docs: document trajectory execution contracts

2026-08-04 14:21:13 +08:00
parent fda84ce148
commit 4a7dd875a4
14 changed files with 149 additions and 18 deletions
@@ -1,7 +1,9 @@
 namespace MultiWheelC.TrajectoryPlanning.EMPlanner;

-/// <summary>Optional observer for completed rolling planning cycles.</summary>
+/// <summary>滚动规划周期完成后的可选观察器；实现不得依赖其回调来维持发布正确性。</summary>
 public interface IEmPlanningCycleSink
 {
+    /// <summary>接收已经确定的周期完成记录。</summary>
+    /// <param name="result">不可变周期结果；观察器异常会被协调器隔离并仅追加诊断。</param>
    void OnCycleCompleted(PlanningCycleResult result);
 }