fix: harden path smoothing contracts

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingRequest.cs

@@ -19,8 +19,8 @@ public sealed class PathSmoothingRequest
         CoarsePath = CopyReadOnly(coarsePath);
         Segments = CopyReadOnly(segments);
         Map = map;
-        Vehicle = vehicle;
-        Configuration = configuration;
+        Vehicle = CopyVehicle(vehicle);
+        Configuration = CopyConfiguration(configuration);
     }
 
     /// <summary>原始粗路径的不可变快照。</summary>
@@ -48,4 +48,38 @@ public sealed class PathSmoothingRequest
         }
         return new ReadOnlyCollection<T>(copy);
     }
+
+    private static VehicleParameters CopyVehicle(VehicleParameters source)
+    {
+        if (source == null) return null;
+        return new VehicleParameters
+        {
+            LengthMeters = source.LengthMeters,
+            WidthMeters = source.WidthMeters,
+            SafetyMarginMeters = source.SafetyMarginMeters,
+            MaximumCurvaturePerMeter = source.MaximumCurvaturePerMeter,
+            MinimumTurningRadiusMeters = source.MinimumTurningRadiusMeters,
+        };
+    }
+
+    private static PathSmoothingConfiguration CopyConfiguration(PathSmoothingConfiguration source)
+    {
+        if (source == null) return null;
+        var copy = new PathSmoothingConfiguration
+        {
+            Method = source.Method,
+            OutputSpacingMeters = source.OutputSpacingMeters,
+            MaximumCollisionCheckStepMeters = source.MaximumCollisionCheckStepMeters,
+            MinimumClearanceReserveMeters = source.MinimumClearanceReserveMeters,
+            SmoothingStrength = source.SmoothingStrength,
+            AllowFallbackToCoarsePath = source.AllowFallbackToCoarsePath,
+        };
+        copy.CubicBSpline.EndpointTangentScale = source.CubicBSpline.EndpointTangentScale;
+        copy.LocalCubicBezier.CornerHeadingThresholdRadians = source.LocalCubicBezier.CornerHeadingThresholdRadians;
+        copy.LocalCubicBezier.MaximumWindowLengthMeters = source.LocalCubicBezier.MaximumWindowLengthMeters;
+        copy.LocalCubicBezier.HandleLengthRatio = source.LocalCubicBezier.HandleLengthRatio;
+        copy.PiecewiseQuintic.KnotSpacingMeters = source.PiecewiseQuintic.KnotSpacingMeters;
+        copy.PiecewiseQuintic.MinimumKnotSpacingMeters = source.PiecewiseQuintic.MinimumKnotSpacingMeters;
+        return copy;
+    }
 }

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Contracts/PathSmoothingResult.cs

@@ -53,7 +53,7 @@ public sealed class PathSmoothingResult
         IReadOnlyList<SmoothedPathSegment> segments,
         PathSmoothingDiagnostics diagnostics)
     {
-        ValidatePublishedPath(path, segments);
+        ValidatePublishedResult(method, path, segments, diagnostics);
         return new PathSmoothingResult(
             PathSmoothingStatus.Success,
             method,
@@ -69,7 +69,7 @@ public sealed class PathSmoothingResult
         IReadOnlyList<SmoothedPathSegment> segments,
         PathSmoothingDiagnostics diagnostics)
     {
-        ValidatePublishedPath(path, segments);
+        ValidatePublishedResult(attemptedMethod, path, segments, diagnostics);
         return new PathSmoothingResult(
             PathSmoothingStatus.FallbackToCoarsePath,
             attemptedMethod,
@@ -88,14 +88,20 @@ public sealed class PathSmoothingResult
         return new PathSmoothingResult(status, null, EmptyPath, EmptySegments, diagnostics);
     }
 
-    private static void ValidatePublishedPath(
+    private static void ValidatePublishedResult(
+        SmoothingMethod method,
         IReadOnlyList<SmoothedPathPoint> path,
-        IReadOnlyList<SmoothedPathSegment> segments)
+        IReadOnlyList<SmoothedPathSegment> segments,
+        PathSmoothingDiagnostics diagnostics)
     {
+        if (!Enum.IsDefined(typeof(SmoothingMethod), method))
+            throw new ArgumentOutOfRangeException(nameof(method));
         if (path == null || path.Count == 0)
             throw new ArgumentException("Published smoothing results require a non-empty path.", nameof(path));
         if (segments == null || segments.Count == 0)
             throw new ArgumentException("Published smoothing results require non-empty segments.", nameof(segments));
+        if (diagnostics == null || diagnostics.Metrics == null || !diagnostics.Metrics.IsFeasible)
+            throw new ArgumentException("Published smoothing results require feasible diagnostics.", nameof(diagnostics));
     }
 
     private static IReadOnlyList<T> CopyReadOnly<T>(IReadOnlyList<T> source)