feat: configure MovementTest solver timeout

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -31,6 +31,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
     public float MapResolutionMm = 50f;
     public double ReplanPeriodSeconds = 0.20d;
     public double ObserverPeriodSeconds = 0.05d;
+    public double SolverTimeoutSeconds = 0.50d;
     public double VehicleLengthMeters = 0.80d;
     public double VehicleWidthMeters = 0.60d;
     public double SafetyMarginMeters = 0.05d;
@@ -59,6 +60,7 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                 MapResolutionMillimeters = MapResolutionMm,
                 ReplanPeriodSeconds = ReplanPeriodSeconds,
                 ObserverPeriodSeconds = ObserverPeriodSeconds,
+                SolverTimeoutSeconds = SolverTimeoutSeconds,
                 VehicleLengthMeters = VehicleLengthMeters,
                 VehicleWidthMeters = VehicleWidthMeters,
                 SafetyMarginMeters = SafetyMarginMeters,

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs

@@ -12,6 +12,7 @@ public sealed class TrajectoryObservationSettings
     public float MapResolutionMillimeters { get; set; } = 50f;
     public double ReplanPeriodSeconds { get; set; } = 0.20d;
     public double ObserverPeriodSeconds { get; set; } = 0.05d;
+    public double SolverTimeoutSeconds { get; set; } = 0.50d;
     public double VehicleLengthMeters { get; set; } = 0.80d;
     public double VehicleWidthMeters { get; set; } = 0.60d;
     public double SafetyMarginMeters { get; set; } = 0.05d;
@@ -25,6 +26,7 @@ public sealed class TrajectoryObservationSettings
             MapResolutionMillimeters = MapResolutionMillimeters,
             ReplanPeriodSeconds = ReplanPeriodSeconds,
             ObserverPeriodSeconds = ObserverPeriodSeconds,
+            SolverTimeoutSeconds = SolverTimeoutSeconds,
             VehicleLengthMeters = VehicleLengthMeters,
             VehicleWidthMeters = VehicleWidthMeters,
             SafetyMarginMeters = SafetyMarginMeters,
@@ -40,6 +42,7 @@ public sealed class TrajectoryObservationSettings
         EnsurePositiveFinite(MapResolutionMillimeters, nameof(MapResolutionMillimeters));
         EnsurePositiveFinite(ReplanPeriodSeconds, nameof(ReplanPeriodSeconds));
         EnsurePositiveFinite(ObserverPeriodSeconds, nameof(ObserverPeriodSeconds));
+        EnsurePositiveFinite(SolverTimeoutSeconds, nameof(SolverTimeoutSeconds));
         EnsurePositiveFinite(VehicleLengthMeters, nameof(VehicleLengthMeters));
         EnsurePositiveFinite(VehicleWidthMeters, nameof(VehicleWidthMeters));
         EnsurePositiveFinite(SafetyMarginMeters, nameof(SafetyMarginMeters));

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -207,6 +207,7 @@ public sealed class TrajectoryObservationController
         settings.Validate();
         configuration = EmPlannerConfiguration.CreateDefault();
         configuration.Scheduling.ReplanPeriodSeconds = settings.ReplanPeriodSeconds;
+        configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
         coordinator = new EmPlanningCoordinator(planningService);
         executor = new TrajectoryExecutor(configuration);
         this.sessionId = sessionId;