feat: configure MovementTest ST time controls

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -33,6 +33,10 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
     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;
+    /// <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;
@@ -63,6 +67,8 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                 ObserverPeriodSeconds = ObserverPeriodSeconds,
                 SolverTimeoutSeconds = SolverTimeoutSeconds,
                 MaximumOsqpIterations = MaximumOsqpIterations,
+                TimeHorizonSeconds = TimeHorizonSeconds,
+                OutputTimeStepSeconds = OutputTimeStepSeconds,
                 VehicleLengthMeters = VehicleLengthMeters,
                 VehicleWidthMeters = VehicleWidthMeters,
                 SafetyMarginMeters = SafetyMarginMeters,

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs

@@ -14,6 +14,10 @@ public sealed class TrajectoryObservationSettings
     public double ObserverPeriodSeconds { get; set; } = 0.05d;
     public double SolverTimeoutSeconds { get; set; } = 0.50d;
     public int MaximumOsqpIterations { get; set; } = 12000;
+    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；不等于观察循环周期。</summary>
+    public double TimeHorizonSeconds { get; set; } = 6d;
+    /// <summary>发布 Trajectory 相邻 TimeFromStart 时间戳的间隔，单位 s；不等于观察循环周期。</summary>
+    public double OutputTimeStepSeconds { get; set; } = 0.10d;
     public double VehicleLengthMeters { get; set; } = 0.80d;
     public double VehicleWidthMeters { get; set; } = 0.60d;
     public double SafetyMarginMeters { get; set; } = 0.05d;
@@ -29,6 +33,8 @@ public sealed class TrajectoryObservationSettings
             ObserverPeriodSeconds = ObserverPeriodSeconds,
             SolverTimeoutSeconds = SolverTimeoutSeconds,
             MaximumOsqpIterations = MaximumOsqpIterations,
+            TimeHorizonSeconds = TimeHorizonSeconds,
+            OutputTimeStepSeconds = OutputTimeStepSeconds,
             VehicleLengthMeters = VehicleLengthMeters,
             VehicleWidthMeters = VehicleWidthMeters,
             SafetyMarginMeters = SafetyMarginMeters,
@@ -47,6 +53,11 @@ public sealed class TrajectoryObservationSettings
         EnsurePositiveFinite(SolverTimeoutSeconds, nameof(SolverTimeoutSeconds));
         if (MaximumOsqpIterations <= 0)
             throw new ArgumentOutOfRangeException(nameof(MaximumOsqpIterations), "Value must be positive.");
+        EnsurePositiveFinite(TimeHorizonSeconds, nameof(TimeHorizonSeconds));
+        EnsurePositiveFinite(OutputTimeStepSeconds, nameof(OutputTimeStepSeconds));
+        if (OutputTimeStepSeconds > TimeHorizonSeconds)
+            throw new ArgumentOutOfRangeException(nameof(OutputTimeStepSeconds),
+                "The trajectory timestamp spacing cannot exceed the ST time horizon.");
         EnsurePositiveFinite(VehicleLengthMeters, nameof(VehicleLengthMeters));
         EnsurePositiveFinite(VehicleWidthMeters, nameof(VehicleWidthMeters));
         EnsurePositiveFinite(SafetyMarginMeters, nameof(SafetyMarginMeters));

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -209,6 +209,8 @@ public sealed class TrajectoryObservationController
         configuration.Scheduling.ReplanPeriodSeconds = settings.ReplanPeriodSeconds;
         configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
         configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
+        configuration.Scheduling.TimeHorizonSeconds = settings.TimeHorizonSeconds;
+        configuration.Scheduling.OutputTimeStepSeconds = settings.OutputTimeStepSeconds;
         coordinator = new EmPlanningCoordinator(planningService);
         executor = new TrajectoryExecutor(configuration);
         this.sessionId = sessionId;

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -110,6 +110,12 @@ internal static class TrajectoryObservationChecks
             "observer MovementTest exposes the test solver timeout default");
         Verification.True(source.Contains("public int MaximumOsqpIterations = 12000;"),
             "observer MovementTest exposes the test OSQP iteration default");
+        Verification.True(source.Contains("public double TimeHorizonSeconds = 6d;"),
+            "observer MovementTest exposes the ST time-horizon default");
+        Verification.True(source.Contains("public double OutputTimeStepSeconds = 0.10d;"),
+            "observer MovementTest exposes the ST timestamp-spacing default");
+        Verification.True(source.Contains("不等于观察循环周期"),
+            "observer MovementTest documents the distinction between output timestamps and observer ticks");
         Verification.True(source.Contains("VehicleLengthMeters = VehicleLengthMeters,"),
             "observer MovementTest copies vehicle length into settings");
         Verification.True(source.Contains("VehicleWidthMeters = VehicleWidthMeters,"),
@@ -122,6 +128,10 @@ internal static class TrajectoryObservationChecks
             "observer MovementTest copies solver timeout into settings");
         Verification.True(source.Contains("MaximumOsqpIterations = MaximumOsqpIterations,"),
             "observer MovementTest copies OSQP iteration limit into settings");
+        Verification.True(source.Contains("TimeHorizonSeconds = TimeHorizonSeconds,"),
+            "observer MovementTest copies ST time horizon into settings");
+        Verification.True(source.Contains("OutputTimeStepSeconds = OutputTimeStepSeconds,"),
+            "observer MovementTest copies ST timestamp spacing into settings");
         string normalizedSource = source.Replace("\r\n", "\n");
         Verification.True(normalizedSource.Contains(
                 "VehicleMotionState state = ReadVehicleState();\n            DateTimeOffset now = state.CapturedAtUtc;"),
@@ -130,6 +140,10 @@ internal static class TrajectoryObservationChecks
             "observer settings use the test solver timeout default");
         Verification.Equal(12000, new TrajectoryObservationSettings().MaximumOsqpIterations,
             "observer settings use the test OSQP iteration default");
+        Verification.NearlyEqual(6d, new TrajectoryObservationSettings().TimeHorizonSeconds,
+            "observer settings use the ST time-horizon default");
+        Verification.NearlyEqual(0.10d, new TrajectoryObservationSettings().OutputTimeStepSeconds,
+            "observer settings use the ST timestamp-spacing default");
 
