feat: add planning visualization contracts

2026-08-06 09:26:06 +08:00
parent fa4938b3fc
commit 55d8e1eebf
10 changed files with 581 additions and 0 deletions
@@ -0,0 +1,87 @@
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using TrajectoryPlanningVisualization;
+
+namespace TrajectoryPlanningVisualizationVerificationHost;
+
+internal static class ContractChecks
+{
+    public static void Run()
+    {
+        CopiesCollectionsAndRejectsNonFiniteNumbers();
+        StoresOccupancyAsDefensiveCompactBits();
+        ExposesImmutableSnapshotContracts();
+    }
+
+    private static void CopiesCollectionsAndRejectsNonFiniteNumbers()
+    {
+        var points = new List<VisualizationPoint> { new VisualizationPoint(1d, 2d) };
+        var series = new VisualizationSeries("current", "当前轨迹", VisualizationLineStyle.Solid, points);
+        points[0] = new VisualizationPoint(9d, 9d);
+
+        Verification.NearlyEqual(1d, series.Points[0].X, "series copies points");
+        Verification.Throws<ArgumentOutOfRangeException>(
+            () => new VisualizationPoint(double.NaN, 0d), "point rejects NaN");
+        Verification.Throws<ArgumentOutOfRangeException>(
+            () => new VisualizationPose(0d, 0d, double.PositiveInfinity), "pose rejects infinity");
+        Verification.Throws<ArgumentOutOfRangeException>(
+            () => new VisualizationBounds(0d, 1d, 0d, double.NaN), "bounds rejects NaN");
+        Verification.Throws<ArgumentException>(
+            () => new VisualizationSeries("invalid", "无效", VisualizationLineStyle.Solid,
+                new VisualizationPoint[] { null! }), "series rejects null point");
+    }
+
+    private static void StoresOccupancyAsDefensiveCompactBits()
+    {
+        byte[] bits = { 0x01 };
+        var grid = new VisualizationOccupancyGrid(new VisualizationBounds(0d, 1d, 0d, 1d),
+            0.5d, rows: 2, columns: 2, bits);
+        bits[0] = 0x00;
+
+        Verification.Equal("AQ==", grid.OccupancyBitsBase64, "occupancy grid copies compact bits");
+        Verification.Throws<ArgumentException>(
+            () => new VisualizationOccupancyGrid(new VisualizationBounds(0d, 1d, 0d, 1d),
+                0.5d, rows: 2, columns: 2, new byte[2]), "occupancy grid validates bit length");
+    }
+
+    private static void ExposesImmutableSnapshotContracts()
+    {
+        var staticSnapshot = new PlanningVisualizationStaticSnapshot(
+            "会话",
+            new VisualizationBounds(0d, 1d, 0d, 1d),
+            null,
+            Array.Empty<VisualizationPolyline>(),
+            Array.Empty<VisualizationMarker>(),
+            Array.Empty<VisualizationDirectionSegment>(),
+            Array.Empty<VisualizationConfigurationGroup>());
+        var dynamicSnapshot = new PlanningVisualizationDynamicSnapshot(
+            1L,
+            DateTimeOffset.UtcNow,
+            "运行中",
+            0,
+            "forward",
+            new VisualizationPose(0d, 0d, 0d),
+            Array.Empty<VisualizationPolyline>(),
+            Array.Empty<VisualizationMarker>(),
+            Array.Empty<VisualizationChart>(),
+            Array.Empty<VisualizationValue>(),
+            new VisualizationCycleSummary(1L, DateTimeOffset.UtcNow, "成功", true, 1d, 0,
+                "forward", "rolling", "none", null, null, ""));
+
+        Verification.True(staticSnapshot.StaticPolylines.GetType().Name.Contains("ReadOnlyCollection"),
+            "static snapshot uses read-only collection");
+        Verification.True(dynamicSnapshot.Charts.GetType().Name.Contains("ReadOnlyCollection"),
+            "dynamic snapshot uses read-only collection");
+        AssertNoSetters(typeof(PlanningVisualizationStaticSnapshot));
+        AssertNoSetters(typeof(PlanningVisualizationDynamicSnapshot));
+    }
+
+    private static void AssertNoSetters(Type type)
+    {
+        foreach (PropertyInfo property in type.GetProperties(BindingFlags.Instance | BindingFlags.Public))
+        {
+            Verification.True(property.SetMethod == null, type.Name + " exposes no property setters");
+        }
+    }
+}
@@ -0,0 +1,21 @@
+using System;
+
+namespace TrajectoryPlanningVisualizationVerificationHost;
+
+internal static class Program
+{
+    private static int Main()
+    {
+        try
+        {
+            ContractChecks.Run();
+            Console.WriteLine("PASS trajectory-planning-visualization");
+            return 0;
+        }
+        catch (Exception exception)
+        {
+            Console.Error.WriteLine(exception);
+            return 1;
+        }
+    }
+}
@@ -0,0 +1,10 @@
+<Project Sdk="Microsoft.NET.Sdk">
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>net10.0-windows</TargetFramework>
+    <LangVersion>10</LangVersion>
+  </PropertyGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\..\TrajectoryPlanningVisualization\TrajectoryPlanningVisualization.csproj" />
+  </ItemGroup>
+</Project>
@@ -0,0 +1,45 @@
+using System;
+
+namespace TrajectoryPlanningVisualizationVerificationHost;
+
+internal static class Verification
+{
+    public static void Equal<T>(T expected, T actual, string message)
+    {
+        if (!Equals(expected, actual))
+        {
+            throw new InvalidOperationException(message + ": expected " + expected + ", actual " + actual);
+        }
+    }
+
+    public static void NearlyEqual(double expected, double actual, string message)
+    {
+        if (Math.Abs(expected - actual) > 0.0000001d)
+        {
+            throw new InvalidOperationException(message + ": expected " + expected + ", actual " + actual);
+        }
+    }
+
+    public static void True(bool value, string message)
+    {
+        if (!value)
+        {
+            throw new InvalidOperationException(message);
+        }
+    }
+
+    public static void Throws<TException>(Action action, string message)
+        where TException : Exception
+    {
+        try
+        {
+            action();
+        }
+        catch (TException)
+        {
+            return;
+        }
+
+        throw new InvalidOperationException(message);
+    }
+}