docs: package EM observation dashboard

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md

@@ -76,6 +76,30 @@ rejected before EM planning.
 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.
 
+## 网页看板与可选 Painter
+
+将 `EnableWebVisualization=true` 可启用本机网页看板；它只绑定 `127.0.0.1`，启动日志会给出完整的、带随机
+会话令牌的 URL。端口为 `0` 时由系统选择可用回环端口；浏览器必须使用该完整 URL，不能删掉 token。默认
+`AutoOpenWebVisualization=true` 会尝试打开默认浏览器；无桌面会话或打开失败只记录 URL，服务和观察循环继续运行。
+网页默认以 `10 Hz` 发布不可变动态快照，网页关闭、断开或慢客户端只会丢弃网页帧，绝不会阻塞、序列化等待或改变
+规划周期。
+
+`EnableNativePainterVisualization=true` 才会为本会话创建 `TrajectoryObserver.World`、`LS`、`ST` Painter；默认关闭。
+网页与 Painter 可以同时开启，也可全部关闭：全部关闭时仍保留 `OBSERVE_ONLY` 规划、控制台和 UI 状态。网页的启动、
+快照或服务出现异常时会只记录一次中文诊断并熔断本次网页输出，不自动循环重启，也不会停止规划观察。
+
+网页采用中文说明配合科研绘图约定：白底、细灰网格和细曲线；当前轨迹为蓝色实线，上一轮为灰色虚线，换向与交接点
+为橙色，红色仅表示实际越界或失败。路径总览把已完成方向段画为灰色细实线、活动段画为蓝色细实线、未来段画为浅灰
+虚线，并以深蓝覆盖当前规划视界。页面的 `ReferenceS (m)` 是将轨迹投影到**完整活动方向段**后的共享参考站；
+`PathS (m)` 是每轮 ST 求解使用、从该轮局部起点累计的实际路径弧长，二者不可互相替代或跨轮直接相减。
+
+运动学页中 `j[i]` 仅表示真实区间 `[tᵢ, tᵢ₊₁)`，所以 jerk 只有 `N-1` 个样本；末点之后没有虚构的 `j=0`。
+状态页将滚动续航、接近停车边界和精确停车边界分别标为 `RollingContinuation`、
+`ApproachStopBoundary`、`ExactStopAtBoundary`：前两者允许非零末端速度，只有真实边界才是精确停车锚点。换向高亮
+仅会在投影位置满足容差、已连续停车保持 `GearSwitchStopHoldSeconds`，并取得
+`DirectionConfirmationSamples` 个满足 `DirectionConfirmationSpeedMetersPerSecond` 阈值的下一方向带符号速度样本后，
+严格从 `N -> N+1` 前进。
+
 ## Operator launch and stop checklist
 
 The vehicle UI entry is `EM轨迹规划观察闭环测试`. It is an observation session only; it has no chassis,
@@ -97,6 +121,8 @@ command is diagnostic information only and must not be copied into a vehicle-con
 
 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. A current-session runtime fault also clears all three layers so stale active diagnostics are not left
-on screen; an intentional bootstrap failure preserves its diagnostic world view. Stopping, running, or starting this
-test must not issue chassis, motor, steering, brake, or gear output.
+an existing Painter, stops the web publisher/HTTP/SSE service, and releases its port. A current-session runtime fault
+also clears an existing Painter and stops the web session so stale diagnostics are not left on screen; an intentional
+bootstrap failure still reports through UI/console even when both visualization modes are off. Closing a browser tab does
+not stop the session; `TestStop()` owns final web and Painter cleanup. Stopping, running, or starting this test must not
+issue chassis, motor, steering, brake, or gear output.