580 lines
34 KiB
C#
580 lines
34 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Threading;
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using EMPlannerVerificationHost;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.Mapping;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing;
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namespace MultiWheelC.TrajectoryPlanning.EMPlanner;
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internal static class EmPlanningServiceChecks
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{
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public static void Run()
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{
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VerifiesPreviousTrajectoryIsALongitudinalSoftReference();
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VerifiesForwardReverseAndBoundarySuccessesAreDeterministic();
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VerifiesServicePublishesRollingApproachAndExactStopModes();
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VerifiesFullScopePublishesItsRequestScope();
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VerifiesRequestAndStateFailuresPublishNoTrajectory();
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VerifiesProjectionCorridorAndOptimizationFailuresPublishNoTrajectory();
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VerifiesTimeoutFallbackAndCancellationSemantics();
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VerifiesPublicationFailureAndDebugIsolation();
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}
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private static void VerifiesForwardReverseAndBoundarySuccessesAreDeterministic()
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{
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EmPlanningRequest forwardRequest = CreateRequest(TravelDirection.Forward, 0d, false, false);
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var forwardService = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success));
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EmPlanningResult firstForward = forwardService.Plan(forwardRequest, CancellationToken.None);
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EmPlanningResult secondForward = forwardService.Plan(forwardRequest, CancellationToken.None);
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VerifySuccess(firstForward, forwardRequest, EmTerminalType.Goal, "forward");
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VerifySuccess(secondForward, forwardRequest, EmTerminalType.Goal, "forward repeat");
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VerifySameTrajectory(firstForward, secondForward, "forward deterministic result");
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Verification.Equal(2, forwardRequest.ReferencePath.Path.Count, "request-owned reference list remains unchanged");
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EmPlanningRequest reverseRequest = CreateRequest(TravelDirection.Reverse, -0.01d, false, false);
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EmPlanningResult reverse = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(reverseRequest,
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CancellationToken.None);
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VerifySuccess(reverse, reverseRequest, EmTerminalType.Goal, "reverse");
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Verification.True(reverse.Trajectory.Points[1].SignedLongitudinalVelocity < 0d,
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"reverse service publishes negative signed velocity");
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EmPlanningRequest gearRequest = CreateRequest(TravelDirection.Forward, 0d, true, false);
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EmPlanningResult gear = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(gearRequest,
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CancellationToken.None);
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VerifySuccess(gear, gearRequest, EmTerminalType.GearSwitch, "gear switch");
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EmPlanningRequest rollingRequest = CreateRequest(TravelDirection.Forward, 0d, false, true);
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EmPlanningResult rolling = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(rollingRequest,
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CancellationToken.None);
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VerifySuccess(rolling, rollingRequest, EmTerminalType.RollingSafetyStop, "rolling stop");
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}
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private static void VerifiesServicePublishesRollingApproachAndExactStopModes()
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{
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EmPlanningRequest rollingRequest = CreateRequest(TravelDirection.Forward, 0.10d, false, false,
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CreateReferencePath(TravelDirection.Forward, false, 10d), CreateMap(false, 12d));
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ConfigureFiveMeterWindowAndTwoSecondHorizon(rollingRequest.Configuration);
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EmPlanningResult rolling = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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rollingRequest, CancellationToken.None);
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VerifySuccess(rolling, rollingRequest, EmTerminalType.RollingSafetyStop, "cycle 1 rolling");
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Verification.Equal(EmLongitudinalMode.RollingContinuation,
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rolling.Trajectory.Metadata.LongitudinalMode, "cycle 1 rolls");
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Verification.Equal(21, rolling.Trajectory.Points.Count, "rolling publishes the two-second ST knot count");
