diff --git a/ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/SampleSnapshotFactory.cs b/ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/SampleSnapshotFactory.cs index e50ac2c..f422b59 100644 --- a/ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/SampleSnapshotFactory.cs +++ b/ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/SampleSnapshotFactory.cs @@ -63,7 +63,7 @@ internal static class SampleSnapshotFactory new VisualizationPolyline("active-segment", "活动方向段", "active-segment", VisualizationLineStyle.Solid, Points((0d, 1d), (3d, 1d), (6d, 2d))), new VisualizationPolyline("previous", "上一轮轨迹", "previous", VisualizationLineStyle.Dashed, Points((1d, 1d), (2.5d, 1d), (4d, 1.3d))), - new VisualizationPolyline("current", "当前轨迹", "current", VisualizationLineStyle.Solid, Points((2d + offset, 1d), (3.8d + offset, 1.2d), (5.8d + offset, 1.9d))) + new VisualizationPolyline("current", "当前轨迹", "current", VisualizationLineStyle.Solid, Points((0d, 1d), (3.8d + offset, 1.2d), (5.8d + offset, 1.9d))) }, new[] { diff --git a/ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/WebAssetChecks.cs b/ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/WebAssetChecks.cs index b82c489..48fbd48 100644 --- a/ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/WebAssetChecks.cs +++ b/ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/WebAssetChecks.cs @@ -130,10 +130,15 @@ internal static class WebAssetChecks "smoke snapshot has exactly one dynamic active segment"); VisualizationMarker smoothStart = staticSnapshot.StaticMarkers.Single(marker => marker.Kind == "smooth-start"); VisualizationMarker planStart = dynamicSnapshot.DynamicMarkers.Single(marker => marker.Kind == "plan-start"); + VisualizationPolyline current = dynamicSnapshot.DynamicPolylines.Single(line => line.Kind == "current"); Verification.NearlyEqual(smoothStart.Position.X, planStart.Position.X, "smoke snapshot overlaps smoothed-path and plan-start x coordinates"); Verification.NearlyEqual(smoothStart.Position.Y, planStart.Position.Y, "smoke snapshot overlaps smoothed-path and plan-start y coordinates"); + Verification.NearlyEqual(current.Points[0].X, planStart.Position.X, + "smoke snapshot aligns plan-start x with the current EM trajectory start"); + Verification.NearlyEqual(current.Points[0].Y, planStart.Position.Y, + "smoke snapshot aligns plan-start y with the current EM trajectory start"); Verification.Equal(2, staticSnapshot.DirectionSegments.Count, "smoke snapshot has two direction segments"); Verification.True(staticSnapshot.StaticMarkers.Any(marker => marker.Kind == "gear-switch"), "smoke snapshot has a gear marker"); Verification.True(staticSnapshot.ConfigurationGroups.Count > 0, "smoke snapshot has effective configuration");