WriteLine("PASS foundation");
}
if (args[0] == "segmentation" || args[0] == "all-foundation")
if (args[0] == "segmentation" || args[0] == "all-foundation" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.SegmentationChecks.Run();
Console.WriteLine("PASS segmentation");
}
if (args[0] == "frenet" || args[0] == "all-foundation")
if (args[0] == "frenet" || args[0] == "all-foundation" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.FrenetChecks.Run();
Console.WriteLine("PASS frenet");
}
if (args[0] == "corridor" || args[0] == "all-foundation")
if (args[0] == "corridor" || args[0] == "all-foundation" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.CorridorChecks.Run();
Console.WriteLine("PASS corridor");
}
if (args[0] == "optimization")
if (args[0] == "optimization" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.OptimizationChecks.Run();
Console.WriteLine("PASS optimization");
}
if (args[0] == "osqp" || args[0] == "osqp-loader")
if (args[0] == "osqp" || args[0] == "osqp-loader" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.OsqpChecks.Run();
Console.WriteLine("PASS osqp-loader");
@@ -55,12 +55,12 @@ internal static class Program
{
MultiWheelC.TrajectoryPlanning.EMPlanner.OsqpChecks.RunProbe();
}
if (args[0] == "lateral-model" || args[0] == "lateral-all")
if (args[0] == "lateral-model" || args[0] == "lateral-all" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralModelChecks.Run();
Console.WriteLine("PASS lateral-model");
}
if (args[0] == "lateral-integration" || args[0] == "lateral-all")
if (args[0] == "lateral-integration" || args[0] == "lateral-all" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.Run();
Console.WriteLine("PASS lateral-integration");
@@ -70,7 +70,7 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.RunRealOsqp();
Console.WriteLine("PASS lateral-real-osqp");
}
if (args[0] == "lateral-real-osqp" || args[0] == "lateral-all")
if (args[0] == "lateral-real-osqp" || args[0] == "lateral-all" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LateralIntegrationChecks.RunRealOsqpInCleanPluginBundle();
Console.WriteLine("PASS lateral-real-osqp");
@@ -95,9 +95,9 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.TrajectoryChecks.Run();
Console.WriteLine("PASS trajectory");
}
if (args[0] == "em-planning-service" || args[0] == "em-core-all")
if (args[0] == "em-planning-service" || args[0] == "em-core-all" || args[0] == "em-all")
{
if (args[0] == "em-core-all")
if (args[0] == "em-core-all" || args[0] == "em-all")
{
MultiWheelC.TrajectoryPlanning.EMPlanner.LongitudinalModelChecks.Run();
Console.WriteLine("PASS longitudinal-model");
@@ -109,21 +109,28 @@ internal static class Program
MultiWheelC.TrajectoryPlanning.EMPlanner.EmPlanningServiceChecks.Run();
Console.WriteLine("PASS em-planning-service");
}
if (args[0] == "coordinator")
if (args[0] == "coordinator" || args[0] == "em-all")
{
CoordinatorChecks.Run();
Console.WriteLine("PASS coordinator");
}
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)