feat: expose validated path smoothing service
This commit is contained in:
梁薄云
@@ -0,0 +1,310 @@
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Threading;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.CoarsePath.Vehicle;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Algorithms;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Validation;
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using MultiWheelC.TrajectoryPlanning.Utils;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Facade;
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/// <summary>正式单算法路径平滑入口，负责输入校验、有限重试与经过复核的粗路径回退。</summary>
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public sealed class PathSmoothingService
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{
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private readonly PathSmoothingPreprocessor _preprocessor = new PathSmoothingPreprocessor();
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private readonly SmoothingAlgorithmRunner _runner = new SmoothingAlgorithmRunner();
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private readonly PathGeometryAnalyzer _analyzer = new PathGeometryAnalyzer();
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private readonly SmoothedPathValidator _validator = new SmoothedPathValidator();
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private readonly IPathSmoother _bSpline = new CubicBSplineSmoother();
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private readonly IPathSmoother _bezier = new LocalCubicBezierSmoother();
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private readonly IPathSmoother _quintic = new PiecewiseQuinticSmoother();
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/// <summary>执行一次经过完整安全复核的单算法平滑。</summary>
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public PathSmoothingResult Smooth(
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PathSmoothingRequest request,
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CancellationToken cancellationToken = default)
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{
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var stopwatch = Stopwatch.StartNew();
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try
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{
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cancellationToken.ThrowIfCancellationRequested();
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if (!TryValidateRequest(request, out PathSmoothingConfiguration configuration, out string reason))
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return Failure(PathSmoothingStatus.InvalidInput, stopwatch, 0, 0d, reason);
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if (!_preprocessor.TryPrepare(request, out PreparedPath preparedPath, out reason))
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return Failure(PathSmoothingStatus.InvalidInput, stopwatch, 0, 0d, reason);
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cancellationToken.ThrowIfCancellationRequested();
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var input = new SmoothingAlgorithmInput(
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preparedPath,
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request.Map,
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request.Vehicle,
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configuration.MaximumCollisionCheckStepMeters,
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configuration.MinimumClearanceReserveMeters,
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new SmoothingOptionsSnapshot(configuration));
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SmoothingAlgorithmRunner.AlgorithmRunResult runResult = _runner.Run(
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Resolve(configuration.Method), input, configuration, cancellationToken);
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int retryCount = GetRetryCount(runResult.AttemptedStrengths);
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PathSmoothingDiagnostics diagnostics = new PathSmoothingDiagnostics(
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runResult.Metrics,
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stopwatch.Elapsed,
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retryCount,
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runResult.AcceptedStrength,
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runResult.Reason);
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if (runResult.Status == PathSmoothingStatus.Success)
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{
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return PathSmoothingResult.Success(
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configuration.Method,
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runResult.Path,
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runResult.Segments,
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diagnostics);
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}
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if (!configuration.AllowFallbackToCoarsePath)
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return PathSmoothingResult.Failure(runResult.Status, diagnostics);
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cancellationToken.ThrowIfCancellationRequested();
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if (!TryCreateVerifiedFallback(
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request,
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configuration,
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cancellationToken,
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out IReadOnlyList<SmoothedPathPoint> fallbackPath,
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out IReadOnlyList<SmoothedPathSegment> fallbackSegments,
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out PathQualityMetrics fallbackMetrics,
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out reason))
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{
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return PathSmoothingResult.Failure(runResult.Status, diagnostics);
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}
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var fallbackDiagnostics = new PathSmoothingDiagnostics(
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fallbackMetrics,
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stopwatch.Elapsed,
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retryCount,
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runResult.AcceptedStrength,
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runResult.Reason);
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return PathSmoothingResult.Fallback(
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configuration.Method,
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fallbackPath,
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fallbackSegments,
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fallbackDiagnostics);
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}
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catch (OperationCanceledException)
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{
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return Failure(PathSmoothingStatus.Cancelled, stopwatch, 0, 0d, "路径平滑已取消。");
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}
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catch (Exception exception)
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{
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return Failure(PathSmoothingStatus.Failed, stopwatch, 0, 0d, exception.Message);
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}
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}
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private bool TryCreateVerifiedFallback(
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PathSmoothingRequest request,
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PathSmoothingConfiguration configuration,
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CancellationToken cancellationToken,
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out IReadOnlyList<SmoothedPathPoint> fallbackPath,
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out IReadOnlyList<SmoothedPathSegment> fallbackSegments,
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out PathQualityMetrics fallbackMetrics,
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out string reason)
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{
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fallbackPath = null;
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fallbackSegments = null;
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fallbackMetrics = null;
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reason = string.Empty;
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// Reprepare from the immutable request instead of reusing the algorithm input: fallback is a
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// separately published output and must repeat the coarse-path contract validation.
