224 lines
13 KiB
PowerShell
224 lines
13 KiB
PowerShell
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 $serviceType.IsPublic 'PathSmoothingService must be public.'
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$service = [Activator]::CreateInstance($serviceType)
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$smoothMethod = $serviceType.GetMethod('Smooth', [Type[]]@($requestType, [Threading.CancellationToken]))
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Assert-True ($null -ne $smoothMethod) 'PathSmoothingService must expose Smooth(PathSmoothingRequest, CancellationToken).'
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Assert-Equal $resultType $smoothMethod.ReturnType 'PathSmoothingService Smooth must return PathSmoothingResult.'
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$forward = [Enum]::Parse($directionType, 'Forward')
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$cubicBSpline = [Enum]::Parse($methodType, 'CubicBSpline')
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$localCubicBezier = [Enum]::Parse($methodType, 'LocalCubicBezier')
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$piecewiseQuintic = [Enum]::Parse($methodType, 'PiecewiseQuintic')
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$coarseAnchor = [Enum]::Parse($coarsePointSourceType, 'Start')
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# The public method registry must retain every stable enum-to-algorithm mapping.
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foreach ($method in @($cubicBSpline, $localCubicBezier, $piecewiseQuintic)) {
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$result = Invoke-Smooth (New-StraightRequest (New-Configuration $method))
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Assert-Equal 'Success' $result.Status.ToString() "A valid straight path must succeed for $method."
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Assert-Equal $method.ToString() $result.Method.ToString() "The result must retain the selected $method method."
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Assert-True ($result.Path.Count -gt 0) "A successful $method result must publish geometry."
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Assert-True $result.Diagnostics.Metrics.IsFeasible "A successful $method result must publish feasible diagnostics."
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}
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# Every configuration scalar is checked before the options snapshot or retry runner starts.
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$invalidConfigurationCases = @(
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[PSCustomObject]@{ Name = 'NaN output spacing'; Mutate = { param($c) $c.OutputSpacingMeters = [double]::NaN } },
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[PSCustomObject]@{ Name = 'zero output spacing'; Mutate = { param($c) $c.OutputSpacingMeters = [double]0.0 } },
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[PSCustomObject]@{ Name = 'infinite collision step'; Mutate = { param($c) $c.MaximumCollisionCheckStepMeters = [double]::PositiveInfinity } },
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[PSCustomObject]@{ Name = 'zero collision step'; Mutate = { param($c) $c.MaximumCollisionCheckStepMeters = [double]0.0 } },
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[PSCustomObject]@{ Name = 'NaN clearance reserve'; Mutate = { param($c) $c.MinimumClearanceReserveMeters = [double]::NaN } },
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[PSCustomObject]@{ Name = 'negative clearance reserve'; Mutate = { param($c) $c.MinimumClearanceReserveMeters = [double]-0.01 } },
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[PSCustomObject]@{ Name = 'NaN smoothing strength'; Mutate = { param($c) $c.SmoothingStrength = [double]::NaN } },
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[PSCustomObject]@{ Name = 'zero smoothing strength'; Mutate = { param($c) $c.SmoothingStrength = [double]0.0 } },
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[PSCustomObject]@{ Name = 'NaN B-spline scale'; Mutate = { param($c) $c.CubicBSpline.EndpointTangentScale = [double]::NaN } },
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[PSCustomObject]@{ Name = 'zero B-spline scale'; Mutate = { param($c) $c.CubicBSpline.EndpointTangentScale = [double]0.0 } },
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[PSCustomObject]@{ Name = 'zero Bezier threshold'; Mutate = { param($c) $c.LocalCubicBezier.CornerHeadingThresholdRadians = [double]0.0 } },
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[PSCustomObject]@{ Name = 'over-pi Bezier threshold'; Mutate = { param($c) $c.LocalCubicBezier.CornerHeadingThresholdRadians = [Math]::PI + 0.01 } },
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[PSCustomObject]@{ Name = 'NaN Bezier window'; Mutate = { param($c) $c.LocalCubicBezier.MaximumWindowLengthMeters = [double]::NaN } },
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[PSCustomObject]@{ Name = 'zero Bezier window'; Mutate = { param($c) $c.LocalCubicBezier.MaximumWindowLengthMeters = [double]0.0 } },
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[PSCustomObject]@{ Name = 'infinite Bezier handle scale'; Mutate = { param($c) $c.LocalCubicBezier.HandleLengthRatio = [double]::PositiveInfinity } },
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[PSCustomObject]@{ Name = 'zero Bezier handle scale'; Mutate = { param($c) $c.LocalCubicBezier.HandleLengthRatio = [double]0.0 } },
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[PSCustomObject]@{ Name = 'NaN quintic knot spacing'; Mutate = { param($c) $c.PiecewiseQuintic.KnotSpacingMeters = [double]::NaN } },
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[PSCustomObject]@{ Name = 'zero quintic knot spacing'; Mutate = { param($c) $c.PiecewiseQuintic.KnotSpacingMeters = [double]0.0 } },
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[PSCustomObject]@{ Name = 'infinite minimum quintic knot spacing'; Mutate = { param($c) $c.PiecewiseQuintic.MinimumKnotSpacingMeters = [double]::PositiveInfinity } },
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[PSCustomObject]@{ Name = 'zero minimum quintic knot spacing'; Mutate = { param($c) $c.PiecewiseQuintic.MinimumKnotSpacingMeters = [double]0.0 } },