         var configured = new TrajectoryObservationSettings
         {
@@ -139,6 +153,8 @@ internal static class TrajectoryObservationChecks
             MaximumCurvaturePerMeter = 0.55d,
             SolverTimeoutSeconds = 0.42d,
             MaximumOsqpIterations = 9000,
+            TimeHorizonSeconds = 4d,
+            OutputTimeStepSeconds = 0.20d,
         };
         TrajectoryObservationSettings snapshot = configured.CreateValidatedSnapshot();
         configured.VehicleLengthMeters = 9.10d;
@@ -147,6 +163,8 @@ internal static class TrajectoryObservationChecks
         configured.MaximumCurvaturePerMeter = 9.40d;
         configured.SolverTimeoutSeconds = 9.50d;
         configured.MaximumOsqpIterations = 9500;
+        configured.TimeHorizonSeconds = 5d;
+        configured.OutputTimeStepSeconds = 0.25d;
 
         Verification.NearlyEqual(1.10d, snapshot.VehicleLengthMeters,
             "observer settings snapshot freezes vehicle length");
@@ -160,6 +178,10 @@ internal static class TrajectoryObservationChecks
             "observer settings snapshot freezes solver timeout");
         Verification.Equal(9000, snapshot.MaximumOsqpIterations,
             "observer settings snapshot freezes OSQP iteration limit");
+        Verification.NearlyEqual(4d, snapshot.TimeHorizonSeconds,
+            "observer settings snapshot freezes ST time horizon");
+        Verification.NearlyEqual(0.20d, snapshot.OutputTimeStepSeconds,
+            "observer settings snapshot freezes ST timestamp spacing");
 
         CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
             new Pose2D(0d, 0d, 0d), new Pose2D(1d, 0d, 0d), snapshot,
@@ -183,6 +205,13 @@ internal static class TrajectoryObservationChecks
         AssertInvalidSetting(settings => settings.SolverTimeoutSeconds = 0d, "solver timeout");
         AssertInvalidSetting(settings => settings.MaximumOsqpIterations = 0, "OSQP iteration limit");
         AssertInvalidSetting(settings => settings.MaximumOsqpIterations = -1, "negative OSQP iteration limit");
+        AssertInvalidSetting(settings => settings.TimeHorizonSeconds = 0d, "ST time horizon");
+        AssertInvalidSetting(settings => settings.OutputTimeStepSeconds = 0d, "ST timestamp spacing");
+        AssertInvalidSetting(settings =>
+        {
+            settings.TimeHorizonSeconds = 1d;
+            settings.OutputTimeStepSeconds = 1.01d;
+        }, "ST timestamp spacing larger than the horizon");
     }
 
     private static void AssertInvalidSetting(Action<TrajectoryObservationSettings> mutate, string name)
@@ -404,7 +433,12 @@ internal static class TrajectoryObservationChecks
         Verification.NearlyEqual(10.25d, charts.LsSamples[0].PathS, "observer first LS path S");
         Verification.NearlyEqual(0.10d, charts.LsSamples[0].LateralOffset, "observer first LS offset");
 
-        var settings = new TrajectoryObservationSettings { MaximumOsqpIterations = 9000 };
+        var settings = new TrajectoryObservationSettings
+        {
+            MaximumOsqpIterations = 9000,
+            TimeHorizonSeconds = 4d,
+            OutputTimeStepSeconds = 0.20d,
+        };
         CoarsePathPlanningJob job = TrajectoryObservationSetupFactory.CreateBootstrapJob(
             new Pose2D(0d, 0d, 0d), new Pose2D(1d, 0d, 0d), settings,
             Array.Empty<TrajectoryObservationObstacle>(), 0L);
@@ -431,6 +465,12 @@ internal static class TrajectoryObservationChecks
         Verification.Equal(settings.MaximumOsqpIterations,
             planningService.Requests[0].Configuration.Solver.MaximumOsqpIterations,
             "observer configured OSQP iteration limit");
+        Verification.NearlyEqual(settings.TimeHorizonSeconds,
+            planningService.Requests[0].Configuration.Scheduling.TimeHorizonSeconds,
+            "observer configured ST time horizon");
+        Verification.NearlyEqual(settings.OutputTimeStepSeconds,
+            planningService.Requests[0].Configuration.Scheduling.OutputTimeStepSeconds,
+            "observer configured ST timestamp spacing");
 
         TrajectoryObservationObservation observation = controller.Observe(effectiveAt.AddSeconds(0.5d), state);
         Verification.NearlyEqual(0.5d, observation.SelectedPoint.TimeFromStart,