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if (!_preprocessor.TryPrepare(request, out PreparedPath revalidatedPath, out reason)) return false;
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cancellationToken.ThrowIfCancellationRequested();
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if (!_analyzer.TryAnalyze(
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ToFallbackSegments(revalidatedPath),
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configuration.OutputSpacingMeters,
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out PathGeometryAnalysis analysis,
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out reason))
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{
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return false;
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}
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IReadOnlyList<SmoothedPathPoint> fallbackSourcePath = ToFallbackPoints(analysis.Path);
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cancellationToken.ThrowIfCancellationRequested();
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if (!_validator.TryValidate(
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fallbackSourcePath,
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analysis.Segments,
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revalidatedPath,
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request.Map,
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request.Vehicle,
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configuration.MaximumCollisionCheckStepMeters,
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out IReadOnlyList<SmoothedPathPoint> safePath,
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out double minimumClearanceMeters,
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out reason))
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{
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return false;
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}
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fallbackPath = safePath;
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fallbackSegments = analysis.Segments;
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fallbackMetrics = CreateMetrics(analysis, minimumClearanceMeters);
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return true;
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}
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private IPathSmoother Resolve(SmoothingMethod method)
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{
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return method switch
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{
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SmoothingMethod.CubicBSpline => _bSpline,
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SmoothingMethod.LocalCubicBezier => _bezier,
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SmoothingMethod.PiecewiseQuintic => _quintic,
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_ => throw new ArgumentOutOfRangeException(nameof(method)),
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};
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}
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private static bool TryValidateRequest(
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PathSmoothingRequest request,
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out PathSmoothingConfiguration configuration,
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out string reason)
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{
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configuration = null;
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reason = string.Empty;
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if (request == null)
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{
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reason = "平滑请求为空。";
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return false;
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}
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configuration = request.Configuration;
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VehicleParameters vehicle = request.Vehicle;
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if (configuration == null || request.Map == null || !request.Map.PlanningReady || vehicle == null)
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{
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reason = "平滑请求缺少可用的地图、车辆或配置。";
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return false;
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}
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if (!NumericGuard.IsPositiveFinite(vehicle.LengthMeters) ||
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!NumericGuard.IsPositiveFinite(vehicle.WidthMeters) ||
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!NumericGuard.IsFinite(vehicle.SafetyMarginMeters) || vehicle.SafetyMarginMeters < 0d ||
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!VehicleKinematics.TryGetMaximumCurvaturePerMeter(vehicle, out _))
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{
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reason = "平滑请求中的车辆几何或曲率约束无效。";
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return false;
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}
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if (!Enum.IsDefined(typeof(SmoothingMethod), configuration.Method))
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{
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reason = "平滑方法无效。";
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return false;
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}
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if (!NumericGuard.IsPositiveFinite(configuration.OutputSpacingMeters) ||
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!NumericGuard.IsPositiveFinite(configuration.MaximumCollisionCheckStepMeters) ||
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!NumericGuard.IsFinite(configuration.MinimumClearanceReserveMeters) ||
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configuration.MinimumClearanceReserveMeters < 0d ||
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!NumericGuard.IsPositiveFinite(configuration.SmoothingStrength) ||
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!NumericGuard.IsPositiveFinite(configuration.CubicBSpline.EndpointTangentScale) ||
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!IsValidBezierThreshold(configuration.LocalCubicBezier.CornerHeadingThresholdRadians) ||
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!NumericGuard.IsPositiveFinite(configuration.LocalCubicBezier.MaximumWindowLengthMeters) ||
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!NumericGuard.IsPositiveFinite(configuration.LocalCubicBezier.HandleLengthRatio) ||
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!NumericGuard.IsPositiveFinite(configuration.PiecewiseQuintic.KnotSpacingMeters) ||
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!NumericGuard.IsPositiveFinite(configuration.PiecewiseQuintic.MinimumKnotSpacingMeters) ||
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configuration.PiecewiseQuintic.KnotSpacingMeters < configuration.PiecewiseQuintic.MinimumKnotSpacingMeters)
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{
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reason = "平滑配置包含非法数值或不满足方法契约。";
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return false;
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}
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return true;
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}
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private static bool IsValidBezierThreshold(double thresholdRadians)
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{
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return NumericGuard.IsFinite(thresholdRadians) && thresholdRadians > 0d && thresholdRadians <= Math.PI;
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}
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private static IReadOnlyList<PreparedDirectionSegment> ToFallbackSegments(PreparedPath path)
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{
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var segments = new List<PreparedDirectionSegment>(path.Segments.Count);
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for (int segmentIndex = 0; segmentIndex < path.Segments.Count; segmentIndex++)