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EmTrajectoryPoint rollingTerminal = rolling.Trajectory.Points[rolling.Trajectory.Points.Count - 1];
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Verification.True(rollingTerminal.PathS < 5d, "two-second ST output remains inside the five-metre LS window");
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Verification.True(rollingTerminal.SignedLongitudinalVelocity != 0d, "cycle 1 has nonzero terminal speed");
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EmPlanningRequest approachRequest = CreateRequest(TravelDirection.Forward, 0.10d, false, false,
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CreateReferencePath(TravelDirection.Forward, false, 4d), CreateMap(false, 5d));
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EmPlanningResult approach = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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approachRequest, CancellationToken.None);
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VerifySuccess(approach, approachRequest, EmTerminalType.Goal, "cycle 2 approach");
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Verification.Equal(EmLongitudinalMode.ApproachStopBoundary,
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approach.Trajectory.Metadata.LongitudinalMode, "cycle 2 approaches");
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Verification.True(approach.Trajectory.Points[approach.Trajectory.Points.Count - 1].SignedLongitudinalVelocity != 0d,
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"approach has no synthetic stop tail");
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EmPlanningRequest exactRequest = CreateRequest(TravelDirection.Forward, 0.05d, false, false,
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CreateReferencePath(TravelDirection.Forward, false, 0.0075d));
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ConfigureExactStopServiceScenario(exactRequest.Configuration);
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EmPlanningResult exact = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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exactRequest, CancellationToken.None);
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VerifySuccess(exact, exactRequest, EmTerminalType.Goal, "cycle 3 exact goal stop");
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Verification.Equal(EmLongitudinalMode.ExactStopAtBoundary,
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exact.Trajectory.Metadata.LongitudinalMode, "cycle 3 stops");
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AssertExactStopStabilization(exact.Trajectory, EmBoundaryType.Goal, "goal");
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EmPlanningRequest gearRequest = CreateRequest(TravelDirection.Forward, 0.05d, false, false,
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EmFixtureFactory.CreateGearPairReferencePath(0.0075d));
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ConfigureExactStopServiceScenario(gearRequest.Configuration);
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EmPlanningResult gear = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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gearRequest, CancellationToken.None);
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VerifySuccess(gear, gearRequest, EmTerminalType.GearSwitch, "gear-switch exact stop");
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Verification.Equal(EmLongitudinalMode.ExactStopAtBoundary,
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gear.Trajectory.Metadata.LongitudinalMode, "gear switch stops exactly");
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AssertExactStopStabilization(gear.Trajectory, EmBoundaryType.GearSwitchApproach, "gear switch");
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for (int index = 0; index < gear.Trajectory.Points.Count; index++)
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{
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Verification.Equal(TravelDirection.Forward, gear.Trajectory.Points[index].Direction,
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"gear-switch publication excludes the next direction point " + index);
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}
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}
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private static void VerifiesFullScopePublishesItsRequestScope()
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{
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EmPlanningRequest request = CreateRequest(TravelDirection.Forward, 0.05d, false, false,
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CreateReferencePath(TravelDirection.Forward, false, 0.0075d), null,
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EmPlanningScope.FullDirectionSegment);
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ConfigureExactStopServiceScenario(request.Configuration);
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EmPlanningResult result = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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request, CancellationToken.None);
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VerifySuccess(result, request, EmTerminalType.Goal, "full scope publication");
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Verification.Equal(EmPlanningScope.FullDirectionSegment, result.Trajectory.Metadata.PlanningScope,
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"service metadata preserves full scope");
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Verification.NearlyEqual(0d, result.Trajectory.Points[0].PathS, "full publication starts at projection");
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Verification.NearlyEqual(0.0075d, result.Trajectory.Points[result.Trajectory.Points.Count - 1].PathS,
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"full publication reaches the real segment boundary");
