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)
+            if (tick.PlanningStarted)
-                LogIfCurrent(sessionId, CreateTickStatus(sessionId, observation, charts,
+                LogIfCurrent(sessionId, "planning status=pending");
-                    tick.LatestCycle, tick.LatestPlanningElapsed, runtimeState.WaitingAtGearSwitch));
+            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)

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -255,12 +255,15 @@ public sealed class TrajectoryObservationController
 public sealed class TrajectoryObservationLoopTick
 {
     internal TrajectoryObservationLoopTick(TrajectoryObservationObservation observation,
-        PlanningCycleResult latestCycle, TimeSpan latestPlanningElapsed, bool planningInFlight)
+        PlanningCycleResult latestCycle, TimeSpan latestPlanningElapsed, bool planningInFlight,
+        bool planningStarted, bool planningCompleted)
     {
         Observation = observation ?? throw new ArgumentNullException(nameof(observation));
         LatestCycle = latestCycle;
         LatestPlanningElapsed = latestPlanningElapsed;
         PlanningInFlight = planningInFlight;
+        PlanningStarted = planningStarted;
+        PlanningCompleted = planningCompleted;
     }
 
     public TrajectoryObservationObservation Observation { get; }
@@ -271,6 +274,10 @@ public sealed class TrajectoryObservationLoopTick
 
     public bool PlanningInFlight { get; }
 
+    public bool PlanningStarted { get; }
+
+    public bool PlanningCompleted { get; }
+
     public bool ShouldLog => true;
 }
 
@@ -293,28 +300,31 @@ public sealed class TrajectoryObservationLoop
         if (state == null) throw new ArgumentNullException(nameof(state));
         cancellationToken.ThrowIfCancellationRequested();
 
-        ConsumeCompletedPlanning(now);
+        bool planningCompleted = ConsumeCompletedPlanning(now);
+        bool planningStarted = false;
         if (planningTask == null && controller.ShouldStartCycle(now))
         {
+            planningStarted = true;
             planningStartedAtUtc = now;
             planningTask = controller.StartCycle(now, state, cancellationToken);
-            ConsumeCompletedPlanning(now);
+            planningCompleted |= ConsumeCompletedPlanning(now);
         }
 
         TrajectoryObservationObservation observation = controller.Observe(now, state);
         return new TrajectoryObservationLoopTick(observation, latestCycle, latestPlanningElapsed,
-            planningTask != null);
+            planningTask != null, planningStarted, planningCompleted);
     }
 
-    private void ConsumeCompletedPlanning(DateTimeOffset observedAtUtc)
+    private bool ConsumeCompletedPlanning(DateTimeOffset observedAtUtc)
     {
         Task<PlanningCycleResult> completed = planningTask;
-        if (completed == null || !completed.IsCompleted) return;
+        if (completed == null || !completed.IsCompleted) return false;
 
         latestCycle = completed.GetAwaiter().GetResult();
         TimeSpan elapsed = observedAtUtc - planningStartedAtUtc;
         latestPlanningElapsed = elapsed < TimeSpan.Zero ? TimeSpan.Zero : elapsed;
         planningTask = null;
+        return true;
     }
 }
 

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -72,6 +72,8 @@ internal static class TrajectoryObservationChecks
         Verification.Equal("等待真实档位/方向确认；观察模式不会推进下一方向段",
             TrajectoryObservationRuntimeState.GearSwitchWaitingNotice,
             "observation runtime uses required gear-switch notice");
+        Verification.True(source.Contains("Console.WriteLine(\"[TrajectoryObserver] \" + text);"),
+            "observer status is mirrored to the host terminal");
     }
 
     private static void VerifiesOperatorDocumentationUsesExactUiEntry()
@@ -238,6 +240,8 @@ internal static class TrajectoryObservationChecks
 
             TrajectoryObservationLoopTick firstTick = loop.Tick(startedAt, firstState, CancellationToken.None);
 
+            Verification.True(firstTick.PlanningStarted, "observer first tick reports a planning-cycle start");
+            Verification.True(!firstTick.PlanningCompleted, "observer first tick has no completed cycle");
             Verification.True(firstTick.ShouldLog,
                 "observer first cadence tick is eligible for session-guarded logging");
             Verification.Equal(10L, firstTick.Observation.VehicleState.SequenceId,
@@ -298,6 +302,7 @@ internal static class TrajectoryObservationChecks
             Verification.True(completed, "observer delayed planning completes deterministically");
             Verification.True(completedTick != null, "observer delayed planning produces a completion tick");
             TrajectoryObservationLoopTick finalTick = completedTick!;
+            Verification.True(finalTick.PlanningCompleted, "observer completion tick reports cycle completion");
             Verification.True(finalTick.LatestCycle != null && finalTick.LatestCycle.Published,
                 "observer delayed planning result is consumed without a continuation");
             Verification.Equal(14L, finalTick.Observation.VehicleState.SequenceId,