fix: align smoothing feasibility and option flow

2026-07-29 12:39:46 +08:00
parent fc9aff4d84
commit d670a9c821
9 changed files with 466 additions and 102 deletions
@@ -12,6 +12,7 @@ namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Algorithms;
 /// <summary>在有限强度计划内运行单一算法，并以共享分析和安全复核决定是否接受候选。</summary>
 internal sealed class SmoothingAlgorithmRunner
 {
+    private static readonly double[] RetryStrengthScales = { 1d, 0.75d, 0.50d, 0.25d };
    private readonly PathGeometryAnalyzer _analyzer;
    private readonly SmoothedPathValidator _validator;

@@ -28,7 +29,7 @@ internal sealed class SmoothingAlgorithmRunner

    /// <summary>
    /// 依次尝试配置的有限强度比例。取消直接向上传播，由门面转换为最终状态；
-    /// 数值失败和几何分析失败均不重试，以避免以较低强度掩盖算法退化。
+    /// 只有算法明确标记为可重试的不可行性才会使用较低强度；终止失败和统一复核失败均不重试。
    /// </summary>
    internal AlgorithmRunResult Run(
        IPathSmoother smoother,
@@ -38,13 +39,10 @@ internal sealed class SmoothingAlgorithmRunner
    {
        var attemptedStrengths = new List<double>();
        var failureReasons = new List<string>();
-        if (smoother == null || input == null || configuration == null)
+        if (smoother == null || input == null || input.Options == null || configuration == null)
            return AlgorithmRunResult.Failed("平滑算法、输入或配置无效。", attemptedStrengths, failureReasons);
-        if (configuration.RetryStrengthScales == null || configuration.RetryStrengthScales.Count == 0)
-            return AlgorithmRunResult.Failed("平滑强度重试计划为空。", attemptedStrengths, failureReasons);

-        SmoothingCandidate rejectedCandidate = null;
-        foreach (double scale in configuration.RetryStrengthScales)
+        foreach (double scale in RetryStrengthScales)
        {
            cancellationToken.ThrowIfCancellationRequested();
            double effectiveStrength = configuration.SmoothingStrength * scale;
@@ -55,11 +53,22 @@ internal sealed class SmoothingAlgorithmRunner
            SmoothingCandidate candidate = smoother.Smooth(input, effectiveStrength, cancellationToken);
            if (candidate == null)
                return AlgorithmRunResult.Failed("平滑算法未返回候选。", attemptedStrengths, failureReasons);
-            if (!candidate.Succeeded)
+            if (candidate.Status == SmoothingCandidateStatus.RetryableInfeasible)
+            {
+                failureReasons.Add(candidate.Reason);
+                continue;
+            }
+            if (candidate.Status == SmoothingCandidateStatus.Failed)
            {
                failureReasons.Add(candidate.Reason);
                return AlgorithmRunResult.Failed(candidate.Reason, attemptedStrengths, failureReasons);
            }
+            if (candidate.Status != SmoothingCandidateStatus.Success)
+            {
+                const string unknownStatusReason = "平滑算法返回未知候选状态。";
+                failureReasons.Add(unknownStatusReason);
+                return AlgorithmRunResult.Failed(unknownStatusReason, attemptedStrengths, failureReasons);
+            }

            if (!_analyzer.TryAnalyze(candidate.Segments, configuration.OutputSpacingMeters,
                out PathGeometryAnalysis analysis, out string reason))
@@ -77,11 +86,11 @@ internal sealed class SmoothingAlgorithmRunner
                    attemptedStrengths, failureReasons);
            }

-            rejectedCandidate = candidate;
            failureReasons.Add(reason);
+            return AlgorithmRunResult.Failed(reason, attemptedStrengths, failureReasons);
        }