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}
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private static void ConfigureFiveMeterWindowAndTwoSecondHorizon(EmPlannerConfiguration configuration)
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{
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configuration.Scheduling.DistanceHorizonMeters = 5d;
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configuration.Scheduling.TimeHorizonSeconds = 2d;
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configuration.Scheduling.OutputTimeStepSeconds = 0.1d;
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 0.2d;
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}
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private static void ConfigureExactStopServiceScenario(EmPlannerConfiguration configuration)
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{
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configuration.Scheduling.TimeHorizonSeconds = 0.40d;
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configuration.Scheduling.OutputTimeStepSeconds = 0.10d;
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 1d;
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configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 1d;
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configuration.Longitudinal.MaximumAccelerationMetersPerSecondSquared = 1e-6d;
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configuration.Longitudinal.MaximumDecelerationMetersPerSecondSquared = 1d;
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configuration.Longitudinal.MaximumJerkMetersPerSecondCubed = 20d;
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configuration.Longitudinal.MaximumLateralAccelerationMetersPerSecondSquared = 1d;
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configuration.Longitudinal.MaximumCurvatureRatePerMeterPerSecond = 1d;
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}
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private static void AssertExactStopStabilization(EmTrajectory trajectory, EmBoundaryType boundaryType, string name)
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{
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int exactAnchor = -1;
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for (int index = 0; index < trajectory.Points.Count; index++)
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{
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if (trajectory.Points[index].BoundaryType == boundaryType)
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{
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exactAnchor = index;
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break;
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}
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}
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Verification.True(exactAnchor >= 0, name + " has a real boundary anchor");
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Verification.NearlyEqual(0d, trajectory.Points[exactAnchor].SignedLongitudinalVelocity,
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name + " speed is zero");
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Verification.True(trajectory.Points.Count > exactAnchor + 1,
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name + " anchor is followed by a QP stabilization point");
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Verification.NearlyEqual(trajectory.Points[exactAnchor].PathS, trajectory.Points[exactAnchor + 1].PathS,
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name + " stabilization keeps the stop position");
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Verification.NearlyEqual(0d, trajectory.Points[exactAnchor + 1].SignedLongitudinalVelocity,
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name + " stabilization speed is zero");
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}
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private static void VerifiesRequestAndStateFailuresPublishNoTrajectory()
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{
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EmPlanningRequest invalidSmoothing = CreateRequest(TravelDirection.Forward, 0d, false, false,
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PathSmoothingResult.Failure(PathSmoothingStatus.Failed, new PathSmoothingDiagnostics()));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(invalidSmoothing,
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CancellationToken.None), EmPlanningStatus.InvalidReferencePath, "invalid smoothing");
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EmPlanningRequest stale = CreateRequest(TravelDirection.Forward, 0d, false, false);
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stale = ReplaceState(stale, new VehicleMotionState(new Pose2D(0d, 0d, 0d), 0d, null,
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stale.RequestedAtUtc.AddSeconds(-1d), stale.VehicleState.SequenceId));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(stale,
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CancellationToken.None), EmPlanningStatus.StaleVehicleState, "stale state");
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EmPlanningRequest directionMismatch = CreateRequest(TravelDirection.Reverse, 0.02d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(directionMismatch,
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CancellationToken.None), EmPlanningStatus.StateDirectionMismatch, "state direction mismatch");
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}
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private static void VerifiesProjectionCorridorAndOptimizationFailuresPublishNoTrajectory()
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{
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EmPlanningRequest projectionFailure = CreateRequest(TravelDirection.Forward, 0d, false, false);
