First_Dev_Dept/ParkingRobot
10
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: add read-only EM observation movement test

Browse Source
This commit is contained in:
梁薄云
2026-08-04 16:43:29 +08:00
parent fded5181db
commit 6accfd9d6a
3 changed files with 518 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs
+26
View File
@@ -1,5 +1,6 @@
using System;
using System.Collections.Generic;
using System.IO;
using System.Threading;
using MultiWheelC.TrajectoryPlanning.CoarsePath;
using MultiWheelC.TrajectoryPlanning.CoarsePath.Facade;
@@ -14,6 +15,7 @@ internal static class TrajectoryObservationChecks
{
public static void Run()
{
VerifiesObservationSourceHasNoActuatorCalls();
VerifiesStartGoalBoundsUseOnlyConfiguredPadding();
RejectsObstacleOutsideConfiguredBounds();
VerifiesLsAndStUsePublishedTrajectoryData();
@@ -23,6 +25,30 @@ internal static class TrajectoryObservationChecks
FreezesBootstrapVehicleForRollingRequests();
}
private static void VerifiesObservationSourceHasNoActuatorCalls()
{
string sourceDirectory = Path.Combine(Directory.GetCurrentDirectory(), "ClumsyPilot",
"ParkrobTrajplanner", "tarjplanner_movementtest");
string movementTestSource = Path.Combine(sourceDirectory, "MovementTest.TrajectoryObservationTest.cs");
Verification.True(File.Exists(movementTestSource), "observation MovementTest source exists");
string[] forbiddenTokens =
{
".SendXYThSpeed(", ".SendMotion(", ".SendTh(", ".AccumulateSpeed(",
".ComputeWheelsGeometrically(", ".DriveStop(", ".PredefinedDriveStop("
};
string[] runtimeSources = Directory.GetFiles(sourceDirectory, "*.cs", SearchOption.TopDirectoryOnly);
for (int sourceIndex = 0; sourceIndex < runtimeSources.Length; sourceIndex++)
{
string source = File.ReadAllText(runtimeSources[sourceIndex]);
for (int tokenIndex = 0; tokenIndex < forbiddenTokens.Length; tokenIndex++)
{
Verification.True(source.IndexOf(forbiddenTokens[tokenIndex], StringComparison.Ordinal) < 0,
"observation runtime source excludes actuator token " + forbiddenTokens[tokenIndex]);
}
}
}
private static void VerifiesStartGoalBoundsUseOnlyConfiguredPadding()
{
var settings = new TrajectoryObservationSettings