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feat: observe one full EM direction segment

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梁薄云
2026-08-07 08:56:14 +08:00
parent 57d8abb3e1
commit ab3204bfde
6 changed files with 289 additions and 20 deletions
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ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationSettingsChecks.cs
+25 -1
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@@ -1,6 +1,7 @@
using System;
using System.IO;
using System.Text;
using MultiWheelC.TrajectoryPlanning.EMPlanner;
using MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
namespace EMPlannerVerificationHost;
@@ -13,6 +14,7 @@ internal static class TrajectoryObservationSettingsChecks
VerifiesValidatedSnapshotFreezesVisualizationSettings();
RejectsInvalidVisualizationSettings();
VerifiesMovementTestMapsEveryFrozenSetting();
VerifiesMovementTestFullDirectionScopeMapping();
}
private static void VerifiesDefaults()
@@ -22,7 +24,9 @@ internal static class TrajectoryObservationSettingsChecks
Verification.NearlyEqual(5d, defaults.SolverTimeoutSeconds, "observer solver timeout default");
Verification.Equal(100000, defaults.MaximumOsqpIterations, "observer OSQP default");
Verification.NearlyEqual(2d, defaults.TimeHorizonSeconds, "observer ST horizon default");
Verification.True(!defaults.EnableWebVisualization, "web defaults off");
Verification.Equal(EmPlanningScope.FullDirectionSegment, defaults.PlanningScope,
"observer full-direction-segment scope default");
Verification.True(defaults.EnableWebVisualization, "web defaults on");
Verification.True(defaults.AutoOpenWebVisualization, "web auto-open defaults on");
Verification.True(!defaults.EnableNativePainterVisualization, "Painter defaults off");
Verification.Equal(0, defaults.WebVisualizationPort, "dynamic port default");
@@ -40,6 +44,7 @@ internal static class TrajectoryObservationSettingsChecks
{
var source = new TrajectoryObservationSettings
{
PlanningScope = EmPlanningScope.FullDirectionSegment,
EnableWebVisualization = true,
AutoOpenWebVisualization = false,
WebVisualizationPort = 2048,
@@ -54,6 +59,7 @@ internal static class TrajectoryObservationSettingsChecks
TrajectoryObservationSettings snapshot = source.CreateValidatedSnapshot();
source.EnableWebVisualization = false;
source.PlanningScope = EmPlanningScope.RollingHorizon;
source.AutoOpenWebVisualization = true;
source.WebVisualizationPort = 0;
source.WebRefreshRateHz = 12d;
@@ -64,6 +70,8 @@ internal static class TrajectoryObservationSettingsChecks
source.GearSwitchProjectionToleranceMeters = 0.7d;
source.GearSwitchStopHoldSeconds = 0.4d;
Verification.Equal(EmPlanningScope.FullDirectionSegment, snapshot.PlanningScope,
"snapshot freezes planning scope");
Verification.True(snapshot.EnableWebVisualization, "snapshot freezes web switch");
Verification.True(!snapshot.AutoOpenWebVisualization, "snapshot freezes web auto-open switch");
Verification.Equal(2048, snapshot.WebVisualizationPort, "snapshot freezes web port");
@@ -84,6 +92,7 @@ internal static class TrajectoryObservationSettingsChecks
AssertInvalid(settings => settings.WebVisualizationPort = 1, "low reserved web port");
AssertInvalid(settings => settings.WebVisualizationPort = 1023, "last reserved web port");
AssertInvalid(settings => settings.WebVisualizationPort = 65536, "overflow web port");
AssertInvalid(settings => settings.PlanningScope = (EmPlanningScope)999, "undefined planning scope");
AssertInvalid(settings => settings.WebRefreshRateHz = 0d, "zero web refresh");
AssertInvalid(settings => settings.VisualizationHistoryCycleLimit = 0, "zero history limit");
AssertInvalid(settings => settings.DirectionConfirmationSpeedMetersPerSecond = 0d,
@@ -114,6 +123,21 @@ internal static class TrajectoryObservationSettingsChecks
}
}
private static void VerifiesMovementTestFullDirectionScopeMapping()
{
string path = Path.Combine(Directory.GetCurrentDirectory(), "ClumsyPilot", "ParkrobTrajplanner",
"tarjplanner_movementtest", "MovementTest.TrajectoryObservationTest.cs");
string source = new UTF8Encoding(false, true).GetString(File.ReadAllBytes(path));
Verification.True(source.Contains("public bool UseFullDirectionSegmentPlanning = true;"),
"MovementTest exposes the full-direction-segment switch on by default");
Verification.True(source.Contains(
"PlanningScope = UseFullDirectionSegmentPlanning ? EmPlanningScope.FullDirectionSegment : EmPlanningScope.RollingHorizon,"),
"MovementTest maps the full-direction-segment switch into settings");
Verification.True(source.Contains("滚动兼容"),
"MovementTest labels TimeHorizonSeconds as rolling-compatible");
}
private static void AssertInvalid(Action<TrajectoryObservationSettings> mutate, string name)
{
var settings = new TrajectoryObservationSettings();