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projectionFailure = ReplaceState(projectionFailure, new VehicleMotionState(new Pose2D(3d, 0d, 0d), 0d, null,
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projectionFailure.RequestedAtUtc, projectionFailure.VehicleState.SequenceId));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(projectionFailure,
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CancellationToken.None), EmPlanningStatus.ProjectionFailed, "bounded projection failure");
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EmPlanningRequest corridorFailure = CreateRequest(TravelDirection.Forward, 0d, false, false,
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referencePath: null, map: CreateMap(true));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(corridorFailure,
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CancellationToken.None), EmPlanningStatus.CorridorInfeasible, "corridor infeasible");
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EmPlanningRequest stoppingFailure = CreateRequest(TravelDirection.Forward, 0.20d, false, false,
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referencePath: CreateReferencePath(TravelDirection.Forward, false, 0.0055d));
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(stoppingFailure,
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CancellationToken.None), EmPlanningStatus.StoppingDistanceInsufficient, "stopping distance insufficient");
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EmPlanningRequest regular = CreateRequest(TravelDirection.Forward, 0d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.LateralInfeasible)).Plan(regular,
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CancellationToken.None), EmPlanningStatus.LateralInfeasible, "lateral infeasible");
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EmPlanningResult longitudinalFallback = new EmPlanningService(
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new ScriptedPipelineSolver(PipelineSolverMode.LongitudinalInfeasible)).Plan(regular, CancellationToken.None);
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Verification.Equal(EmPlanningStatus.SuccessWithFallback, longitudinalFallback.Status,
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"longitudinal infeasible uses the validated fallback seed");
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Verification.True(longitudinalFallback.Trajectory != null,
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"longitudinal fallback still publishes a complete trajectory");
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.SolverUnavailable)).Plan(regular,
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CancellationToken.None), EmPlanningStatus.SolverUnavailable, "solver unavailable");
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}
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private static void VerifiesTimeoutFallbackAndCancellationSemantics()
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{
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EmPlanningRequest request = CreateRequest(TravelDirection.Forward, 0d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.TimeoutWithoutFallback)).Plan(request,
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CancellationToken.None), EmPlanningStatus.SolverTimedOut, "timeout without fallback");
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EmPlanningResult fallback = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.TimeoutWithFallback)).Plan(
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request, CancellationToken.None);
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Verification.Equal(EmPlanningStatus.SuccessWithFallback, fallback.Status, "timeout uses only strict fallback");
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Verification.True(fallback.Trajectory != null && fallback.Trajectory.Points.Count > 0,
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"timeout fallback publishes a complete trajectory");
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using (var cancellation = new CancellationTokenSource())
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{
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cancellation.Cancel();
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(request,
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cancellation.Token), EmPlanningStatus.Cancelled, "cancellation");
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}
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}
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private static void VerifiesPublicationFailureAndDebugIsolation()
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{
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EmPlanningRequest validationFailure = CreateRequest(TravelDirection.Forward, 0d, false, false);
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VerifyFailure(new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.PublicationValidationFailure,
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validationFailure.Map)).Plan(validationFailure, CancellationToken.None), EmPlanningStatus.ValidationFailed,
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"publication validation failure");
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EmPlanningRequest debugRequest = CreateRequest(TravelDirection.Forward, 0d, false, false);
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debugRequest.Configuration.Solver.NativeVerbose = true;
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EmPlanningResult debugIsolated = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success),
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new ThrowingDebugSink()).Plan(debugRequest, CancellationToken.None);
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VerifySuccess(debugIsolated, debugRequest, EmTerminalType.Goal, "debug-sink isolation");
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}
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private static void VerifiesPreviousTrajectoryIsALongitudinalSoftReference()
