test: verify EM observation movement test

2026-08-04 16:57:16 +08:00
parent ea043ea0a6
commit 417f8ca9ea
2 changed files with 54 additions and 0 deletions
@@ -48,3 +48,26 @@ rejected before EM planning.
 `EmTrajectoryPoint.VelocityX` and `VelocityY` are world-frame components. They are not chassis-frame velocity commands
 and must never be forwarded directly to a vehicle motion interface. This MovementTest performs no coordinate conversion
 for driving and has no driving capability; any future execution mode requires a separate safety-reviewed design.
+
+## Operator launch and stop checklist
+
+The vehicle UI entry is `EM杞ㄨ抗瑙勫垝瑙傚療闂幆娴嬭瘯`. It is an observation session only; it has no chassis,
+motor, steering, brake, or gear output.
+
+Before starting:
+
+1. Ensure the vehicle is in a safe, supervised state; this test reads live localization and signed chassis speed but
+   never controls the vehicle.
+2. Confirm localization and the chassis read interface are available. The session reports a startup failure if either
+   cannot be read.
+3. Set a finite goal X/Y/yaw (or be ready to enter them when prompted), then enter zero to twenty manual obstacles.
+   Each obstacle must remain inside the configured start/goal rectangle plus map padding.
+
+To start, select the entry in the vehicle UI and start the MovementTest. Confirm the status begins with
+`OBSERVE_ONLY: no chassis command is sent.`, then review the bootstrap status and the
+`TrajectoryObserver.World`, `TrajectoryObserver.LS`, and `TrajectoryObserver.ST` layers. A logged trajectory control
+command is diagnostic information only and must not be copied into a vehicle-control interface.
+
+To stop, use the vehicle UI's normal MovementTest stop action. Confirm the status says
+`Observation stop requested; all observer layers were cleared.` The cancellation request stops observer work and clears
+all three layers. Stopping, running, or starting this test must not issue chassis, motor, steering, brake, or gear output.