docs: package EM observation dashboard

ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md

@@ -213,6 +213,7 @@ dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerifi
 ```text
 plugins/
 ├── ClumsyPilot.dll
+├── TrajectoryPlanningVisualization.dll
 ├── osqp.dll
 └── licenses/
     ├── OSQP-LICENSE.txt
@@ -220,7 +221,11 @@ plugins/
     └── OSQP-VERSION.txt
 ```
 
-发布器会检查 64 位 PowerShell、原生 DLL 的 x64 PE 类型和固定 SHA-256。OSQP 加载器从托管程序集目录以绝对路径加载同级 `osqp.dll`；它不依赖 `PATH` 或当前工作目录。部署和执行职责的更多说明见 [TrajectoryExecution](../TrajectoryExecution/README.md)。
+发布器只从显式 `ManagedDll` 的同级目录解析 `TrajectoryPlanningVisualization.dll`，先复制完整包到 staging，
+再原子替换 `plugins` 目录；它不会搜索 `PATH` 或当前工作目录。发布器会检查 64 位 PowerShell、原生 DLL 的 x64 PE
+类型和固定 SHA-256，并保留既有恢复行为。OSQP 加载器从托管程序集目录以绝对路径加载同级 `osqp.dll`；它不依赖
+`PATH` 或当前工作目录。部署和执行职责的更多说明见 [TrajectoryExecution](../TrajectoryExecution/README.md)，网页
+观察的开关、token URL、图表语义和停止清理见 [EM trajectory observation MovementTest](../tarjplanner_movementtest/README.md)。
 
 ## 常见错误（Common Errors）
 

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md

@@ -76,6 +76,30 @@ rejected before EM planning.
 and must never be forwarded directly to a vehicle motion interface. This MovementTest performs no coordinate conversion
 for driving and has no driving capability; any future execution mode requires a separate safety-reviewed design.
 
+## 网页看板与可选 Painter
+
+将 `EnableWebVisualization=true` 可启用本机网页看板；它只绑定 `127.0.0.1`，启动日志会给出完整的、带随机
+会话令牌的 URL。端口为 `0` 时由系统选择可用回环端口；浏览器必须使用该完整 URL，不能删掉 token。默认
+`AutoOpenWebVisualization=true` 会尝试打开默认浏览器；无桌面会话或打开失败只记录 URL，服务和观察循环继续运行。
+网页默认以 `10 Hz` 发布不可变动态快照，网页关闭、断开或慢客户端只会丢弃网页帧，绝不会阻塞、序列化等待或改变
+规划周期。
+
+`EnableNativePainterVisualization=true` 才会为本会话创建 `TrajectoryObserver.World`、`LS`、`ST` Painter；默认关闭。
+网页与 Painter 可以同时开启，也可全部关闭：全部关闭时仍保留 `OBSERVE_ONLY` 规划、控制台和 UI 状态。网页的启动、
+快照或服务出现异常时会只记录一次中文诊断并熔断本次网页输出，不自动循环重启，也不会停止规划观察。
+
+网页采用中文说明配合科研绘图约定：白底、细灰网格和细曲线；当前轨迹为蓝色实线，上一轮为灰色虚线，换向与交接点
+为橙色，红色仅表示实际越界或失败。路径总览把已完成方向段画为灰色细实线、活动段画为蓝色细实线、未来段画为浅灰
+虚线，并以深蓝覆盖当前规划视界。页面的 `ReferenceS (m)` 是将轨迹投影到**完整活动方向段**后的共享参考站；
+`PathS (m)` 是每轮 ST 求解使用、从该轮局部起点累计的实际路径弧长，二者不可互相替代或跨轮直接相减。
+
+运动学页中 `j[i]` 仅表示真实区间 `[tᵢ, tᵢ₊₁)`，所以 jerk 只有 `N-1` 个样本；末点之后没有虚构的 `j=0`。
+状态页将滚动续航、接近停车边界和精确停车边界分别标为 `RollingContinuation`、
+`ApproachStopBoundary`、`ExactStopAtBoundary`：前两者允许非零末端速度，只有真实边界才是精确停车锚点。换向高亮
+仅会在投影位置满足容差、已连续停车保持 `GearSwitchStopHoldSeconds`，并取得
+`DirectionConfirmationSamples` 个满足 `DirectionConfirmationSpeedMetersPerSecond` 阈值的下一方向带符号速度样本后，
+严格从 `N -> N+1` 前进。
+
 ## Operator launch and stop checklist
 
 The vehicle UI entry is `EM轨迹规划观察闭环测试`. It is an observation session only; it has no chassis,
@@ -97,6 +121,8 @@ command is diagnostic information only and must not be copied into a vehicle-con
 
