docs: package EM observation dashboard
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梁薄云
@@ -213,6 +213,7 @@ dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerifi
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```text
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plugins/
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├── ClumsyPilot.dll
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├── TrajectoryPlanningVisualization.dll
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├── osqp.dll
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└── licenses/
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├── OSQP-LICENSE.txt
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@@ -220,7 +221,11 @@ plugins/
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└── OSQP-VERSION.txt
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```
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发布器会检查 64 位 PowerShell、原生 DLL 的 x64 PE 类型和固定 SHA-256。OSQP 加载器从托管程序集目录以绝对路径加载同级 `osqp.dll`；它不依赖 `PATH` 或当前工作目录。部署和执行职责的更多说明见 [TrajectoryExecution](../TrajectoryExecution/README.md)。
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发布器只从显式 `ManagedDll` 的同级目录解析 `TrajectoryPlanningVisualization.dll`，先复制完整包到 staging，
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再原子替换 `plugins` 目录；它不会搜索 `PATH` 或当前工作目录。发布器会检查 64 位 PowerShell、原生 DLL 的 x64 PE
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类型和固定 SHA-256，并保留既有恢复行为。OSQP 加载器从托管程序集目录以绝对路径加载同级 `osqp.dll`；它不依赖
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`PATH` 或当前工作目录。部署和执行职责的更多说明见 [TrajectoryExecution](../TrajectoryExecution/README.md)，网页
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观察的开关、token URL、图表语义和停止清理见 [EM trajectory observation MovementTest](../tarjplanner_movementtest/README.md)。
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## 常见错误（Common Errors）
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@@ -76,6 +76,30 @@ rejected before EM planning.
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and must never be forwarded directly to a vehicle motion interface. This MovementTest performs no coordinate conversion
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for driving and has no driving capability; any future execution mode requires a separate safety-reviewed design.
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## 网页看板与可选 Painter
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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
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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
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`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。
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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
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规划周期。
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`EnableNativePainterVisualization=true` 才会为本会话创建 `TrajectoryObserver.World`、`LS`、`ST` Painter；默认关闭。
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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、
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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。
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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
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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
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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；
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`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。
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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`。
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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`、
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`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
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仅会在投影位置满足容差、已连续停车保持 `GearSwitchStopHoldSeconds`，并取得
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`DirectionConfirmationSamples` 个满足 `DirectionConfirmationSpeedMetersPerSecond` 阈值的下一方向带符号速度样本后，
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严格从 `N -> N+1` 前进。
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## Operator launch and stop checklist
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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,
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@@ -97,6 +121,8 @@ command is diagnostic information only and must not be copied into a vehicle-con
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To stop, use the vehicle UI's normal MovementTest stop action. Confirm the status says
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`Observation stop requested; all observer layers were cleared.` The cancellation request stops observer work and clears
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all three layers. A current-session runtime fault also clears all three layers so stale active diagnostics are not left
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on screen; an intentional bootstrap failure preserves its diagnostic world view. Stopping, running, or starting this
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test must not issue chassis, motor, steering, brake, or gear output.
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an existing Painter, stops the web publisher/HTTP/SSE service, and releases its port. A current-session runtime fault
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also clears an existing Painter and stops the web session so stale diagnostics are not left on screen; an intentional
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bootstrap failure still reports through UI/console even when both visualization modes are off. Closing a browser tab does
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not stop the session; `TestStop()` owns final web and Painter cleanup. Stopping, running, or starting this test must not
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issue chassis, motor, steering, brake, or gear output.
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@@ -47,6 +47,10 @@ if (Test-SamePath $outputDirectoryPath $workspaceRoot) {
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if (-not [System.IO.File]::Exists($managedDllPath)) {
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throw "Managed DLL does not exist: $managedDllPath"
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}
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$visualizationDll = Join-Path ([System.IO.Path]::GetDirectoryName($managedDllPath)) 'TrajectoryPlanningVisualization.dll'
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if (-not [System.IO.File]::Exists($visualizationDll)) {
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throw "Visualization DLL does not exist beside managed DLL: $visualizationDll"
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}
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if (-not [System.Environment]::Is64BitProcess) {
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throw 'Refusing to publish from a non-x64 PowerShell host.'
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}
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@@ -89,6 +93,7 @@ $movedExistingPlugins = $false
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try {
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[System.IO.Directory]::CreateDirectory((Join-Path $stagingDirectory 'licenses')) | Out-Null
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[System.IO.File]::Copy($managedDllPath, (Join-Path $stagingDirectory 'ClumsyPilot.dll'), $false)
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[System.IO.File]::Copy($visualizationDll, (Join-Path $stagingDirectory 'TrajectoryPlanningVisualization.dll'), $false)
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[System.IO.File]::Copy($nativeDll, (Join-Path $stagingDirectory 'osqp.dll'), $false)
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[System.IO.File]::Copy($license, (Join-Path $stagingDirectory 'licenses\OSQP-LICENSE.txt'), $false)
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[System.IO.File]::Copy($notice, (Join-Path $stagingDirectory 'licenses\OSQP-NOTICE.txt'), $false)
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@@ -83,14 +83,20 @@ internal static class PluginPackagingChecks
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relativeFiles.Add(Path.GetRelativePath(packageRoot, files[index]).Replace('\\', '/'));
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relativeFiles.Sort(StringComparer.Ordinal);
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Verification.Equal("plugins/ClumsyPilot.dll|plugins/licenses/OSQP-LICENSE.txt|plugins/licenses/OSQP-NOTICE.txt|" +
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"plugins/licenses/OSQP-VERSION.txt|plugins/osqp.dll", string.Join("|", relativeFiles),
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"plugin tree contains exactly the managed DLL, native DLL, and OSQP license files");
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Verification.Equal("plugins/ClumsyPilot.dll|plugins/TrajectoryPlanningVisualization.dll|" +
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"plugins/licenses/OSQP-LICENSE.txt|plugins/licenses/OSQP-NOTICE.txt|plugins/licenses/OSQP-VERSION.txt|" +
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"plugins/osqp.dll", string.Join("|", relativeFiles),
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"plugin tree contains exactly the managed DLLs, native DLL, and OSQP license files");
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string managedPlugin = Path.Combine(pluginsDirectory, "ClumsyPilot.dll");
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AssemblyName managedAssembly = AssemblyName.GetAssemblyName(managedPlugin);
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Verification.True(!string.IsNullOrWhiteSpace(managedAssembly.Name), "packaged ClumsyPilot.dll is managed");
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string visualizationPlugin = Path.Combine(pluginsDirectory, "TrajectoryPlanningVisualization.dll");
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AssemblyName visualizationAssembly = AssemblyName.GetAssemblyName(visualizationPlugin);
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Verification.Equal("TrajectoryPlanningVisualization", visualizationAssembly.Name,
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"packaged visualization DLL has the expected managed assembly name");
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string nativePlugin = Path.Combine(pluginsDirectory, "osqp.dll");
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Verification.Equal((ushort)0x8664, ReadPeMachine(nativePlugin), "packaged OSQP binary is x64");
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Verification.Equal(ReadExpectedOsqpHash(repositoryRoot), GetSha256(nativePlugin),
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