From 78722383bfc57f58c4f24006d368bb7ff1a643fd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=A2=81=E8=96=84=E4=BA=91?= Date: Thu, 30 Jul 2026 08:43:35 +0800 Subject: [PATCH] test: add path smoothing scenarios and fixtures --- .../Fixtures/path-smoothing-fixtures.json | 19451 ++++++++++++++++ .../Test/SmoothingFixtureGenerator.cs | 260 + .../Test/SmoothingScenarioFactory.cs | 69 + .../Test/SmoothingScenarioFixture.cs | 156 + .../Test/SmoothingScenarioFixtureLoader.cs | 244 + .../generate_path_smoothing_fixtures.ps1 | 15 + .../tests/verify_path_smoothing_fixtures.ps1 | 119 + .../verify_path_smoothing_integration.ps1 | 140 + 8 files changed, 20454 insertions(+) create mode 100644 ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/Fixtures/path-smoothing-fixtures.json create mode 100644 ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingFixtureGenerator.cs create mode 100644 ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFactory.cs create mode 100644 ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixture.cs create mode 100644 ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixtureLoader.cs create mode 100644 ClumsyPilot/tests/generate_path_smoothing_fixtures.ps1 create mode 100644 ClumsyPilot/tests/verify_path_smoothing_fixtures.ps1 create mode 100644 ClumsyPilot/tests/verify_path_smoothing_integration.ps1 diff --git a/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/Fixtures/path-smoothing-fixtures.json b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/Fixtures/path-smoothing-fixtures.json new file mode 100644 index 0000000..46aef79 --- /dev/null +++ b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/Fixtures/path-smoothing-fixtures.json @@ -0,0 +1,19451 @@ +{ + "schemaVersion": 1, + "scenarios": [ + { + "id": "straight", + "fixtureVersion": 1, + "configurationFingerprint": "sha256:d8c625157c21789a8bd33052a7f5927e4b1f697a2567cf3644b37ce00e164c51", + "map": { + "xMinMm": 0.0, + "xMaxMm": 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4.1749999999999909, + "yMeters": 2.0, + "headingRadians": 0.0, + "unwrappedHeadingRadians": 0.0, + "arcLengthMeters": 3.825, + "direction": 1, + "vehicleCurvaturePerMeter": 0.0, + "bodyClearanceMeters": 7.2111025509279782, + "isGearSwitchPoint": false, + "source": 1 + }, + { + "xMeters": 4.1499999999999906, + "yMeters": 2.0, + "headingRadians": 0.0, + "unwrappedHeadingRadians": 0.0, + "arcLengthMeters": 3.8500000000000005, + "direction": 1, + "vehicleCurvaturePerMeter": 0.0, + "bodyClearanceMeters": 7.2111025509279782, + "isGearSwitchPoint": false, + "source": 2 + } + ], + "segments": [ + { + "segmentIndex": 0, + "direction": 0, + "startIndex": 0, + "endIndex": 140, + "startsAtGearSwitch": false, + "endsAtGearSwitch": true + }, + { + "segmentIndex": 1, + "direction": 1, + "startIndex": 141, + "endIndex": 155, + "startsAtGearSwitch": true, + "endsAtGearSwitch": false + } + ] + } + ] +} \ No newline at end of file diff --git a/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingFixtureGenerator.cs b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingFixtureGenerator.cs new file mode 100644 index 0000000..c942216 --- /dev/null +++ b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingFixtureGenerator.cs @@ -0,0 +1,260 @@ +using System; +using System.Collections.Generic; +using System.Globalization; +using System.IO; +using System.Threading; +using MultiWheelC.TrajectoryPlanning.CoarsePath; +using MultiWheelC.TrajectoryPlanning.CoarsePath.Facade; +using MultiWheelC.TrajectoryPlanning.CoarsePath.Test; +using MultiWheelC.TrajectoryPlanning.CoarsePath.Vehicle; +using MultiWheelC.TrajectoryPlanning.Mapping; +using Newtonsoft.Json; + +namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Test; + +/// 显式开发入口：从已成功的 Hybrid A* 粗路径结果生成八个稳定的快速比较夹具。 +public static class SmoothingFixtureGenerator +{ + // 仅用于开发时固化真实规划输出；不会改变业务场景或运行时服务的预算。 + private static readonly TimeSpan FixtureGenerationSearchTimeout = TimeSpan.FromSeconds(120d); + + /// 生成夹具 JSON；目标已存在且未明确允许覆盖时拒绝写入。 + public static void Generate(string outputPath, bool overwrite) + { + if (string.IsNullOrWhiteSpace(outputPath)) throw new ArgumentException("输出路径不能为空。", nameof(outputPath)); + if (File.Exists(outputPath) && !overwrite) + throw new IOException("夹具目标已存在；必须显式允许覆盖。"); + + SmoothingFixtureDocument document = CreateDocument(); + Directory.CreateDirectory(Path.GetDirectoryName(Path.GetFullPath(outputPath))); + var settings = new JsonSerializerSettings { Culture = CultureInfo.InvariantCulture, Formatting = Formatting.Indented }; + File.WriteAllText(outputPath, JsonConvert.SerializeObject(document, settings), new System.Text.UTF8Encoding(false)); + } + + private static SmoothingFixtureDocument CreateDocument() + { + var document = new SmoothingFixtureDocument { SchemaVersion = 1 }; + var planner = new CoarsePathPlanningService(); + IReadOnlyList plans = CreatePlans(); + for (int index = 0; index < plans.Count; index++) + { + FixturePlan plan = plans[index]; + CoarsePathPlanningJob job = plan.CreateJob(); + job.Configuration.SearchTimeout = FixtureGenerationSearchTimeout; + CoarsePathPlanningJobResult result = planner.Plan(job, CancellationToken.None); + document.Scenarios.Add(CreateRecord(plan.Id, job, result)); + } + + for (int index = 0; index < document.Scenarios.Count; index++) + document.Scenarios[index].ConfigurationFingerprint = SmoothingScenarioFixtureLoader.ComputeFingerprint(document.Scenarios[index]); + return document; + } + + private static IReadOnlyList CreatePlans() + { + return new List + { + new FixturePlan("straight", () => CoarsePathScenarioFactory.Create(CoarsePathTestScenario.ExplicitEmpty)), + new FixturePlan("single-turn", () => CoarsePathScenarioFactory.CreateManualGoalDemo(1000d, 1000d, 0d, 3000d, 2000d, 45d)), + new FixturePlan("s-bend", () => CoarsePathScenarioFactory.Create(CoarsePathTestScenario.ManualAndTwoLeg, 1000d, 1000d, 45d)), + new FixturePlan("large-heading-change", () => CoarsePathScenarioFactory.CreateManualGoalDemo(1000d, 1000d, 0d, 3000d, 3000d, 90d)), + new FixturePlan("rectangle-detour", () => CoarsePathScenarioFactory.Create(CoarsePathTestScenario.RectangleDetour)), + new FixturePlan("multi-obstacle-detour", () => CoarsePathScenarioFactory.Create(CoarsePathTestScenario.ManualAndTwoLeg)), + new FixturePlan("narrow-corridor", CreateNarrowCorridor), + new FixturePlan("forward-reverse-switch", () => CoarsePathScenarioFactory.Create(CoarsePathTestScenario.ReverseGearSwitch)), + }; + } + + private static CoarsePathPlanningJob CreateNarrowCorridor() + { + return CreateFixedObstacleJob("narrow-corridor", new IMapObstacle[] + { + new AxisAlignedRectangleObstacle(1500f, 4500f, 500f, 1200f), + new AxisAlignedRectangleObstacle(1500f, 4500f, 2800f, 3500f), + }); + } + + private static CoarsePathPlanningJob CreateFixedObstacleJob(string id, IReadOnlyList obstacles) + { + var job = new CoarsePathPlanningJob + { + MapRequest = new PlanningMapRequest + { + Bounds = new MapBoundsMm(0f, 6000f, 0f, 4000f), + ResolutionMm = 50f, + AllowExplicitEmptyMap = false, + ObstacleSources = new IMapObstacleSource[] + { + new ManualObstacleSource("fixture-" + id, 1L, true, obstacles), + }, + }, + Start = new Pose2D(1d, 2d, 0d), + Goal = new Pose2D(5d, 2d, 0d), + Vehicle = new VehicleParameters + { + LengthMeters = 0.80d, + WidthMeters = 0.60d, + SafetyMarginMeters = 0.05d, + MaximumCurvaturePerMeter = 1d / 1.20d, + }, + Configuration = new HybridAStarConfiguration(), + GoalDirection = GoalDirectionConstraint.Forward, + }; + job.Configuration.SearchTimeout = TimeSpan.FromSeconds(30d); + return job; + } + + private static SmoothingFixtureRecord CreateRecord(string