102 lines
3.8 KiB
C#
102 lines
3.8 KiB
C#
using System;
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using System.Linq;
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using TrajectoryPlanningVisualization;
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namespace TrajectoryPlanningVisualizationVerificationHost;
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internal static class RuntimeChecks
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{
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public static void Run()
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{
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KeepsOnlyTheLatestFrame();
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KeepsBoundedDeduplicatedCycleHistory();
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SerializesStableCamelCaseJson();
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RejectsInvalidOptions();
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}
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private static void KeepsOnlyTheLatestFrame()
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{
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var store = new LatestVisualizationFrameStore();
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store.Publish(Snap(1));
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store.Publish(Snap(2));
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Verification.True(store.TryReadAfter(0, out VisualizationFrame frame), "latest frame exists");
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Verification.Equal(2L, frame.Snapshot.Sequence, "latest frame replaces old frame");
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Verification.True(!store.TryReadAfter(frame.Version, out _), "same frame is not replayed");
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}
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private static void KeepsBoundedDeduplicatedCycleHistory()
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{
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var history = new BoundedCycleHistory(2);
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history.Add(Cycle(1));
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history.Add(Cycle(2));
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history.Add(Cycle(3));
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history.Add(Cycle(3));
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Verification.Equal("2|3", string.Join("|", history.Snapshot().Select(x => x.CycleVersion)),
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"history is bounded and deduplicated");
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}
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private static void SerializesStableCamelCaseJson()
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{
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string json = VisualizationJson.Serialize(Snap(2));
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Verification.True(json.Contains("\"sessionStateChinese\"") && json.Contains("\"observedAtUtc\""),
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"JSON uses stable camel case names");
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}
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private static void RejectsInvalidOptions()
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{
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Verification.Throws<ArgumentOutOfRangeException>(
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() => new PlanningVisualizationOptions { Port = -1 }.CreateValidatedSnapshot(),
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"options reject a negative port");
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Verification.Throws<ArgumentOutOfRangeException>(
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() => new PlanningVisualizationOptions { RefreshRateHz = 0 }.CreateValidatedSnapshot(),
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"options reject a zero refresh rate");
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Verification.Throws<ArgumentOutOfRangeException>(
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() => new PlanningVisualizationOptions { HistoryCycleLimit = 0 }.CreateValidatedSnapshot(),
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"options reject a zero history limit");
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Verification.Throws<ArgumentOutOfRangeException>(
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() => new PlanningVisualizationOptions { Port = 65536 }.CreateValidatedSnapshot(),
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"options reject a port above the TCP range");
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var snapshot = new PlanningVisualizationOptions().CreateValidatedSnapshot();
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Verification.Equal(0, snapshot.Port, "default port is automatic");
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Verification.Equal(10, snapshot.RefreshRateHz, "default refresh rate is 10 Hz");
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Verification.Equal(60, snapshot.HistoryCycleLimit, "default history is bounded to 60 cycles");
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Verification.Equal(2, snapshot.MaximumClients, "maximum clients is fixed at two");
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}
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private static PlanningVisualizationDynamicSnapshot Snap(long sequence)
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{
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return new PlanningVisualizationDynamicSnapshot(
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sequence,
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DateTimeOffset.Parse("2026-08-06T00:00:00+00:00").AddSeconds(sequence),
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"运行中",
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0,
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"forward",
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new VisualizationPose(1d, 2d, 0d),
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Array.Empty<VisualizationPolyline>(),
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Array.Empty<VisualizationMarker>(),
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Array.Empty<VisualizationChart>(),
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Array.Empty<VisualizationValue>(),
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Cycle(sequence));
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}
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private static VisualizationCycleSummary Cycle(long cycleVersion)
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{
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return new VisualizationCycleSummary(
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cycleVersion,
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DateTimeOffset.Parse("2026-08-06T00:00:00+00:00").AddSeconds(cycleVersion),
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"成功",
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true,
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2.5d,
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0,
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"forward",
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"rolling",
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"none",
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null,
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null,
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"");
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}
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}
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