test: verify EM observation movement test

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md

@@ -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.

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -25,6 +25,7 @@ internal static class TrajectoryObservationChecks
         VerifiesLsPresentationUsesPathSOnHorizontalAxis();
         VerifiesRollingRequestUsesOnePublishedTrajectorySnapshot();
         FreezesBootstrapVehicleForRollingRequests();
+        VerifiesEmptyMapBootstrapProducesPublishableReference();
     }
 
     private static void VerifiesObservationSourceHasNoActuatorCalls()
@@ -259,6 +260,36 @@ internal static class TrajectoryObservationChecks
             expectedMaximumCurvature, expectedMinimumRadius, "replaced bootstrap job vehicle");
     }
 
+    private static void VerifiesEmptyMapBootstrapProducesPublishableReference()
+    {
+        var settings = new TrajectoryObservationSettings();
+        CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
+            new Pose2D(0.5d, 0.5d, 0d), new Pose2D(3.5d, 0.5d, 0d), settings,
+            Array.Empty<TrajectoryObservationObstacle>(), 0L);
+
+        TrajectoryObservationBootstrapResult bootstrap = new TrajectoryObservationBootstrapper()
+            .Bootstrap(job, CancellationToken.None);
+
+        Verification.True(bootstrap.Succeeded, "observer empty-map bootstrap succeeds");
+        Verification.True(bootstrap.CoarseResult.MapResult.Succeeded,
+            "observer empty-map bootstrap builds a successful map");
+        Verification.True(bootstrap.Map != null, "observer empty-map bootstrap returns a map");
+        Verification.Equal(PlanningStatus.Success, bootstrap.CoarseResult.PlanningResult.Status,
+            "observer empty-map coarse planning succeeds");
+        Verification.True(bootstrap.SmoothedPath != null && IsPublishableSmoothingStatus(bootstrap.SmoothedPath.Status),
+            "observer empty-map bootstrap returns a publishable smoothing result");
+        Verification.True(bootstrap.Segments.Count > 0,
+            "observer empty-map bootstrap returns at least one direction segment");
+    }
+
+    private static bool IsPublishableSmoothingStatus(PathSmoothingStatus status)
+    {
+        return status == PathSmoothingStatus.Complete ||
+            status == PathSmoothingStatus.PartialImprovement ||
+            status == PathSmoothingStatus.NotNeeded ||
+            status == PathSmoothingStatus.Unchanged;
+    }
+
     private static void AssertVehicleSnapshot(VehicleParameters actual, double expectedLength, double expectedWidth,
         double expectedMargin, double? expectedMaximumCurvature, double? expectedMinimumRadius, string name)
     {