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{
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EmPlanningRequest request = CreateRequest(TravelDirection.Forward, 0d, false, false);
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var withoutPreviousSolver = new ScriptedPipelineSolver(PipelineSolverMode.Success);
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EmPlanningResult withoutPrevious = new EmPlanningService(withoutPreviousSolver).Plan(request, CancellationToken.None);
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VerifySuccess(withoutPrevious, request, EmTerminalType.Goal, "no previous longitudinal seed");
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EmTrajectory validPrevious = CreateLongitudinalPreviousTrajectory(request.EffectiveAtUtc, TravelDirection.Forward,
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request.SegmentIndex);
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EmPlanningRequest withPreviousRequest = ReplacePreviousTrajectory(request, validPrevious);
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var withPreviousSolver = new ScriptedPipelineSolver(PipelineSolverMode.Success);
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EmPlanningResult withPrevious = new EmPlanningService(withPreviousSolver).Plan(withPreviousRequest,
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CancellationToken.None);
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VerifySuccess(withPrevious, withPreviousRequest, EmTerminalType.Goal, "valid previous longitudinal seed");
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QuadraticProgram withoutPreviousProblem = withoutPreviousSolver.LastLongitudinalProblem
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?? throw new InvalidOperationException("The no-seed longitudinal QP was not captured.");
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QuadraticProgram withPreviousProblem = withPreviousSolver.LastLongitudinalProblem
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?? throw new InvalidOperationException("The seeded longitudinal QP was not captured.");
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var layout = new LongitudinalVariableLayout((withPreviousProblem.VariableCount + 1) / 4);
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Verification.True(MatrixValue(withPreviousProblem.UpperTriangularP, layout.S(1), layout.S(1)) >
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MatrixValue(withoutPreviousProblem.UpperTriangularP, layout.S(1), layout.S(1)),
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"valid previous seed adds a nonzero previous-S soft-reference Hessian term");
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Verification.True(MatrixValue(withPreviousProblem.UpperTriangularP, layout.U(1), layout.U(1)) >
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MatrixValue(withoutPreviousProblem.UpperTriangularP, layout.U(1), layout.U(1)),
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"valid previous seed adds a nonzero previous-U soft-reference Hessian term");
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Verification.True(Math.Abs(withPreviousProblem.LinearCost[layout.S(1)] -
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withoutPreviousProblem.LinearCost[layout.S(1)]) > 1e-12d,
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"valid previous seed adds a nonzero previous-S soft-reference linear term");
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Verification.True(Math.Abs(withPreviousProblem.LinearCost[layout.U(1)] -
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withoutPreviousProblem.LinearCost[layout.U(1)]) > 1e-12d,
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"valid previous seed adds a nonzero previous-U soft-reference linear term");
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EmPlanningRequest incompatibleRequest = ReplacePreviousTrajectory(request,
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CreateLongitudinalPreviousTrajectory(request.EffectiveAtUtc, TravelDirection.Reverse, request.SegmentIndex));
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var incompatibleSolver = new ScriptedPipelineSolver(PipelineSolverMode.Success);
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EmPlanningResult incompatible = new EmPlanningService(incompatibleSolver).Plan(incompatibleRequest,
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CancellationToken.None);
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VerifySuccess(incompatible, incompatibleRequest, EmTerminalType.Goal, "incompatible previous seed");
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QuadraticProgram incompatibleProblem = incompatibleSolver.LastLongitudinalProblem
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?? throw new InvalidOperationException("The incompatible-seed longitudinal QP was not captured.");
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Verification.NearlyEqual(MatrixValue(withoutPreviousProblem.UpperTriangularP, layout.S(1), layout.S(1)),
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MatrixValue(incompatibleProblem.UpperTriangularP, layout.S(1), layout.S(1)),
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"incompatible previous seed omits previous-S soft-reference term");
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Verification.NearlyEqual(MatrixValue(withoutPreviousProblem.UpperTriangularP, layout.U(1), layout.U(1)),
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MatrixValue(incompatibleProblem.UpperTriangularP, layout.U(1), layout.U(1)),
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"incompatible previous seed omits previous-U soft-reference term");
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}
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private static void VerifySuccess(EmPlanningResult result, EmPlanningRequest request, EmTerminalType terminalType,
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string name)
