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feat: log EM observation session planning configuration

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梁薄云
2026-08-05 15:32:37 +08:00
parent 32083db4d0
commit 9b59ce4a71
4 changed files with 80 additions and 8 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs
+49 -8
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@@ -21,6 +21,7 @@ internal static class TrajectoryObservationChecks
VerifiesObservationSourceUsesRequiredOperatorText();
VerifiesOperatorDocumentationUsesExactUiEntry();
VerifiesMovementTestVehicleInputsAndSettingsSnapshot();
VerifiesPlanningConfigurationDiagnosticUsesEffectiveConfiguration();
RejectsInvalidObservationSettings();
VerifiesStartGoalBoundsUseOnlyConfiguredPadding();
VerifiesValidNonEmptyObstacleSource();
@@ -106,14 +107,14 @@ 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("public int MaximumOsqpIterations = 12000;"),
"observer MovementTest exposes the test OSQP iteration default");
Verification.True(source.Contains("public double TimeHorizonSeconds = 6d;"),
"observer MovementTest exposes the ST time-horizon default");
Verification.True(source.Contains("public double OutputTimeStepSeconds = 0.10d;"),
"observer MovementTest exposes the ST timestamp-spacing default");
Verification.True(source.Contains("public double SolverTimeoutSeconds ="),
"observer MovementTest exposes a configurable solver timeout");
Verification.True(source.Contains("public int MaximumOsqpIterations ="),
"observer MovementTest exposes a configurable OSQP iteration limit");
Verification.True(source.Contains("public double TimeHorizonSeconds ="),
"observer MovementTest exposes a configurable ST time horizon");
Verification.True(source.Contains("public double OutputTimeStepSeconds ="),
"observer MovementTest exposes a configurable ST timestamp spacing");
Verification.True(source.Contains("不等于观察循环周期"),
"observer MovementTest documents the distinction between output timestamps and observer ticks");
Verification.True(source.Contains("VehicleLengthMeters = VehicleLengthMeters,"),
@@ -190,6 +191,46 @@ internal static class TrajectoryObservationChecks
"observer configured bootstrap vehicle");
}
private static void VerifiesPlanningConfigurationDiagnosticUsesEffectiveConfiguration()
{
DateTimeOffset effectiveAt = new DateTimeOffset(2026, 8, 5, 0, 0, 0, TimeSpan.Zero);
var settings = new TrajectoryObservationSettings
{
ReplanPeriodSeconds = 0.25d,
SolverTimeoutSeconds = 1.25d,
MaximumOsqpIterations = 54321,
TimeHorizonSeconds = 3.5d,
OutputTimeStepSeconds = 0.10d,
};
CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
new Pose2D(0d, 0d, 0d), new Pose2D(1d, 0d, 0d), settings,
Array.Empty<TrajectoryObservationObstacle>(), 0L);
TrajectoryObservationBootstrapResult bootstrap = new TrajectoryObservationBootstrapper()
.Bootstrap(job, CancellationToken.None);
Verification.True(bootstrap.Succeeded, "observer configuration-diagnostic bootstrap succeeds");
var controller = new TrajectoryObservationController(bootstrap, settings,
new FixedTrajectoryPlanningService(CreatePublishedTrajectory(effectiveAt)), "config-diagnostic");
string text = controller.CreateConfigurationDiagnostic().Text;
foreach (string expected in new[]
{
"planning configuration:", "timeHorizon=3.50s", "distanceHorizon=5.00m", "outputTimeStep=0.10s",
"outputFrequency=10.00Hz", "trajectoryKnots=36", "maximumOsqpIterations=54321",
"solverTimeout=1.25s", "replanPeriod=0.25s",
})
{
Verification.True(text.Contains(expected), "configuration diagnostic includes " + expected);
}
string movementTestSource = Path.Combine(Directory.GetCurrentDirectory(), "ClumsyPilot",
"ParkrobTrajplanner", "tarjplanner_movementtest", "MovementTest.TrajectoryObservationTest.cs");
string runnerSource = new UTF8Encoding(false, true).GetString(File.ReadAllBytes(movementTestSource));
int firstCall = runnerSource.IndexOf("CreateConfigurationDiagnostic()", StringComparison.Ordinal);
Verification.True(firstCall >= 0, "runner prints configuration diagnostic");
Verification.Equal(-1, runnerSource.IndexOf("CreateConfigurationDiagnostic()", firstCall + 1,
StringComparison.Ordinal), "runner prints configuration diagnostic once");
}
private static void RejectsInvalidObservationSettings()
{
AssertInvalidSetting(settings => settings.MapPaddingMeters = 0d, "map padding");