feat: show EM observation failure diagnostics

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -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);
+            string diagnosticText = diagnostic == null ? string.Empty : diagnostic.Text;
-            Presentation.DrawLs(charts);
+            Presentation.DrawWorld(bootstrap, observation, runtimeState, diagnosticText);
-            Presentation.DrawSt(charts);
+            Presentation.DrawLs(charts, diagnosticText);
+            Presentation.DrawSt(charts, diagnosticText);
         }
     }
 

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPresentation.cs

@@ -88,7 +88,8 @@ public sealed class TrajectoryObservationPresentation
     private readonly Painter stPainter = UI.GetPainter("TrajectoryObserver.ST", true);
 
     public void DrawWorld(TrajectoryObservationBootstrapResult bootstrap,
-        TrajectoryObservationObservation observation, TrajectoryObservationRuntimeState runtimeState)
+        TrajectoryObservationObservation observation, TrajectoryObservationRuntimeState runtimeState,
+        string diagnosticText)
     {
         worldPainter.Clear();
         if (bootstrap == null)
@@ -114,18 +115,22 @@ public sealed class TrajectoryObservationPresentation
         EmTrajectory trajectory = observation == null ? null : observation.PublishedTrajectory;
         if (trajectory == null || trajectory.Points == null || trajectory.Points.Count == 0)
         {
-            worldPainter.DrawText(Color.LightYellow, "No published trajectory available.", 0f, 0f);
+            float diagnosticX = bootstrap.Map == null ? 0f : bootstrap.Map.Bounds.XMin + 100f;
+            float diagnosticY = bootstrap.Map == null ? 0f : bootstrap.Map.Bounds.YMin + 300f;
+            worldPainter.DrawText(Color.LightYellow,
+                EmptyChartMessage("No published trajectory available.\n", diagnosticText), diagnosticX, diagnosticY);
             return;
         }
         DrawEmPath(trajectory.Points);
     }
 
-    public void DrawLs(TrajectoryObservationCharts charts)
+    public void DrawLs(TrajectoryObservationCharts charts, string diagnosticText)
     {
         lsPainter.Clear();
         if (charts == null || charts.LsSamples == null || charts.LsSamples.Count == 0)
         {
-            lsPainter.DrawText(Color.LightYellow, "No published trajectory available for L-S chart.", 0f, 0f);
+            lsPainter.DrawText(Color.LightYellow,
+                EmptyChartMessage("No published trajectory available for L-S chart.\n", diagnosticText), 0f, 0f);
             return;
         }
 
@@ -147,12 +152,13 @@ public sealed class TrajectoryObservationPresentation
         }
     }
 
-    public void DrawSt(TrajectoryObservationCharts charts)
+    public void DrawSt(TrajectoryObservationCharts charts, string diagnosticText)
     {
         stPainter.Clear();
         if (charts == null || charts.StSamples == null || charts.StSamples.Count == 0)
         {
-            stPainter.DrawText(Color.LightYellow, "No published trajectory available for T-S/T-V charts.", 0f, 0f);
+            stPainter.DrawText(Color.LightYellow,
+                EmptyChartMessage("No published trajectory available for T-S/T-V charts.\n", diagnosticText), 0f, 0f);
             return;
         }
 
@@ -179,6 +185,13 @@ public sealed class TrajectoryObservationPresentation
         stPainter.Clear();
     }
 
+    private static string EmptyChartMessage(string label, string diagnosticText)
+    {
+        return string.IsNullOrWhiteSpace(diagnosticText)
+            ? label
+            : label + diagnosticText;
+    }
+
     private void DrawMap(PlanningGridMap map)
     {
         if (map == null) return;

ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs

@@ -31,6 +31,7 @@ internal static class TrajectoryObservationChecks
         VerifiesLsAndStUsePublishedTrajectoryData();
         VerifiesPresentationTextDescribesObservationWithoutSendingCommand();
         VerifiesPlanningDiagnosticsKeepRawFailureReason();
+        VerifiesEmptyChartsReceivePersistentPlanningDiagnostic();
         VerifiesLsPresentationUsesPathSOnHorizontalAxis();
         VerifiesRollingRequestUsesOnePublishedTrajectorySnapshot();
         FreezesBootstrapVehicleForRollingRequests();
@@ -490,6 +491,22 @@ internal static class TrajectoryObservationChecks
         Verification.Equal("planning status=pending", pending.Text, "diagnostic reports pending before completion");
     }
 
+    private static void VerifiesEmptyChartsReceivePersistentPlanningDiagnostic()
+    {
+        string presentationPath = Path.Combine(Directory.GetCurrentDirectory(), "ClumsyPilot",
+            "ParkrobTrajplanner", "tarjplanner_movementtest", "TrajectoryObservationPresentation.cs");
+        string source = new UTF8Encoding(false, true).GetString(File.ReadAllBytes(presentationPath));
+
+        Verification.True(source.Contains("DrawLs(TrajectoryObservationCharts charts, string diagnosticText)"),
+            "LS painter accepts planning diagnostic input");
+        Verification.True(source.Contains("DrawSt(TrajectoryObservationCharts charts, string diagnosticText)"),
+            "ST painter accepts planning diagnostic input");
+        Verification.True(source.Contains("No published trajectory available for L-S chart.\\n"),
+            "LS empty state includes diagnostic after chart label");
+        Verification.True(source.Contains("No published trajectory available for T-S/T-V charts.\\n"),
+            "ST empty state includes diagnostic after chart label");
+    }
+
     private static void VerifiesLsPresentationUsesPathSOnHorizontalAxis()
     {
         TrajectoryObservationCharts charts = TrajectoryObservationCharts.Build(