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{
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Verification.True(result.Status == EmPlanningStatus.Success || result.Status == EmPlanningStatus.SuccessWithFallback,
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name + " successful status: " + result.FailureReason);
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Verification.True(result.Trajectory != null && result.Trajectory.Metadata.TerminalType == terminalType,
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name + " terminal type");
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string identifiers = "map=" + request.Map.SnapshotId + ";reference=" + request.ReferencePathId + ";state=" +
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request.VehicleState.SequenceId + ";previous=" + request.PreviousTrajectoryId + ";segment=" + request.SegmentIndex;
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Verification.True(result.FailureReason.IndexOf(identifiers, StringComparison.Ordinal) >= 0,
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name + " preserves request identifiers in deterministic diagnostics");
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}
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private static void VerifyFailure(EmPlanningResult result, EmPlanningStatus expected, string name)
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{
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Verification.Equal(expected, result.Status, name + " status: " + result.FailureReason);
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Verification.True(result.Trajectory == null, name + " publishes no partial trajectory");
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}
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private static void VerifySameTrajectory(EmPlanningResult left, EmPlanningResult right, string name)
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{
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Verification.Equal(left.Status, right.Status, name + " status");
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Verification.Equal(left.Trajectory.Points.Count, right.Trajectory.Points.Count, name + " point count");
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for (int index = 0; index < left.Trajectory.Points.Count; index++)
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{
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EmTrajectoryPoint first = left.Trajectory.Points[index];
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EmTrajectoryPoint second = right.Trajectory.Points[index];
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Verification.NearlyEqual(first.X, second.X, name + " X " + index);
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Verification.NearlyEqual(first.Y, second.Y, name + " Y " + index);
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Verification.NearlyEqual(first.TimeFromStart, second.TimeFromStart, name + " time " + index);
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Verification.NearlyEqual(first.SignedLongitudinalVelocity, second.SignedLongitudinalVelocity,
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name + " signed speed " + index);
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}
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}
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private static EmPlanningRequest CreateRequest(TravelDirection direction, double signedSpeed, bool endsAtGearSwitch,
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bool rolling, PathSmoothingResult? referencePath = null, PlanningGridMap? map = null,
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EmPlanningScope planningScope = EmPlanningScope.RollingHorizon)
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{
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DateTimeOffset requestedAtUtc = DateTimeOffset.UnixEpoch.AddSeconds(10d);
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EmPlannerConfiguration configuration = EmPlannerConfiguration.CreateDefault();
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configuration.Solver.MaximumOuterIterations = 2;
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configuration.Scheduling.SolverTimeoutSeconds = 1d;
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 0.20d;
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configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 0.20d;
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configuration.Longitudinal.DesiredForwardSpeedMetersPerSecond = 0.20d;
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configuration.Longitudinal.DesiredReverseSpeedMetersPerSecond = 0.20d;
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if (rolling)
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configuration.Scheduling.DistanceHorizonMeters = 0.30d;
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return new EmPlanningRequest(referencePath ?? CreateReferencePath(direction, endsAtGearSwitch), map ?? CreateMap(false),
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new VehicleParameters
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{
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LengthMeters = 0.10d,
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WidthMeters = 0.10d,
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SafetyMarginMeters = 0d,
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MaximumCurvaturePerMeter = 1d,
|
|
},
|
|
new VehicleMotionState(new Pose2D(0d, 0d, 0d), signedSpeed, 0d, requestedAtUtc, 7L), configuration, 0,
|
|
null, requestedAtUtc, requestedAtUtc, "output-trajectory", "reference-42", "prior-42",
|
|
EmMotionModel.NonholonomicForwardReverse, planningScope);
|
|
}
|
|
|
|
private static EmPlanningRequest ReplaceState(EmPlanningRequest source, VehicleMotionState state)
|
|
{
|
|
return new EmPlanningRequest(source.ReferencePath, source.Map, source.Vehicle, state, source.Configuration,
|
|
