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fix: complete EM observation final review

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梁薄云
2026-08-04 17:33:14 +08:00
parent d0e673b573
commit bd7170b611
7 changed files with 655 additions and 50 deletions
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ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md
+13 -4
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@@ -21,10 +21,17 @@ not create or dispatch a direction-change action.
| `MapResolutionMm` | mm | `50` | Local occupancy-grid resolution. |
| `ReplanPeriodSeconds` | s | `0.20` | Minimum interval between EM planning cycles. |
| `ObserverPeriodSeconds` | s | `0.05` | Live-state sampling and redraw interval. |
| `VehicleLengthMeters` | m | `0.80` | Vehicle envelope length supplied to coarse, smoothing, and EM planning. |
| `VehicleWidthMeters` | m | `0.60` | Vehicle envelope width supplied to planning. |
| `SafetyMarginMeters` | m | `0.05` | Additional planning clearance outside the vehicle envelope. |
| `MaximumCurvaturePerMeter` | 1/m | `1 / 1.20` | Maximum allowed vehicle curvature (about `0.8333 1/m`). |
The planning snapshot also uses the setup defaults: vehicle length `0.80 m`, vehicle width `0.60 m`, safety margin
`0.05 m`, and maximum curvature `1 / 1.20 m` (about `0.8333 1/m`). All fields and manual obstacles are read and frozen
before the background session starts. The live pose and actual longitudinal speed are then read once per observer tick.
The four vehicle fields are public editable MovementTest inputs. They, the map/timing fields, goal, and manual obstacles
are validated and copied into a frozen input snapshot before the background session starts. Later edits cannot change an
active session. The live pose and actual longitudinal speed are then read once per observer tick.
EM planning runs asynchronously with at most one planning cycle in flight. Every observer tick still captures fresh
state, samples the currently published trajectory, redraws all three layers, and emits a session-guarded status; a slow
planner therefore does not reduce the configured observation cadence.
## Manual obstacles
@@ -70,4 +77,6 @@ command is diagnostic information only and must not be copied into a vehicle-con
To stop, use the vehicle UI's normal MovementTest stop action. Confirm the status says
`Observation stop requested; all observer layers were cleared.` The cancellation request stops observer work and clears
all three layers. Stopping, running, or starting this test must not issue chassis, motor, steering, brake, or gear output.
all three layers. A current-session runtime fault also clears all three layers so stale active diagnostics are not left
on screen; an intentional bootstrap failure preserves its diagnostic world view. Stopping, running, or starting this
test must not issue chassis, motor, steering, brake, or gear output.