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[PSCustomObject]@{ Name = 'quintic knot spacing below minimum'; Mutate = { param($c) $c.PiecewiseQuintic.KnotSpacingMeters = [double]0.05; $c.PiecewiseQuintic.MinimumKnotSpacingMeters = [double]0.10 } }
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)
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foreach ($case in $invalidConfigurationCases) {
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$configuration = New-Configuration
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& $case.Mutate $configuration
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Assert-InvalidInputBeforeRetry $configuration $case.Name
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}
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$unknownMethodConfiguration = New-Configuration ([Enum]::ToObject($methodType, 99))
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Assert-InvalidInputBeforeRetry $unknownMethodConfiguration 'unknown smoothing method'
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$invalidCoarseConfiguration = New-Configuration
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$invalidCoarseRequest = New-Request @(
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(New-CoarsePoint ([double]::NaN) 0.5 0.0 $forward),
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(New-CoarsePoint 1.5 0.5 1.0 $forward)) $invalidCoarseConfiguration
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$invalidCoarseResult = Invoke-Smooth $invalidCoarseRequest
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Assert-Equal 'InvalidInput' $invalidCoarseResult.Status.ToString() 'A non-finite coarse path coordinate must be invalid input.'
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Assert-NoGeometry $invalidCoarseResult 'Invalid coarse path'
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Assert-Equal 0 $invalidCoarseResult.Diagnostics.RetryCount 'Invalid coarse input must be rejected before retries.'
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$cancelledConfiguration = New-Configuration
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$cancellationSource = [Threading.CancellationTokenSource]::new()
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$cancellationSource.Cancel()
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try {
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$cancelledResult = Invoke-Smooth (New-StraightRequest $cancelledConfiguration) $cancellationSource.Token
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Assert-Equal 'Cancelled' $cancelledResult.Status.ToString() 'Pre-cancelled smoothing must return the explicit cancellation result.'
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Assert-NoGeometry $cancelledResult 'Cancelled smoothing'
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Assert-Equal 0 $cancelledResult.Diagnostics.RetryCount 'Cancellation before execution must not start retries.'
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}
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finally {
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$cancellationSource.Dispose()
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}
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$withoutFallbackConfiguration = New-Configuration
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$withoutFallbackConfiguration.AllowFallbackToCoarsePath = $false
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$withoutFallbackResult = Invoke-Smooth (New-InfeasibleRequest $withoutFallbackConfiguration)
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Assert-Equal 'Infeasible' $withoutFallbackResult.Status.ToString() 'A retryably infeasible candidate without fallback must remain infeasible.'
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Assert-NoGeometry $withoutFallbackResult 'Infeasible smoothing without fallback'
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Assert-Equal 3 $withoutFallbackResult.Diagnostics.RetryCount 'Infeasible smoothing must exhaust the four configured strengths.'
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Assert-Near 0.0 $withoutFallbackResult.Diagnostics.AcceptedStrength 0.0 'Infeasible smoothing must not accept a strength.'
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$withFallbackConfiguration = New-Configuration
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$withFallbackConfiguration.AllowFallbackToCoarsePath = $true
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$withFallbackResult = Invoke-Smooth (New-InfeasibleRequest $withFallbackConfiguration)
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Assert-Equal 'FallbackToCoarsePath' $withFallbackResult.Status.ToString() 'A verified coarse path must return explicit fallback status.'
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Assert-Equal 'CubicBSpline' $withFallbackResult.Method.ToString() 'Fallback must retain the originally selected method.'
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Assert-True ($withFallbackResult.Path.Count -gt 0) 'A verified fallback must publish the revalidated coarse geometry.'
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Assert-True $withFallbackResult.Diagnostics.Metrics.IsFeasible 'Fallback must publish feasible shared-geometry diagnostics.'
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foreach ($point in $withFallbackResult.Path) {
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Assert-Equal 'CoarsePathFallback' $point.Source.ToString() 'Every fallback point must be explicitly labeled as coarse-path fallback.'
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}
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Assert-Equal $withoutFallbackResult.Diagnostics.RetryCount $withFallbackResult.Diagnostics.RetryCount 'Fallback must preserve retry diagnostics from the failed method.'
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Assert-Near $withoutFallbackResult.Diagnostics.AcceptedStrength $withFallbackResult.Diagnostics.AcceptedStrength 0.0 'Fallback must preserve the failed method accepted-strength diagnostic.'
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Assert-Equal $withoutFallbackResult.Diagnostics.TerminationReason $withFallbackResult.Diagnostics.TerminationReason 'Fallback must preserve the failed method termination reason.'
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Write-Output 'Path smoothing service checks passed.'
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