feat: configure MovementTest solver timeout

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -31,6 +31,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
     public float MapResolutionMm = 50f;
     public double ReplanPeriodSeconds = 0.20d;
     public double ObserverPeriodSeconds = 0.05d;
+    public double SolverTimeoutSeconds = 0.50d;
     public double VehicleLengthMeters = 0.80d;
     public double VehicleWidthMeters = 0.60d;
     public double SafetyMarginMeters = 0.05d;
@@ -59,6 +60,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                 MapResolutionMillimeters = MapResolutionMm,
                 ReplanPeriodSeconds = ReplanPeriodSeconds,
                 ObserverPeriodSeconds = ObserverPeriodSeconds,
+                SolverTimeoutSeconds = SolverTimeoutSeconds,
                 VehicleLengthMeters = VehicleLengthMeters,
                 VehicleWidthMeters = VehicleWidthMeters,
                 SafetyMarginMeters = SafetyMarginMeters,

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs

@@ -12,6 +12,7 @@ public sealed class TrajectoryObservationSettings
     public float MapResolutionMillimeters { get; set; } = 50f;
     public double ReplanPeriodSeconds { get; set; } = 0.20d;
     public double ObserverPeriodSeconds { get; set; } = 0.05d;
+    public double SolverTimeoutSeconds { get; set; } = 0.50d;
     public double VehicleLengthMeters { get; set; } = 0.80d;
     public double VehicleWidthMeters { get; set; } = 0.60d;
     public double SafetyMarginMeters { get; set; } = 0.05d;
@@ -25,6 +26,7 @@ public sealed class TrajectoryObservationSettings
             MapResolutionMillimeters = MapResolutionMillimeters,
             ReplanPeriodSeconds = ReplanPeriodSeconds,
             ObserverPeriodSeconds = ObserverPeriodSeconds,
+            SolverTimeoutSeconds = SolverTimeoutSeconds,
             VehicleLengthMeters = VehicleLengthMeters,
             VehicleWidthMeters = VehicleWidthMeters,
             SafetyMarginMeters = SafetyMarginMeters,
@@ -40,6 +42,7 @@ public sealed class TrajectoryObservationSettings
         EnsurePositiveFinite(MapResolutionMillimeters, nameof(MapResolutionMillimeters));
         EnsurePositiveFinite(ReplanPeriodSeconds, nameof(ReplanPeriodSeconds));
         EnsurePositiveFinite(ObserverPeriodSeconds, nameof(ObserverPeriodSeconds));
+        EnsurePositiveFinite(SolverTimeoutSeconds, nameof(SolverTimeoutSeconds));
         EnsurePositiveFinite(VehicleLengthMeters, nameof(VehicleLengthMeters));
         EnsurePositiveFinite(VehicleWidthMeters, nameof(VehicleWidthMeters));
         EnsurePositiveFinite(SafetyMarginMeters, nameof(SafetyMarginMeters));

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -207,6 +207,7 @@ public sealed class TrajectoryObservationController
         settings.Validate();
         configuration = EmPlannerConfiguration.CreateDefault();
         configuration.Scheduling.ReplanPeriodSeconds = settings.ReplanPeriodSeconds;
+        configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
         coordinator = new EmPlanningCoordinator(planningService);
         executor = new TrajectoryExecutor(configuration);
         this.sessionId = sessionId;

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -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,