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feat: show EM observation failure diagnostics

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梁薄云
2026-08-05 09:59:52 +08:00
parent 6262a4573a
commit 0be35d73d4
3 changed files with 44 additions and 12 deletions
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ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs
+8 -6
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@@ -248,7 +248,8 @@ internal static class TrajectoryObservationMovementTestRunner
bootstrapTimer.Stop();
if (!bootstrap.Succeeded)
{
DrawIfCurrent(sessionId, bootstrap, null, null, null);
DrawIfCurrent(sessionId, bootstrap, null, null, null,
new TrajectoryObservationDiagnostic("bootstrap failed: " + bootstrap.FailureReason));
LogIfCurrent(sessionId, "Planning bootstrap failed after " +
bootstrapTimer.Elapsed.TotalMilliseconds.ToString("F0", CultureInfo.InvariantCulture) +
" ms: " + bootstrap.FailureReason);
@@ -280,7 +281,7 @@ internal static class TrajectoryObservationMovementTestRunner
settings.MapPaddingMeters);
TrajectoryObservationRuntimeState runtimeState = TrajectoryObservationRuntimeState.Create(
now, observation.PublishedTrajectory);
DrawIfCurrent(sessionId, bootstrap, observation, charts, runtimeState);
DrawIfCurrent(sessionId, bootstrap, observation, charts, runtimeState, diagnostic);
if (runtimeState.WaitingAtGearSwitch && !gearSwitchWaitingPrinted)
{
LogIfCurrent(sessionId, runtimeState.WorldNotice);
@@ -365,14 +366,15 @@ internal static class TrajectoryObservationMovementTestRunner
private static void DrawIfCurrent(long sessionId, TrajectoryObservationBootstrapResult bootstrap,
TrajectoryObservationObservation observation, TrajectoryObservationCharts charts,
TrajectoryObservationRuntimeState runtimeState)
TrajectoryObservationRuntimeState runtimeState, TrajectoryObservationDiagnostic diagnostic)
{
lock (SessionSync)
{
if (activeSessionId != sessionId) return;
Presentation.DrawWorld(bootstrap, observation, runtimeState);
Presentation.DrawLs(charts);
Presentation.DrawSt(charts);
string diagnosticText = diagnostic == null ? string.Empty : diagnostic.Text;
Presentation.DrawWorld(bootstrap, observation, runtimeState, diagnosticText);
Presentation.DrawLs(charts, diagnosticText);
Presentation.DrawSt(charts, diagnosticText);
}
}