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feat: format EM observation diagnostics

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梁薄云
2026-08-05 09:55:35 +08:00
parent 17ab0df863
commit 822db6934a
2 changed files with 66 additions and 0 deletions
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ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationDiagnostics.cs
+40
View File
@@ -0,0 +1,40 @@
using System;
using System.Globalization;
using MultiWheelC.TrajectoryPlanning.EMPlanner;
namespace MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
public sealed class TrajectoryObservationDiagnostic
{
public TrajectoryObservationDiagnostic(string text)
{
Text = text ?? string.Empty;
}
public string Text { get; }
}
public static class TrajectoryObservationDiagnostics
{
public static TrajectoryObservationDiagnostic Create(PlanningCycleResult latestCycle,
TimeSpan elapsed, bool planningInFlight, EmTrajectory publishedTrajectory)
{
if (latestCycle == null)
return new TrajectoryObservationDiagnostic(planningInFlight
? "planning status=pending"
: "planning status=not-started");
string text = "planning cycle=" + latestCycle.Version.ToString(CultureInfo.InvariantCulture) +
" status=" + latestCycle.Result.Status +
" published=" + latestCycle.Published +
" elapsed=" + Math.Max(0d, elapsed.TotalMilliseconds).ToString("F0", CultureInfo.InvariantCulture) +
"ms";
if (planningInFlight)
text += "\nreplan=pending";
if (publishedTrajectory != null)
text += "\ntrajectory=" + publishedTrajectory.Metadata.TrajectoryId;
if (!string.IsNullOrWhiteSpace(latestCycle.Result.FailureReason))
text += "\nreason=" + latestCycle.Result.FailureReason;
return new TrajectoryObservationDiagnostic(text);
}
}
ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs
+26
View File
@@ -30,6 +30,7 @@ internal static class TrajectoryObservationChecks
VerifiesGearSwitchWaitStateForWorldPresentation();
VerifiesLsAndStUsePublishedTrajectoryData();
VerifiesPresentationTextDescribesObservationWithoutSendingCommand();
VerifiesPlanningDiagnosticsKeepRawFailureReason();
VerifiesLsPresentationUsesPathSOnHorizontalAxis();
VerifiesRollingRequestUsesOnePublishedTrajectorySnapshot();
FreezesBootstrapVehicleForRollingRequests();
@@ -459,6 +460,31 @@ internal static class TrajectoryObservationChecks
"observer presentation LS projection failures");
}
private static void VerifiesPlanningDiagnosticsKeepRawFailureReason()
{
var failed = new PlanningCycleResult(
4L,
new PlanningCycleIdentity(3L, "diagnostic-reference", 7L, string.Empty, 0),
new EmPlanningResult(EmPlanningStatus.CorridorInfeasible, null,
"map=3;reference=diagnostic-reference;state=7;previous=;segment=0;reason=no connected corridor"),
false,
"map=3;reference=diagnostic-reference;state=7;previous=;segment=0;reason=no connected corridor");
TrajectoryObservationDiagnostic diagnostic = TrajectoryObservationDiagnostics.Create(
failed, TimeSpan.FromMilliseconds(18d), false, null);
Verification.True(diagnostic.Text.Contains("cycle=4"), "diagnostic has cycle version");
Verification.True(diagnostic.Text.Contains("status=CorridorInfeasible"), "diagnostic preserves raw status");
Verification.True(diagnostic.Text.Contains("published=False"), "diagnostic preserves publish state");
Verification.True(diagnostic.Text.Contains("elapsed=18ms"), "diagnostic preserves elapsed time");
Verification.True(diagnostic.Text.Contains("reason=map=3;reference=diagnostic-reference"),
"diagnostic preserves planner failure reason");
TrajectoryObservationDiagnostic pending = TrajectoryObservationDiagnostics.Create(
null, TimeSpan.Zero, true, null);
Verification.Equal("planning status=pending", pending.Text, "diagnostic reports pending before completion");
}
private static void VerifiesLsPresentationUsesPathSOnHorizontalAxis()
{
TrajectoryObservationCharts charts = TrajectoryObservationCharts.Build(