source.SegmentIndex, source.PreviousTrajectory, source.RequestedAtUtc, source.EffectiveAtUtc,
|
|
source.OutputTrajectoryId, source.ReferencePathId, source.PreviousTrajectoryId, source.MotionModel,
|
|
source.PlanningScope);
|
|
}
|
|
|
|
private static EmPlanningRequest ReplacePreviousTrajectory(EmPlanningRequest source, EmTrajectory previousTrajectory)
|
|
{
|
|
return new EmPlanningRequest(source.ReferencePath, source.Map, source.Vehicle, source.VehicleState,
|
|
source.Configuration, source.SegmentIndex, previousTrajectory, source.RequestedAtUtc, source.EffectiveAtUtc,
|
|
source.OutputTrajectoryId, source.ReferencePathId, source.PreviousTrajectoryId, source.MotionModel,
|
|
source.PlanningScope);
|
|
}
|
|
|
|
private static EmTrajectory CreateLongitudinalPreviousTrajectory(DateTimeOffset effectiveAtUtc,
|
|
TravelDirection direction, int segmentIndex)
|
|
{
|
|
var metadata = new EmTrajectoryMetadata("previous-service", effectiveAtUtc, effectiveAtUtc, 1L,
|
|
"previous-reference", 1L, string.Empty, segmentIndex, direction, EmTerminalType.RollingSafetyStop,
|
|
EmLongitudinalMode.RollingContinuation, EmPlanningScope.RollingHorizon);
|
|
double sign = direction == TravelDirection.Forward ? 1d : -1d;
|
|
return new EmTrajectory(metadata, new[]
|
|
{
|
|
new EmTrajectoryPoint(sign * 0.001d, 0d, 0d, sign * 0.01d, 0d, 0d, segmentIndex, 0.001d, 0.001d,
|
|
direction, EmBoundaryType.None, 0d, 0d),
|
|
new EmTrajectoryPoint(sign * 0.001d, 0d, 0d, sign * 0.01d, 6d, 0d, segmentIndex, 0.001d, 0.001d,
|
|
direction, EmBoundaryType.None, 0d, 0d),
|
|
});
|
|
}
|
|
|
|
private static double MatrixValue(SparseCscMatrix matrix, int row, int column)
|
|
{
|
|
for (int index = matrix.ColumnPointers[column]; index < matrix.ColumnPointers[column + 1]; index++)
|
|
{
|
|
if (matrix.RowIndices[index] == row)
|
|
return matrix.Values[index];
|
|
}
|
|
return 0d;
|
|
}
|
|
|
|
private static PathSmoothingResult CreateReferencePath(TravelDirection direction, bool endsAtGearSwitch,
|
|
double lengthMeters = 2d)
|
|
{
|
|
double endX = direction == TravelDirection.Forward ? lengthMeters : -lengthMeters;
|
|
var points = new List<SmoothedPathPoint>
|
|
{
|
|
new SmoothedPathPoint(0d, 0d, 0d, 0d, 0d, direction, 0d, 0d, 0d, 1d, false,
|
|
SmoothedPathPointSource.Anchor),
|
|
new SmoothedPathPoint(endX, 0d, 0d, 0d, lengthMeters, direction, 0d, 0d, 0d, 1d, endsAtGearSwitch,
|
|
endsAtGearSwitch ? SmoothedPathPointSource.GearSwitch : SmoothedPathPointSource.Anchor),
|
|
};
|
|
var segments = new List<SmoothedPathSegment>
|
|
{
|
|
new SmoothedPathSegment(0, direction, 0, 1, false, endsAtGearSwitch),
|
|
};
|
|
var metrics = new PathQualityMetrics(true, lengthMeters, 0d, 0d, 0d, 0d, 1d, 0d, 0d, 0d, 0d, 0d);
|
|
return PathSmoothingResult.PublishLocalG2(PathSmoothingStatus.Complete, points, segments,
|
|
new PathSmoothingDiagnostics(metrics, TimeSpan.Zero), new List<PathSmoothingRegionReport>());
|
|
}
|
|
|
|
private static PlanningGridMap CreateMap(bool blockStart, double halfExtentMeters = 3d)
|
|
{
|
|
IMapObstacleSource[] sources = blockStart
|
|
? new IMapObstacleSource[] { new ManualObstacleSource("service-obstacle", 1L, true,
|
|
new IMapObstacle[] { new AxisAlignedRectangleObstacle(-20f, 20f, -20f, 20f) }) }
|
|
: Array.Empty<IMapObstacleSource>();
|
|
PlanningMapBuildResult result = new PlanningMapFactory().Create(new PlanningMapRequest
|
|
{
|
|
Bounds = new MapBoundsMm((float)(-1000d * halfExtentMeters), (float)(1000d * halfExtentMeters), -1000f, 1000f),
|
|
ResolutionMm = 20f,
|
|
ObstacleSources = sources,
|
|
AllowExplicitEmptyMap = !blockStart,
|
|
});
|
|
Verification.True(result.Succeeded && result.Map != null && result.Map.PlanningReady,
|
|
"service map builds: " + result.FailureReason);
|
|
return result.Map!;
|
|
}
|
|
|
|
private enum PipelineSolverMode
|
|
{
|
|
Success,
|
|
LateralInfeasible,
|
|
LongitudinalInfeasible,
|
|
SolverUnavailable,
|
|
TimeoutWithoutFallback,
|
|
TimeoutWithFallback,
|
|
PublicationValidationFailure,
|
|
}
|
|
|
|
private sealed class ScriptedPipelineSolver : IQpSolver
|
|
{
|
|
private readonly PipelineSolverMode mode;
|
|
private readonly PlanningGridMap? mapToCorrupt;
|
|
private int longitudinalCallCount;
|
|
|
|
public QuadraticProgram? LastLongitudinalProblem { get; private set; }
|
|
|
|
public ScriptedPipelineSolver(PipelineSolverMode mode, PlanningGridMap? mapToCorrupt = null)
|
|
{
|
|
this.mode = mode;
|
|
this.mapToCorrupt = mapToCorrupt;
|
|
}
|
|
|
|
public QpSolveResult Solve(QuadraticProgram problem, QpSolverSettings settings, IReadOnlyList<double> warmStart,
|
|
CancellationToken cancellationToken)
|
|
{
|
|
bool longitudinal = problem.VariableCount > 100;
|
|
if (mode == PipelineSolverMode.SolverUnavailable)
|
|
return Result(QpSolveStatus.SolverUnavailable, Array.Empty<double>());
|
|
if (!longitudinal)
|
|
{
|
|
if (mode == PipelineSolverMode.LateralInfeasible)
|
|
return Result(QpSolveStatus.PrimalInfeasible, Array.Empty<double>());
|
|
if (mode == PipelineSolverMode.TimeoutWithoutFallback)
|
|
return Result(QpSolveStatus.TimeLimit, Array.Empty<double>());
|
|
return Result(QpSolveStatus.Solved, new double[problem.VariableCount]);
|
|
}
|
|
LastLongitudinalProblem = problem;
|
|
if (mode == PipelineSolverMode.LongitudinalInfeasible)
|
|
return Result(QpSolveStatus.PrimalInfeasible, Array.Empty<double>());
|
|
if (mode == PipelineSolverMode.PublicationValidationFailure && longitudinalCallCount == 0)
|
|
CorruptMapAtOrigin(mapToCorrupt);
|
|
if (mode == PipelineSolverMode.TimeoutWithFallback && ++longitudinalCallCount > 1)
|
|
return Result(QpSolveStatus.TimeLimit, Array.Empty<double>());
|
|
longitudinalCallCount++;
|
|
return Result(QpSolveStatus.Solved, warmStart);
|
|
}
|
|
|
|
private static void CorruptMapAtOrigin(PlanningGridMap? map)
|
|
{
|
|
if (map == null || !map.TryWorldToGrid(0d, 0d, out int row, out int column))
|
|
throw new InvalidOperationException("Unable to corrupt the publication test map.");
|
|
FieldInfo occupiedField = typeof(PlanningGridMap).GetField("_occupied", BindingFlags.Instance | BindingFlags.NonPublic)!