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{
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PreparedDirectionSegment segment = path.Segments[segmentIndex];
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var points = new List<SmoothingPoint2D>(segment.Points.Count);
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for (int pointIndex = 0; pointIndex < segment.Points.Count; pointIndex++)
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{
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SmoothingPoint2D point = segment.Points[pointIndex];
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points.Add(new SmoothingPoint2D(
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point.X,
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point.Y,
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point.ArcLength,
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point.Heading,
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point.UnwrappedHeading,
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point.BodyClearance,
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point.IsGearSwitchPoint,
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SmoothedPathPointSource.CoarsePathFallback));
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}
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segments.Add(new PreparedDirectionSegment(
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segment.SegmentIndex,
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segment.Direction,
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points,
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segment.StartsAtGearSwitch,
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segment.EndsAtGearSwitch));
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}
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return segments;
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}
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private static IReadOnlyList<SmoothedPathPoint> ToFallbackPoints(IReadOnlyList<SmoothedPathPoint> path)
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{
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var points = new List<SmoothedPathPoint>(path.Count);
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for (int index = 0; index < path.Count; index++)
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{
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SmoothedPathPoint point = path[index];
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points.Add(new SmoothedPathPoint(
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point.X,
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point.Y,
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point.Heading,
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point.UnwrappedHeading,
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point.ArcLength,
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point.Direction,
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point.GeometricCurvature,
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point.VehicleCurvature,
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point.BodyClearance,
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point.IsGearSwitchPoint,
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SmoothedPathPointSource.CoarsePathFallback));
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}
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return points;
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}
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private static PathQualityMetrics CreateMetrics(PathGeometryAnalysis analysis, double minimumClearanceMeters)
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{
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return new PathQualityMetrics(
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true,
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analysis.PathLengthMeters,
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analysis.MaximumAbsoluteVehicleCurvaturePerMeter,
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analysis.RootMeanSquareVehicleCurvaturePerMeter,
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analysis.TotalAbsoluteCurvatureVariationPerMeter,
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analysis.CurvatureVariationEnergy,
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minimumClearanceMeters,
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0d,
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0d,
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0d,
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0d);
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}
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private static int GetRetryCount(IReadOnlyList<double> attemptedStrengths)
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{
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return attemptedStrengths == null || attemptedStrengths.Count == 0 ? 0 : attemptedStrengths.Count - 1;
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}
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private static PathSmoothingResult Failure(
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PathSmoothingStatus status,
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Stopwatch stopwatch,
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int retryCount,
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double acceptedStrength,
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string reason)
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{
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return PathSmoothingResult.Failure(
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status,
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new PathSmoothingDiagnostics(new PathQualityMetrics(), stopwatch.Elapsed, retryCount, acceptedStrength, reason));
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}
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}
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@@ -0,0 +1,223 @@
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param([string]$AssemblyPath = (Join-Path $PSScriptRoot '..\bin\Debug\netstandard2.0\ClumsyPilot.dll'))
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$ErrorActionPreference = 'Stop'
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$assembly = [Reflection.Assembly]::LoadFrom((Resolve-Path $AssemblyPath))
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function Assert-True($Actual, [string]$Message) {
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if (-not $Actual) { throw $Message }
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}
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function Assert-Equal($Expected, $Actual, [string]$Message) {
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if ($Expected -ne $Actual) { throw "$Message Expected=$Expected Actual=$Actual" }
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}
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function Assert-Near([double]$Expected, [double]$Actual, [double]$Tolerance, [string]$Message) {
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if ([Math]::Abs($Expected - $Actual) -gt $Tolerance) {
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throw "$Message Expected=$Expected Actual=$Actual Tolerance=$Tolerance"
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}
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}
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function Get-RequiredType([string]$Name) {
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return $assembly.GetType($Name, $true)
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}
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function New-EmptyMap {
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$mapRequest = [Activator]::CreateInstance($mapRequestType)
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$mapRequest.Bounds = [Activator]::CreateInstance($boundsType, @([single]0, [single]5000, [single]0, [single]5000))
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$mapRequest.ResolutionMm = [single]50
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$mapRequest.AllowExplicitEmptyMap = $true
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$map = [Activator]::CreateInstance($mapFactoryType).Create($mapRequest).Map
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Assert-True ($null -ne $map) 'Service test must create an explicit empty planning map.'
