feat: log EM observation session planning configuration

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -271,6 +271,7 @@ internal static class TrajectoryObservationMovementTestRunner
         var controller = new TrajectoryObservationController(bootstrap, settings,
             new EmPlanningService(new OsqpNativeSolver()),
             "trajectory-observer-" + sessionId.ToString(CultureInfo.InvariantCulture));
+        LogIfCurrent(sessionId, controller.CreateConfigurationDiagnostic().Text);
         var observationLoop = new TrajectoryObservationLoop(controller);
         DirectionSegmentView segment = bootstrap.Segments[0];
         bool gearSwitchWaitingPrinted = false;

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationDiagnostics.cs

@@ -16,6 +16,26 @@ public sealed class TrajectoryObservationDiagnostic
 
 public static class TrajectoryObservationDiagnostics
 {
+    public static TrajectoryObservationDiagnostic CreateConfiguration(EmPlannerConfiguration configuration)
+    {
+        if (configuration == null || configuration.Scheduling == null || configuration.Solver == null)
+            throw new ArgumentNullException(nameof(configuration));
+
+        double horizon = configuration.Scheduling.TimeHorizonSeconds;
+        double outputTimeStep = configuration.Scheduling.OutputTimeStepSeconds;
+        int trajectoryKnots = checked((int)Math.Ceiling(horizon / outputTimeStep) + 1);
+        return new TrajectoryObservationDiagnostic(
+            "planning configuration:\n" +
+            "timeHorizon=" + Format(horizon, "F2") + "s\n" +
+            "distanceHorizon=" + Format(configuration.Scheduling.DistanceHorizonMeters, "F2") + "m\n" +
+            "outputTimeStep=" + Format(outputTimeStep, "F2") + "s\n" +
+            "outputFrequency=" + Format(1d / outputTimeStep, "F2") + "Hz\n" +
+            "trajectoryKnots=" + trajectoryKnots.ToString(CultureInfo.InvariantCulture) + "\n" +
+            "maximumOsqpIterations=" + configuration.Solver.MaximumOsqpIterations.ToString(CultureInfo.InvariantCulture) + "\n" +
+            "solverTimeout=" + Format(configuration.Scheduling.SolverTimeoutSeconds, "F2") + "s\n" +
+            "replanPeriod=" + Format(configuration.Scheduling.ReplanPeriodSeconds, "F2") + "s");
+    }
+
     public static TrajectoryObservationDiagnostic Create(PlanningCycleResult latestCycle,
         TimeSpan elapsed, bool planningInFlight, EmTrajectory publishedTrajectory)
     {
@@ -37,4 +57,9 @@ public static class TrajectoryObservationDiagnostics
             text += "\nreason=" + latestCycle.Result.FailureReason;
         return new TrajectoryObservationDiagnostic(text);
     }
+
+    private static string Format(double value, string format)
+    {
+        return value.ToString(format, CultureInfo.InvariantCulture);
+    }
 }

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -218,6 +218,11 @@ public sealed class TrajectoryObservationController
 
     public EmTrajectory PublishedTrajectory => coordinator.PublishedTrajectory;
 
+    public TrajectoryObservationDiagnostic CreateConfigurationDiagnostic()
+    {
+        return TrajectoryObservationDiagnostics.CreateConfiguration(configuration);
+    }
+
     public bool ShouldStartCycle(DateTimeOffset now)
     {
         return coordinator.ShouldStartCycle(now);

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -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");