fix: stabilize stopped-start EM planning and add txt diagnostics

2026-08-07 15:51:31 +08:00
parent f2970d0aff
commit d378ad6257
13 changed files with 373 additions and 53 deletions
@@ -0,0 +1,67 @@
+using System;
+using System.Globalization;
+using System.IO;
+using System.Text;
+
+namespace MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
+
+/// <summary>Buffers a readable text report for one trajectory observation session.</summary>
+public sealed class TrajectoryObservationReportWriter
+{
+    private readonly long _sessionId;
+    private readonly string _reportDirectory;
+    private readonly StringBuilder _content = new StringBuilder();
+    private readonly object _sync = new object();
+
+    public TrajectoryObservationReportWriter(long sessionId, string reportDirectory = null)
+    {
+        if (sessionId <= 0)
+            throw new ArgumentOutOfRangeException(nameof(sessionId));
+
+        _sessionId = sessionId;
+        _reportDirectory = reportDirectory ??
+            Path.Combine(Environment.CurrentDirectory, "TrajectoryObservationReports");
+        AppendHeader();
+    }
+
+    public string FilePath
+    {
+        get
+        {
+            return Path.Combine(_reportDirectory, "trajectory-observation-session-" +
+                _sessionId.ToString(CultureInfo.InvariantCulture) + ".txt");
+        }
+    }
+
+    public void Append(string text)
+    {
+        if (string.IsNullOrEmpty(text))
+            return;
+
+        lock (_sync)
+        {
+            _content.Append(DateTimeOffset.Now.ToString("yyyy-MM-dd HH:mm:ss.fff", CultureInfo.InvariantCulture));
+            _content.Append(" | ");
+            _content.AppendLine(text);
+        }
+    }
+
+    public string Save()
+    {
+        lock (_sync)
+        {
+            Directory.CreateDirectory(_reportDirectory);
+            File.WriteAllText(FilePath, _content.ToString(), new UTF8Encoding(false));
+            return FilePath;
+        }
+    }
+
+    private void AppendHeader()
+    {
+        _content.AppendLine("EM trajectory observation report");
+        _content.AppendLine("session=" + _sessionId.ToString(CultureInfo.InvariantCulture));
+        _content.AppendLine("OBSERVE_ONLY: no chassis command is sent.");
+        _content.AppendLine("reportGeneratedUtc=" + DateTimeOffset.UtcNow.ToString("O", CultureInfo.InvariantCulture));
+        _content.AppendLine();
+    }
+}