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return $map
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}
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function New-Vehicle {
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$vehicle = [Activator]::CreateInstance($vehicleType)
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$vehicle.LengthMeters = [double]0.20
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$vehicle.WidthMeters = [double]0.20
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$vehicle.SafetyMarginMeters = [double]0.0
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$vehicle.MaximumCurvaturePerMeter = [double]100.0
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return $vehicle
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}
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function New-CoarsePoint(
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[double]$X,
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[double]$Y,
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[double]$ArcLength,
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$Direction,
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[double]$BodyClearance = 1.0,
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[bool]$IsGearSwitch = $false) {
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return [Activator]::CreateInstance($coarsePointType, @(
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$X, $Y, [double]0.0, [double]0.0, $ArcLength, $Direction,
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[double]0.0, $BodyClearance, $IsGearSwitch, $coarseAnchor))
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}
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function New-Configuration($Method = $cubicBSpline) {
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$configuration = [Activator]::CreateInstance($configurationType)
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$configuration.Method = $Method
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return $configuration
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}
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function New-Request([object[]]$Points, $Configuration) {
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$typedPoints = [Array]::CreateInstance($coarsePointType, $Points.Count)
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for ($index = 0; $index -lt $Points.Count; $index++) {
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$typedPoints.SetValue($Points[$index], $index)
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}
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$segments = [Array]::CreateInstance($coarseSegmentType, 1)
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$segments.SetValue([Activator]::CreateInstance($coarseSegmentType, @(
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0, $forward, 0, ($Points.Count - 1), $false, $false)), 0)
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return [Activator]::CreateInstance($requestType, @($typedPoints, $segments, (New-EmptyMap), (New-Vehicle), $Configuration))
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}
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function New-StraightRequest($Configuration) {
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return New-Request @(
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(New-CoarsePoint 0.5 0.5 0.0 $forward),
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(New-CoarsePoint 1.5 0.5 1.0 $forward)) $Configuration
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}
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function New-InfeasibleRequest($Configuration) {
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# Zero declared movement clearance makes every non-linear B-spline displacement retryably infeasible,
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# while the empty map still permits the independently revalidated coarse-path fallback.
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return New-Request @(
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(New-CoarsePoint 0.5 0.5 0.0 $forward 0.0),
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(New-CoarsePoint 1.0 0.5 0.5 $forward 0.0),
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(New-CoarsePoint 1.0 1.0 1.0 $forward 0.0),
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(New-CoarsePoint 1.5 1.0 1.5 $forward 0.0)) $Configuration
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}
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function Invoke-Smooth($Request, [Threading.CancellationToken]$CancellationToken = [Threading.CancellationToken]::None) {
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return $smoothMethod.Invoke($service, @($Request, $CancellationToken))
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}
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function Assert-NoGeometry($Result, [string]$Message) {
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Assert-Equal 0 $Result.Path.Count "$Message A non-published result must not expose a path."
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Assert-Equal 0 $Result.Segments.Count "$Message A non-published result must not expose segments."
