feat: add trajectory output demo

2026-08-09 23:39:27 +08:00
parent d4818921ce
commit 3e3a031b9c
11 changed files with 687 additions and 0 deletions
@@ -0,0 +1,45 @@
+using System;
+using System.IO;
+
+namespace TrajectoryOutputDemo;
+
+/// <summary>Trajplanner_output 控制台入口；只输出规划诊断、轨迹摘要和 CSV 路径。</summary>
+internal static class Program
+{
+    private static int Main(string[] args)
+    {
+        if (args.Length != 0)
+        {
+            Console.Error.WriteLine("用法：dotnet run --project TrajectoryOutputDemo.csproj");
+            return 2;
+        }
+
+        string csvPath = Path.Combine(AppContext.BaseDirectory, "output", "trajectory.csv");
+        try
+        {
+            TrajectoryOutputDemoResult result = new TrajectoryOutputDemoRunner().Run(
+                TrajectoryOutputDemoConfiguration.CreateDefault(csvPath));
+            if (!result.Succeeded || result.Trajectory == null || result.ControlTrajectory == null || result.CsvPath == null)
+            {
+                Console.Error.WriteLine(result.Diagnostic);
+                return 1;
+            }
+
+            ControlTrajectoryPoint first = result.ControlTrajectory.Points[0];
+            ControlTrajectoryPoint last = result.ControlTrajectory.Points[result.ControlTrajectory.Points.Count - 1];
+            Console.WriteLine("轨迹 ID：" + result.Trajectory.Metadata.TrajectoryId);
+            Console.WriteLine("生效时间：" + result.Trajectory.Metadata.EffectiveAtUtc.ToString("O"));
+            Console.WriteLine("方向段：" + result.Trajectory.Metadata.SegmentIndex + "，终端类型：" + result.Trajectory.Metadata.TerminalType);
+            Console.WriteLine("轨迹点数：" + result.ControlTrajectory.Points.Count);
+            Console.WriteLine("首点：t=" + first.TimeFromStartSeconds + "s, X=" + first.XMeters + "m, Y=" + first.YMeters + "m");
+            Console.WriteLine("末点：t=" + last.TimeFromStartSeconds + "s, X=" + last.XMeters + "m, Y=" + last.YMeters + "m");
+            Console.WriteLine("CSV：" + result.CsvPath);
+            return 0;
+        }
+        catch (Exception exception)
+        {
+            Console.Error.WriteLine("轨迹 Demo 运行异常：" + exception.Message);
+            return 1;
+        }
+    }
+}