|
|
?? throw new InvalidOperationException("Planning map occupancy storage was unavailable.");
|
|
FieldInfo distanceField = typeof(PlanningGridMap).GetField("_conservativeDistances",
|
|
BindingFlags.Instance | BindingFlags.NonPublic) ?? throw new InvalidOperationException("Planning map distance storage was unavailable.");
|
|
byte[] occupied = (byte[])occupiedField.GetValue(map)!;
|
|
double[] distances = (double[])distanceField.GetValue(map)!;
|
|
int index = row * map.Cols + column;
|
|
occupied[index] = 1;
|
|
distances[index] = 0d;
|
|
}
|
|
|
|
private static double[] CreateStrictLongitudinalPrimal(QuadraticProgram problem)
|
|
{
|
|
int variableCount = problem.VariableCount;
|
|
int knotCount = (variableCount + 1) / 4;
|
|
var layout = new LongitudinalVariableLayout(knotCount);
|
|
var jerk = new double[knotCount - 1];
|
|
const int rampIntervals = 5;
|
|
for (int index = 0; index < rampIntervals; index++) jerk[index] = 1d;
|
|
for (int index = rampIntervals; index < 3 * rampIntervals; index++) jerk[index] = -1d;
|
|
for (int index = 3 * rampIntervals; index < 4 * rampIntervals; index++) jerk[index] = 1d;
|
|
var times = new double[knotCount];
|
|
for (int index = 0; index < times.Length; index++) times[index] = index * 0.05d;
|
|
LongitudinalCandidate baseCandidate = LongitudinalCandidate.Integrate(times, 0d, 0d, 0d, jerk);
|
|
double terminalPathS = ReadFixedVariable(problem, layout.S(knotCount - 1));
|
|
double scale = terminalPathS / baseCandidate.S[baseCandidate.S.Count - 1];
|
|
for (int index = 0; index < jerk.Length; index++) jerk[index] *= scale;
|
|
LongitudinalCandidate candidate = LongitudinalCandidate.Integrate(times, 0d, 0d, 0d, jerk);
|
|
var primal = new double[layout.VariableCount];
|
|
for (int index = 0; index < knotCount; index++)
|
|
{
|
|
primal[layout.S(index)] = candidate.S[index];
|
|
primal[layout.U(index)] = candidate.U[index];
|
|
primal[layout.A(index)] = candidate.A[index];
|
|
}
|
|
for (int index = 0; index < jerk.Length; index++) primal[layout.J(index)] = candidate.J[index];
|
|
for (int index = 4 * rampIntervals; index < knotCount; index++)
|
|
{
|
|
primal[layout.S(index)] = terminalPathS;
|
|
primal[layout.U(index)] = 0d;
|
|
primal[layout.A(index)] = 0d;
|
|
}
|
|
return primal;
|
|
}
|
|
|
|
private static double ReadFixedVariable(QuadraticProgram problem, int variable)
|
|
{
|
|
for (int row = 0; row < problem.ConstraintCount; row++)
|
|
{
|
|
int entryCount = 0;
|
|
double coefficient = 0d;
|
|
for (int column = 0; column < problem.ConstraintMatrix.ColumnCount; column++)
|
|
{
|
|
for (int index = problem.ConstraintMatrix.ColumnPointers[column];
|
|
index < problem.ConstraintMatrix.ColumnPointers[column + 1]; index++)
|
|
{
|
|
if (problem.ConstraintMatrix.RowIndices[index] != row)
|
|
continue;
|
|
entryCount++;
|
|
if (column == variable)
|
|
coefficient = problem.ConstraintMatrix.Values[index];
|
|
}
|
|
}
|
|
if (entryCount == 1 && Math.Abs(coefficient) > 1e-12d &&
|
|
Math.Abs(problem.LowerBounds[row] - problem.UpperBounds[row]) <= 1e-12d)
|
|
{
|
|
return problem.LowerBounds[row] / coefficient;
|
|
}
|
|
}
|
|
throw new InvalidOperationException("Expected a fixed ST variable constraint.");
|
|
}
|
|
|
|
private static QpSolveResult Result(QpSolveStatus status, IReadOnlyList<double> primal)
|
|
{
|
|
return new QpSolveResult(status, primal, 0d, 0d, 0d, 1, TimeSpan.Zero, status.ToString(), string.Empty);
|
|
}
|
|
}
|
|
|
|
private sealed class ThrowingDebugSink : IEmPlannerDebugSink
|
|
{
|
|
public void Write(string message)
|
|
{
|
|
throw new InvalidOperationException("debug sink failure");
|
|
}
|
|
}
|
|
}
|