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feat: configure MovementTest solver timeout

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梁薄云
2026-08-05 11:39:45 +08:00
parent 6cc24735ba
commit 685d9cc636
4 changed files with 20 additions and 0 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs
+14
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@@ -106,6 +106,8 @@ internal static class TrajectoryObservationChecks
"observer MovementTest exposes safety margin with Task-1 default");
Verification.True(source.Contains("public double MaximumCurvaturePerMeter = 1d / 1.20d;"),
"observer MovementTest exposes maximum curvature with Task-1 default");
Verification.True(source.Contains("public double SolverTimeoutSeconds = 0.50d;"),
"observer MovementTest exposes the test solver timeout default");
Verification.True(source.Contains("VehicleLengthMeters = VehicleLengthMeters,"),
"observer MovementTest copies vehicle length into settings");
Verification.True(source.Contains("VehicleWidthMeters = VehicleWidthMeters,"),
@@ -114,10 +116,14 @@ internal static class TrajectoryObservationChecks
"observer MovementTest copies safety margin into settings");
Verification.True(source.Contains("MaximumCurvaturePerMeter = MaximumCurvaturePerMeter,"),
"observer MovementTest copies maximum curvature into settings");
Verification.True(source.Contains("SolverTimeoutSeconds = SolverTimeoutSeconds,"),
"observer MovementTest copies solver timeout into settings");
string normalizedSource = source.Replace("\r\n", "\n");
Verification.True(normalizedSource.Contains(
"VehicleMotionState state = ReadVehicleState();\n DateTimeOffset now = state.CapturedAtUtc;"),
"observer host uses the fresh state snapshot time for each observation tick");
Verification.NearlyEqual(0.50d, new TrajectoryObservationSettings().SolverTimeoutSeconds,
"observer settings use the test solver timeout default");
var configured = new TrajectoryObservationSettings
{
@@ -125,12 +131,14 @@ internal static class TrajectoryObservationChecks
VehicleWidthMeters = 0.70d,
SafetyMarginMeters = 0.08d,
MaximumCurvaturePerMeter = 0.55d,
SolverTimeoutSeconds = 0.42d,
};
TrajectoryObservationSettings snapshot = configured.CreateValidatedSnapshot();
configured.VehicleLengthMeters = 9.10d;
configured.VehicleWidthMeters = 9.20d;
configured.SafetyMarginMeters = 9.30d;
configured.MaximumCurvaturePerMeter = 9.40d;
configured.SolverTimeoutSeconds = 9.50d;
Verification.NearlyEqual(1.10d, snapshot.VehicleLengthMeters,
"observer settings snapshot freezes vehicle length");
@@ -140,6 +148,8 @@ internal static class TrajectoryObservationChecks
"observer settings snapshot freezes safety margin");
Verification.NearlyEqual(0.55d, snapshot.MaximumCurvaturePerMeter,
"observer settings snapshot freezes maximum curvature");
Verification.NearlyEqual(0.42d, snapshot.SolverTimeoutSeconds,
"observer settings snapshot freezes solver timeout");
CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
new Pose2D(0d, 0d, 0d), new Pose2D(1d, 0d, 0d), snapshot,
@@ -160,6 +170,7 @@ internal static class TrajectoryObservationChecks
AssertInvalidSetting(settings => settings.SafetyMarginMeters = 0d, "safety margin");
AssertInvalidSetting(settings => settings.MaximumCurvaturePerMeter = double.PositiveInfinity,
"maximum curvature");
AssertInvalidSetting(settings => settings.SolverTimeoutSeconds = 0d, "solver timeout");
}
private static void AssertInvalidSetting(Action<TrajectoryObservationSettings> mutate, string name)
@@ -402,6 +413,9 @@ internal static class TrajectoryObservationChecks
Verification.NearlyEqual(settings.ReplanPeriodSeconds,
planningService.Requests[0].Configuration.Scheduling.ReplanPeriodSeconds,
"observer configured replan period");
Verification.NearlyEqual(settings.SolverTimeoutSeconds,
planningService.Requests[0].Configuration.Scheduling.SolverTimeoutSeconds,
"observer configured solver timeout");
TrajectoryObservationObservation observation = controller.Observe(effectiveAt.AddSeconds(0.5d), state);
Verification.NearlyEqual(0.5d, observation.SelectedPoint.TimeFromStart,