-        return AlgorithmRunResult.Infeasible(rejectedCandidate, attemptedStrengths, failureReasons);
+        return AlgorithmRunResult.Infeasible(null, attemptedStrengths, failureReasons);
    }

    private static PathQualityMetrics CreateMetrics(PathGeometryAnalysis analysis, double minimumClearanceMeters)
@@ -195,9 +204,9 @@ internal sealed class SmoothingAlgorithmRunner

        private enum TestScenario
        {
-            RejectAll,
+            RetryableInfeasible,
            AcceptFirst,
-            NumericalFailure,
+            TerminalFailed,
            CancelBeforeNextAttempt,
        }

@@ -223,23 +232,22 @@ internal sealed class SmoothingAlgorithmRunner
                CancellationToken cancellationToken)
            {
                AttemptedStrengths.Add(effectiveStrength);
-                if (_scenario == TestScenario.NumericalFailure)
+                if (_scenario == TestScenario.TerminalFailed)
                    return SmoothingCandidate.Failed("确定性数值退化。");
                if (_scenario == TestScenario.AcceptFirst)
                    return CreateAcceptedCandidate();

-                SmoothingCandidate rejected = CreateRejectedCandidate();
                if (_scenario == TestScenario.CancelBeforeNextAttempt)
                    _cancellationSource.Cancel();
-                return rejected;
+                return SmoothingCandidate.RetryableInfeasible("确定性可重试不可行。" );
            }
        }

        private static TestScenario ParseScenario(string scenario)
        {
-            if (string.Equals(scenario, nameof(TestScenario.RejectAll), StringComparison.Ordinal)) return TestScenario.RejectAll;
+            if (string.Equals(scenario, nameof(TestScenario.RetryableInfeasible), StringComparison.Ordinal)) return TestScenario.RetryableInfeasible;
            if (string.Equals(scenario, nameof(TestScenario.AcceptFirst), StringComparison.Ordinal)) return TestScenario.AcceptFirst;
-            if (string.Equals(scenario, nameof(TestScenario.NumericalFailure), StringComparison.Ordinal)) return TestScenario.NumericalFailure;
+            if (string.Equals(scenario, nameof(TestScenario.TerminalFailed), StringComparison.Ordinal)) return TestScenario.TerminalFailed;
            if (string.Equals(scenario, nameof(TestScenario.CancelBeforeNextAttempt), StringComparison.Ordinal)) return TestScenario.CancelBeforeNextAttempt;
            throw new ArgumentOutOfRangeException(nameof(scenario));
        }
@@ -277,7 +285,13 @@ internal sealed class SmoothingAlgorithmRunner
                MaximumCurvaturePerMeter = 100d,
                MinimumTurningRadiusMeters = 0.01d,
            };
-            return new SmoothingAlgorithmInput(new PreparedPath(originalSegments), mapResult.Map, vehicle, 0.05d, 0.02d);
+            return new SmoothingAlgorithmInput(
+                new PreparedPath(originalSegments),
+                mapResult.Map,
+                vehicle,
+                0.05d,
+                0.02d,
+                new SmoothingOptionsSnapshot(new PathSmoothingConfiguration()));
        }

        private static SmoothingCandidate CreateAcceptedCandidate()
@@ -297,24 +311,6 @@ internal sealed class SmoothingAlgorithmRunner
            });
        }

-        private static SmoothingCandidate CreateRejectedCandidate()
-        {
-            return SmoothingCandidate.Success(new List<PreparedDirectionSegment>
-            {
-                new PreparedDirectionSegment(
-                    0,
-                    TravelDirection.Forward,
-                    new List<SmoothingPoint2D>
-                    {
-                        CreatePoint(0.5d, 0.5d, 0d),
-                        CreatePoint(0.05d, 0.5d, 0.45d),
-                        CreatePoint(1.5d, 0.5d, 1.90d),
-                    },
-                    false,
-                    false),
-            });
-        }
-
        private static SmoothingPoint2D CreatePoint(double x, double y, double arcLength)
        {
            return new SmoothingPoint2D(