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}
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function Assert-InvalidInputBeforeRetry($Configuration, [string]$CaseName) {
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$result = Invoke-Smooth (New-StraightRequest $Configuration)
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Assert-Equal 'InvalidInput' $result.Status.ToString() "$CaseName must be rejected as invalid input."
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Assert-NoGeometry $result $CaseName
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Assert-Equal 0 $result.Diagnostics.RetryCount "$CaseName must be rejected before any smoothing retry."
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Assert-Near 0.0 $result.Diagnostics.AcceptedStrength 0.0 "$CaseName must not accept a smoothing strength."
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}
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$root = 'MultiWheelC.TrajectoryPlanning.PathSmoothing.'
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$facade = $root + 'Facade.'
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$coarsePath = 'MultiWheelC.TrajectoryPlanning.CoarsePath.'
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$mapping = 'MultiWheelC.TrajectoryPlanning.Mapping.'
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$serviceType = Get-RequiredType ($facade + 'PathSmoothingService')
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$requestType = Get-RequiredType ($root + 'PathSmoothingRequest')
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$resultType = Get-RequiredType ($root + 'PathSmoothingResult')
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$configurationType = Get-RequiredType ($root + 'PathSmoothingConfiguration')
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$methodType = Get-RequiredType ($root + 'SmoothingMethod')
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$coarsePointType = Get-RequiredType ($coarsePath + 'CoarsePathPoint')
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$coarseSegmentType = Get-RequiredType ($coarsePath + 'PathSegment')
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$directionType = Get-RequiredType ($coarsePath + 'TravelDirection')
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$coarsePointSourceType = Get-RequiredType ($coarsePath + 'CoarsePathPointSource')
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$vehicleType = Get-RequiredType ($coarsePath + 'VehicleParameters')
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$boundsType = Get-RequiredType ($mapping + 'MapBoundsMm')
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$mapRequestType = Get-RequiredType ($mapping + 'PlanningMapRequest')
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$mapFactoryType = Get-RequiredType ($mapping + 'PlanningMapFactory')
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Assert-True $serviceType.IsPublic 'PathSmoothingService must be public.'
|
||||
$service = [Activator]::CreateInstance($serviceType)
|
||||
$smoothMethod = $serviceType.GetMethod('Smooth', [Type[]]@($requestType, [Threading.CancellationToken]))
|
||||
Assert-True ($null -ne $smoothMethod) 'PathSmoothingService must expose Smooth(PathSmoothingRequest, CancellationToken).'
|
||||
Assert-Equal $resultType $smoothMethod.ReturnType 'PathSmoothingService Smooth must return PathSmoothingResult.'
|
||||
|
||||
$forward = [Enum]::Parse($directionType, 'Forward')
|
||||
$cubicBSpline = [Enum]::Parse($methodType, 'CubicBSpline')
|
||||
$localCubicBezier = [Enum]::Parse($methodType, 'LocalCubicBezier')
|
||||
$piecewiseQuintic = [Enum]::Parse($methodType, 'PiecewiseQuintic')
|
||||
$coarseAnchor = [Enum]::Parse($coarsePointSourceType, 'Start')
|
||||
|
||||
# The public method registry must retain every stable enum-to-algorithm mapping.
|
||||
foreach ($method in @($cubicBSpline, $localCubicBezier, $piecewiseQuintic)) {
|
||||
$result = Invoke-Smooth (New-StraightRequest (New-Configuration $method))
|
||||
Assert-Equal 'Success' $result.Status.ToString() "A valid straight path must succeed for $method."
|
||||
Assert-Equal $method.ToString() $result.Method.ToString() "The result must retain the selected $method method."
|
||||
Assert-True ($result.Path.Count -gt 0) "A successful $method result must publish geometry."
|
||||
Assert-True $result.Diagnostics.Metrics.IsFeasible "A successful $method result must publish feasible diagnostics."
