feat: observe one full EM direction segment

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs

@@ -2,19 +2,21 @@ using System;
 using System.Collections.Generic;
 using MultiWheelC.TrajectoryPlanning.CoarsePath;
 using MultiWheelC.TrajectoryPlanning.CoarsePath.Facade;
+using MultiWheelC.TrajectoryPlanning.EMPlanner;
 using MultiWheelC.TrajectoryPlanning.Mapping;
 
 namespace MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
 
 public sealed class TrajectoryObservationSettings
 {
+    public EmPlanningScope PlanningScope { get; set; } = EmPlanningScope.FullDirectionSegment;
     public double MapPaddingMeters { get; set; } = 2d;
     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; } = 5d;
     public int MaximumOsqpIterations { get; set; } = 100000;
-    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；默认 2 s，不等于观察循环周期。</summary>
+    /// <summary>仅滚动视窗兼容字段；完整方向段模式不用于截断。单次 ST 轨迹覆盖的未来时长，单位 s；默认 2 s，不等于观察循环周期。</summary>
     public double TimeHorizonSeconds { get; set; } = 2d;
     /// <summary>发布 Trajectory 相邻 TimeFromStart 时间戳的间隔，单位 s；不等于观察循环周期。</summary>
     public double OutputTimeStepSeconds { get; set; } = 0.10d;
@@ -22,7 +24,7 @@ public sealed class TrajectoryObservationSettings
     public double VehicleWidthMeters { get; set; } = 0.60d;
     public double SafetyMarginMeters { get; set; } = 0.05d;
     public double MaximumCurvaturePerMeter { get; set; } = 1d / 1.20d;
-    public bool EnableWebVisualization { get; set; } = false;
+    public bool EnableWebVisualization { get; set; } = true;
     public bool AutoOpenWebVisualization { get; set; } = true;
     public int WebVisualizationPort { get; set; } = 0;
     public double WebRefreshRateHz { get; set; } = 10d;
@@ -37,6 +39,7 @@ public sealed class TrajectoryObservationSettings
     {
         var snapshot = new TrajectoryObservationSettings
         {
+            PlanningScope = PlanningScope,
             MapPaddingMeters = MapPaddingMeters,
             MapResolutionMillimeters = MapResolutionMillimeters,
             ReplanPeriodSeconds = ReplanPeriodSeconds,
@@ -66,6 +69,8 @@ public sealed class TrajectoryObservationSettings
 
     public void Validate()
     {
+        if (!Enum.IsDefined(typeof(EmPlanningScope), PlanningScope))
+            throw new ArgumentOutOfRangeException(nameof(PlanningScope), "Value must be a defined planning scope.");
         EnsurePositiveFinite(MapPaddingMeters, nameof(MapPaddingMeters));
         EnsurePositiveFinite(MapResolutionMillimeters, nameof(MapResolutionMillimeters));
         EnsurePositiveFinite(ReplanPeriodSeconds, nameof(ReplanPeriodSeconds));