 To stop, use the vehicle UI's normal MovementTest stop action. Confirm the status says
 `Observation stop requested; all observer layers were cleared.` The cancellation request stops observer work and clears
-all three layers. A current-session runtime fault also clears all three layers so stale active diagnostics are not left
+an existing Painter, stops the web publisher/HTTP/SSE service, and releases its port. A current-session runtime fault
-on screen; an intentional bootstrap failure preserves its diagnostic world view. Stopping, running, or starting this
+also clears an existing Painter and stops the web session so stale diagnostics are not left on screen; an intentional
-test must not issue chassis, motor, steering, brake, or gear output.
+bootstrap failure still reports through UI/console even when both visualization modes are off. Closing a browser tab does
+not stop the session; `TestStop()` owns final web and Painter cleanup. Stopping, running, or starting this test must not
+issue chassis, motor, steering, brake, or gear output.

ClumsyPilot/scripts/Publish-ClumsyPilotPlugin.ps1

@@ -47,6 +47,10 @@ if (Test-SamePath $outputDirectoryPath $workspaceRoot) {
 if (-not [System.IO.File]::Exists($managedDllPath)) {
     throw "Managed DLL does not exist: $managedDllPath"
 }
+$visualizationDll = Join-Path ([System.IO.Path]::GetDirectoryName($managedDllPath)) 'TrajectoryPlanningVisualization.dll'
+if (-not [System.IO.File]::Exists($visualizationDll)) {
+    throw "Visualization DLL does not exist beside managed DLL: $visualizationDll"
+}
 if (-not [System.Environment]::Is64BitProcess) {
     throw 'Refusing to publish from a non-x64 PowerShell host.'
 }
@@ -89,6 +93,7 @@ $movedExistingPlugins = $false
 try {
     [System.IO.Directory]::CreateDirectory((Join-Path $stagingDirectory 'licenses')) | Out-Null
     [System.IO.File]::Copy($managedDllPath, (Join-Path $stagingDirectory 'ClumsyPilot.dll'), $false)
+    [System.IO.File]::Copy($visualizationDll, (Join-Path $stagingDirectory 'TrajectoryPlanningVisualization.dll'), $false)
     [System.IO.File]::Copy($nativeDll, (Join-Path $stagingDirectory 'osqp.dll'), $false)
     [System.IO.File]::Copy($license, (Join-Path $stagingDirectory 'licenses\OSQP-LICENSE.txt'), $false)
     [System.IO.File]::Copy($notice, (Join-Path $stagingDirectory 'licenses\OSQP-NOTICE.txt'), $false)

ClumsyPilot/tests/EMPlannerVerificationHost/PluginPackagingChecks.cs

@@ -83,14 +83,20 @@ internal static class PluginPackagingChecks
             relativeFiles.Add(Path.GetRelativePath(packageRoot, files[index]).Replace('\\', '/'));
         relativeFiles.Sort(StringComparer.Ordinal);
 
-        Verification.Equal("plugins/ClumsyPilot.dll|plugins/licenses/OSQP-LICENSE.txt|plugins/licenses/OSQP-NOTICE.txt|" +
+        Verification.Equal("plugins/ClumsyPilot.dll|plugins/TrajectoryPlanningVisualization.dll|" +
-            "plugins/licenses/OSQP-VERSION.txt|plugins/osqp.dll", string.Join("|", relativeFiles),
+            "plugins/licenses/OSQP-LICENSE.txt|plugins/licenses/OSQP-NOTICE.txt|plugins/licenses/OSQP-VERSION.txt|" +
-            "plugin tree contains exactly the managed DLL, native DLL, and OSQP license files");
+            "plugins/osqp.dll", string.Join("|", relativeFiles),
+            "plugin tree contains exactly the managed DLLs, native DLL, and OSQP license files");
 
         string managedPlugin = Path.Combine(pluginsDirectory, "ClumsyPilot.dll");
         AssemblyName managedAssembly = AssemblyName.GetAssemblyName(managedPlugin);
         Verification.True(!string.IsNullOrWhiteSpace(managedAssembly.Name), "packaged ClumsyPilot.dll is managed");
 
+        string visualizationPlugin = Path.Combine(pluginsDirectory, "TrajectoryPlanningVisualization.dll");
+        AssemblyName visualizationAssembly = AssemblyName.GetAssemblyName(visualizationPlugin);
+        Verification.Equal("TrajectoryPlanningVisualization", visualizationAssembly.Name,
+            "packaged visualization DLL has the expected managed assembly name");
+
         string nativePlugin = Path.Combine(pluginsDirectory, "osqp.dll");
         Verification.Equal((ushort)0x8664, ReadPeMachine(nativePlugin), "packaged OSQP binary is x64");
         Verification.Equal(ReadExpectedOsqpHash(repositoryRoot), GetSha256(nativePlugin),