|
||||
}
|
||||
|
||||
# Every configuration scalar is checked before the options snapshot or retry runner starts.
|
||||
$invalidConfigurationCases = @(
|
||||
[PSCustomObject]@{ Name = 'NaN output spacing'; Mutate = { param($c) $c.OutputSpacingMeters = [double]::NaN } },
|
||||
[PSCustomObject]@{ Name = 'zero output spacing'; Mutate = { param($c) $c.OutputSpacingMeters = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'infinite collision step'; Mutate = { param($c) $c.MaximumCollisionCheckStepMeters = [double]::PositiveInfinity } },
|
||||
[PSCustomObject]@{ Name = 'zero collision step'; Mutate = { param($c) $c.MaximumCollisionCheckStepMeters = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'NaN clearance reserve'; Mutate = { param($c) $c.MinimumClearanceReserveMeters = [double]::NaN } },
|
||||
[PSCustomObject]@{ Name = 'negative clearance reserve'; Mutate = { param($c) $c.MinimumClearanceReserveMeters = [double]-0.01 } },
|
||||
[PSCustomObject]@{ Name = 'NaN smoothing strength'; Mutate = { param($c) $c.SmoothingStrength = [double]::NaN } },
|
||||
[PSCustomObject]@{ Name = 'zero smoothing strength'; Mutate = { param($c) $c.SmoothingStrength = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'NaN B-spline scale'; Mutate = { param($c) $c.CubicBSpline.EndpointTangentScale = [double]::NaN } },
|
||||
[PSCustomObject]@{ Name = 'zero B-spline scale'; Mutate = { param($c) $c.CubicBSpline.EndpointTangentScale = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'zero Bezier threshold'; Mutate = { param($c) $c.LocalCubicBezier.CornerHeadingThresholdRadians = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'over-pi Bezier threshold'; Mutate = { param($c) $c.LocalCubicBezier.CornerHeadingThresholdRadians = [Math]::PI + 0.01 } },
|
||||
[PSCustomObject]@{ Name = 'NaN Bezier window'; Mutate = { param($c) $c.LocalCubicBezier.MaximumWindowLengthMeters = [double]::NaN } },
|
||||
[PSCustomObject]@{ Name = 'zero Bezier window'; Mutate = { param($c) $c.LocalCubicBezier.MaximumWindowLengthMeters = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'infinite Bezier handle scale'; Mutate = { param($c) $c.LocalCubicBezier.HandleLengthRatio = [double]::PositiveInfinity } },
|
||||
[PSCustomObject]@{ Name = 'zero Bezier handle scale'; Mutate = { param($c) $c.LocalCubicBezier.HandleLengthRatio = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'NaN quintic knot spacing'; Mutate = { param($c) $c.PiecewiseQuintic.KnotSpacingMeters = [double]::NaN } },
|
||||
[PSCustomObject]@{ Name = 'zero quintic knot spacing'; Mutate = { param($c) $c.PiecewiseQuintic.KnotSpacingMeters = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'infinite minimum quintic knot spacing'; Mutate = { param($c) $c.PiecewiseQuintic.MinimumKnotSpacingMeters = [double]::PositiveInfinity } },
|
||||
[PSCustomObject]@{ Name = 'zero minimum quintic knot spacing'; Mutate = { param($c) $c.PiecewiseQuintic.MinimumKnotSpacingMeters = [double]0.0 } },
|
||||
[PSCustomObject]@{ Name = 'quintic knot spacing below minimum'; Mutate = { param($c) $c.PiecewiseQuintic.KnotSpacingMeters = [double]0.05; $c.PiecewiseQuintic.MinimumKnotSpacingMeters = [double]0.10 } }
|
||||
)
|
||||
foreach ($case in $invalidConfigurationCases) {
|
||||
$configuration = New-Configuration
|
||||
& $case.Mutate $configuration
|
||||
Assert-InvalidInputBeforeRetry $configuration $case.Name
|
||||
}
|
||||
|
||||
$unknownMethodConfiguration = New-Configuration ([Enum]::ToObject($methodType, 99))
|
||||
Assert-InvalidInputBeforeRetry $unknownMethodConfiguration 'unknown smoothing method'
|
||||
|
||||
$invalidCoarseConfiguration = New-Configuration
|
||||
$invalidCoarseRequest = New-Request @(
|
||||
(New-CoarsePoint ([double]::NaN) 0.5 0.0 $forward),
|
||||
(New-CoarsePoint 1.5 0.5 1.0 $forward)) $invalidCoarseConfiguration
|
||||
$invalidCoarseResult = Invoke-Smooth $invalidCoarseRequest
|
||||
Assert-Equal 'InvalidInput' $invalidCoarseResult.Status.ToString() 'A non-finite coarse path coordinate must be invalid input.'
