feat: report EM observation planning cycles

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -271,6 +271,9 @@ internal static class TrajectoryObservationMovementTestRunner
             DateTimeOffset now = state.CapturedAtUtc;
             TrajectoryObservationLoopTick tick = observationLoop.Tick(now, state, token);
             TrajectoryObservationObservation observation = tick.Observation;
+            TrajectoryObservationDiagnostic diagnostic = TrajectoryObservationDiagnostics.Create(
+                tick.LatestCycle, tick.LatestPlanningElapsed, tick.PlanningInFlight,
+                observation.PublishedTrajectory);
             TrajectoryObservationCharts charts = observation.PublishedTrajectory == null
                 ? null
                 : TrajectoryObservationCharts.Build(observation.PublishedTrajectory, segment,
@@ -284,9 +287,10 @@ internal static class TrajectoryObservationMovementTestRunner
                 gearSwitchWaitingPrinted = true;
             }
 
-            if (tick.ShouldLog)
-                LogIfCurrent(sessionId, CreateTickStatus(sessionId, observation, charts,
-                    tick.LatestCycle, tick.LatestPlanningElapsed, runtimeState.WaitingAtGearSwitch));
+            if (tick.PlanningStarted)
+                LogIfCurrent(sessionId, "planning status=pending");
+            if (tick.PlanningCompleted)
+                LogIfCurrent(sessionId, diagnostic.Text);
         }
     }
 
@@ -383,7 +387,9 @@ internal static class TrajectoryObservationMovementTestRunner
 
     private static void PrintStatus(string message)
     {
-        Hedingben.ToastText(ObserveOnlyNotice + "\n" + message, StatusChannel);
+        string text = ObserveOnlyNotice + "\n" + message;
+        Hedingben.ToastText(text, StatusChannel);
+        Console.WriteLine("[TrajectoryObserver] " + text);
     }
 
     private static void Finish(long sessionId, CancellationTokenSource cancellation, Task completed)