feat: configure observation visualization

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -31,16 +31,26 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
     public float MapResolutionMm = 50f;
     public double ReplanPeriodSeconds = 0.20d;
     public double ObserverPeriodSeconds = 0.05d;
-    public double SolverTimeoutSeconds = 0.50d;
-    public int MaximumOsqpIterations = 12000;
-    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；默认 6s，不等于观察循环周期。</summary>
-    public double TimeHorizonSeconds = 6d;
+    public double SolverTimeoutSeconds = 5.0d;
+    public int MaximumOsqpIterations = 100000;
+    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；默认 2s，不等于观察循环周期。</summary>
+    public double TimeHorizonSeconds = 2d;
     /// <summary>Trajectory 相邻 TimeFromStart 时间戳的间隔，单位 s；默认 0.10s，不等于观察循环周期。</summary>
     public double OutputTimeStepSeconds = 0.10d;
     public double VehicleLengthMeters = 0.80d;
     public double VehicleWidthMeters = 0.60d;
     public double SafetyMarginMeters = 0.05d;
     public double MaximumCurvaturePerMeter = 1d / 1.20d;
+    public bool EnableWebVisualization = false;
+    public bool AutoOpenWebVisualization = true;
+    public int WebVisualizationPort = 0;
+    public double WebRefreshRateHz = 10d;
+    public int VisualizationHistoryCycleLimit = 60;
+    public bool EnableNativePainterVisualization = false;
+    public double DirectionConfirmationSpeedMetersPerSecond = 0.02d;
+    public int DirectionConfirmationSamples = 3;
+    public double GearSwitchProjectionToleranceMeters = 0.50d;
+    public double GearSwitchStopHoldSeconds = 0.20d;
 
     public override void Test()
     {
@@ -73,6 +83,16 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                 VehicleWidthMeters = VehicleWidthMeters,
                 SafetyMarginMeters = SafetyMarginMeters,
                 MaximumCurvaturePerMeter = MaximumCurvaturePerMeter,
+                EnableWebVisualization = EnableWebVisualization,
+                AutoOpenWebVisualization = AutoOpenWebVisualization,
+                WebVisualizationPort = WebVisualizationPort,
+                WebRefreshRateHz = WebRefreshRateHz,
+                VisualizationHistoryCycleLimit = VisualizationHistoryCycleLimit,
+                EnableNativePainterVisualization = EnableNativePainterVisualization,
+                DirectionConfirmationSpeedMetersPerSecond = DirectionConfirmationSpeedMetersPerSecond,
+                DirectionConfirmationSamples = DirectionConfirmationSamples,
+                GearSwitchProjectionToleranceMeters = GearSwitchProjectionToleranceMeters,
+                GearSwitchStopHoldSeconds = GearSwitchStopHoldSeconds,
             };
             settings = settings.CreateValidatedSnapshot();
             TimeSpan observerPeriod = TimeSpan.FromSeconds(settings.ObserverPeriodSeconds);