|
||||
Assert-NoGeometry $invalidCoarseResult 'Invalid coarse path'
|
||||
Assert-Equal 0 $invalidCoarseResult.Diagnostics.RetryCount 'Invalid coarse input must be rejected before retries.'
|
||||
|
||||
$cancelledConfiguration = New-Configuration
|
||||
$cancellationSource = [Threading.CancellationTokenSource]::new()
|
||||
$cancellationSource.Cancel()
|
||||
try {
|
||||
$cancelledResult = Invoke-Smooth (New-StraightRequest $cancelledConfiguration) $cancellationSource.Token
|
||||
Assert-Equal 'Cancelled' $cancelledResult.Status.ToString() 'Pre-cancelled smoothing must return the explicit cancellation result.'
|
||||
Assert-NoGeometry $cancelledResult 'Cancelled smoothing'
|
||||
Assert-Equal 0 $cancelledResult.Diagnostics.RetryCount 'Cancellation before execution must not start retries.'
|
||||
}
|
||||
finally {
|
||||
$cancellationSource.Dispose()
|
||||
}
|
||||
|
||||
$withoutFallbackConfiguration = New-Configuration
|
||||
$withoutFallbackConfiguration.AllowFallbackToCoarsePath = $false
|
||||
$withoutFallbackResult = Invoke-Smooth (New-InfeasibleRequest $withoutFallbackConfiguration)
|
||||
Assert-Equal 'Infeasible' $withoutFallbackResult.Status.ToString() 'A retryably infeasible candidate without fallback must remain infeasible.'
|
||||
Assert-NoGeometry $withoutFallbackResult 'Infeasible smoothing without fallback'
|
||||
Assert-Equal 3 $withoutFallbackResult.Diagnostics.RetryCount 'Infeasible smoothing must exhaust the four configured strengths.'
|
||||
Assert-Near 0.0 $withoutFallbackResult.Diagnostics.AcceptedStrength 0.0 'Infeasible smoothing must not accept a strength.'
|
||||
|
||||
$withFallbackConfiguration = New-Configuration
|
||||
$withFallbackConfiguration.AllowFallbackToCoarsePath = $true
|
||||
$withFallbackResult = Invoke-Smooth (New-InfeasibleRequest $withFallbackConfiguration)
|
||||
Assert-Equal 'FallbackToCoarsePath' $withFallbackResult.Status.ToString() 'A verified coarse path must return explicit fallback status.'
|
||||
Assert-Equal 'CubicBSpline' $withFallbackResult.Method.ToString() 'Fallback must retain the originally selected method.'
|
||||
Assert-True ($withFallbackResult.Path.Count -gt 0) 'A verified fallback must publish the revalidated coarse geometry.'
|
||||
Assert-True $withFallbackResult.Diagnostics.Metrics.IsFeasible 'Fallback must publish feasible shared-geometry diagnostics.'
|
||||
foreach ($point in $withFallbackResult.Path) {
|
||||
Assert-Equal 'CoarsePathFallback' $point.Source.ToString() 'Every fallback point must be explicitly labeled as coarse-path fallback.'
|
||||
}
|
||||
Assert-Equal $withoutFallbackResult.Diagnostics.RetryCount $withFallbackResult.Diagnostics.RetryCount 'Fallback must preserve retry diagnostics from the failed method.'
|
||||
Assert-Near $withoutFallbackResult.Diagnostics.AcceptedStrength $withFallbackResult.Diagnostics.AcceptedStrength 0.0 'Fallback must preserve the failed method accepted-strength diagnostic.'
|
||||
Assert-Equal $withoutFallbackResult.Diagnostics.TerminationReason $withFallbackResult.Diagnostics.TerminationReason 'Fallback must preserve the failed method termination reason.'
|
||||
|
||||
Write-Output 'Path smoothing service checks passed.'
|
||||
Reference in New Issue
Block a user