id, CoarsePathPlanningJob job, CoarsePathPlanningJobResult result) + { + if (job == null || result == null || result.MapResult == null || !result.MapResult.Succeeded || + result.MapResult.Map == null || result.PlanningResult == null || result.PlanningResult.Status != PlanningStatus.Success) + { + string status = result == null || result.PlanningResult == null ? "no-result" : result.PlanningResult.Status.ToString(); + string reason = result == null || result.PlanningResult == null || result.PlanningResult.Diagnostics == null + ? string.Empty + : result.PlanningResult.Diagnostics.TerminationReason; + throw new InvalidOperationException("夹具场景未产生成功的粗路径：" + id + "；状态=" + status + "；原因=" + reason); + } + + PlanningGridMap map = result.MapResult.Map; + IReadOnlyList smoothingPath = SmoothingScenarioFactory.CopyWithFiniteClearance(result.PlanningResult.Path, map); + var record = new SmoothingFixtureRecord + { + Id = id, + FixtureVersion = 1, + Map = CreateMapRecord(map, result.MapResult.SourceResults), + Vehicle = CreateVehicleRecord(job.Vehicle), + PlanningConfiguration = CreatePlanningConfigurationRecord(job.Configuration), + }; + + for (int index = 0; index < smoothingPath.Count; index++) + record.Path.Add(CreatePathPointRecord(smoothingPath[index])); + for (int index = 0; index < result.PlanningResult.Segments.Count; index++) + record.Segments.Add(CreateSegmentRecord(result.PlanningResult.Segments[index])); + return record; + } + + private static SmoothingFixtureMap CreateMapRecord(PlanningGridMap map, IReadOnlyList sourceResults) + { + var record = new SmoothingFixtureMap + { + XMinMm = map.Bounds.XMin, + XMaxMm = map.Bounds.XMax, + YMinMm = map.Bounds.YMin, + YMaxMm = map.Bounds.YMax, + ResolutionMm = map.ResolutionMm, + }; + for (int sourceIndex = 0; sourceIndex < sourceResults.Count; sourceIndex++) + { + IReadOnlyList obstacles = sourceResults[sourceIndex].Obstacles; + for (int obstacleIndex = 0; obstacleIndex < obstacles.Count; obstacleIndex++) + record.Obstacles.Add(CreateObstacleRecord(obstacles[obstacleIndex])); + } + return record; + } + + private static SmoothingFixtureObstacle CreateObstacleRecord(IMapObstacle obstacle) + { + if (obstacle is CircleObstacle circle) + { + return new SmoothingFixtureObstacle + { + Kind = "circle", + CenterXMm = circle.CenterX, + CenterYMm = circle.CenterY, + RadiusMm = circle.RadiusMm, + }; + } + if (obstacle is AxisAlignedRectangleObstacle rectangle) + { + return new SmoothingFixtureObstacle + { + Kind = "axis-aligned-rectangle", + XMinMm = rectangle.XMin, + XMaxMm = rectangle.XMax, + YMinMm = rectangle.YMin, + YMaxMm = rectangle.YMax, + }; + } + throw new InvalidOperationException("夹具仅支持圆形和轴对齐矩形障碍物。" + obstacle?.GetType().FullName); + } + + private static SmoothingFixtureVehicle CreateVehicleRecord(VehicleParameters vehicle) + { + if (!VehicleKinematics.TryGetMaximumCurvaturePerMeter(vehicle, out double maximumCurvaturePerMeter)) + throw new InvalidOperationException("夹具车辆缺少有效最大曲率限制。"); + return new SmoothingFixtureVehicle + { + LengthMeters = vehicle.LengthMeters, + WidthMeters = vehicle.WidthMeters, + SafetyMarginMeters = vehicle.SafetyMarginMeters, + MaximumCurvaturePerMeter = maximumCurvaturePerMeter, + }; + } + + private static SmoothingFixturePlanningConfiguration CreatePlanningConfigurationRecord(HybridAStarConfiguration configuration) + { + return new SmoothingFixturePlanningConfiguration + { + PrimitiveLengthMeters = configuration.PrimitiveLengthMeters, + IntegrationStepMeters = configuration.IntegrationStepMeters, + MaximumCollisionCheckStepMeters = configuration.MaximumCollisionCheckStepMeters, + HeadingResolutionRadians = configuration.HeadingResolutionRadians, + CurvatureLevelCount = configuration.CurvatureLevelCount, + GoalPositionToleranceMeters = configuration.GoalPositionToleranceMeters, + GoalHeadingToleranceRadians = configuration.GoalHeadingToleranceRadians, + MaximumExpandedNodes = configuration.MaximumExpandedNodes, + SearchTimeoutSeconds = configuration.SearchTimeout.TotalSeconds, + HeuristicWeight = configuration.HeuristicWeight, + ReverseCostMultiplier = configuration.ReverseCostMultiplier, + GearSwitchPenaltyMeters = configuration.GearSwitchPenaltyMeters, + CurvatureMagnitudeWeight = configuration.CurvatureMagnitudeWeight, + CurvatureChangePenaltyMetersPerLevel = configuration.CurvatureChangePenaltyMetersPerLevel, + ClearanceCostWeight = configuration.ClearanceCostWeight, + ClearanceCostDistanceMeters = configuration.ClearanceCostDistanceMeters, + AllowReverse = configuration.AllowReverse, + }; + } + + private static SmoothingFixturePathPoint CreatePathPointRecord(CoarsePathPoint point) + { + return new SmoothingFixturePathPoint + { + XMeters = point.X, + YMeters = point.Y, + HeadingRadians = point.Heading, + UnwrappedHeadingRadians = point.UnwrappedHeading, + ArcLengthMeters = point.ArcLength, + Direction = point.Direction, + VehicleCurvaturePerMeter = point.VehicleCurvature, + BodyClearanceMeters = point.BodyClearance, + IsGearSwitchPoint = point.IsGearSwitchPoint, + Source = point.Source, + }; + } + + private static SmoothingFixtureSegment CreateSegmentRecord(PathSegment segment) + { + return new SmoothingFixtureSegment + { + SegmentIndex = segment.SegmentIndex, + Direction = segment.Direction, + StartIndex = segment.StartIndex, + EndIndex = segment.EndIndex, + StartsAtGearSwitch = segment.StartsAtGearSwitch, + EndsAtGearSwitch = segment.EndsAtGearSwitch, + }; + } + + private sealed class FixturePlan + { + public FixturePlan(string id, Func createJob) + { + Id = id; + CreateJob = createJob; + } + + public string Id { get; } + public Func CreateJob { get; } + } +} diff --git a/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFactory.cs b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFactory.cs new file mode 100644 index 0000000..f263573 --- /dev/null +++ b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFactory.cs @@ -0,0 +1,69 @@ +using System; +using System.Collections.Generic; +using System.Threading; +using MultiWheelC.TrajectoryPlanning.CoarsePath; +using MultiWheelC.TrajectoryPlanning.CoarsePath.Facade; +using MultiWheelC.TrajectoryPlanning.PathSmoothing.Comparison; + +namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Test; + +/// 将快速夹具或现有粗路径业务结果转换为独立平滑比较请求。 +public static class SmoothingScenarioFactory +{ + /// 不运行 Hybrid A*，从已验证的 JSON 夹具创建八个快速比较请求。 + public static IReadOnlyList CreateFixtureRequests(string fixturePath) + { + IReadOnlyList fixtures = SmoothingScenarioFixtureLoader.LoadAndVerify(fixturePath); + var requests = new List(fixtures.Count); + for (int index = 0; index < fixtures.Count; index++) + { + SmoothingScenarioFixture fixture = fixtures[index]; + requests.Add(new PathSmoothingComparisonRequest( + new PathSmoothingRequest( + fixture.Path, + fixture.Segments, + SmoothingScenarioFixtureLoader.BuildMap(fixture), + SmoothingScenarioFixtureLoader.BuildVehicle(fixture), + new PathSmoothingConfiguration()))); + } + return requests.AsReadOnly(); + } + + /// 把现有 已规划成功的结果转换为比较请求。 + public static PathSmoothingComparisonRequest CreateEndToEndRequest( + CoarsePathPlanningJob job, + CoarsePathPlanningJobResult result) + { + if (job == null || result == null || result.MapResult == null || result.MapResult.Map == null || + result.PlanningResult == null || result.PlanningResult.Status != PlanningStatus.Success) + throw new ArgumentException("只能从包含成功地图和粗路径的业务结果创建平滑比较请求。", nameof(result)); + + return new PathSmoothingComparisonRequest(new PathSmoothingRequest( + CopyWithFiniteClearance(result.PlanningResult.Path, result.MapResult.Map), + result.PlanningResult.Segments, + result.MapResult.Map, + job.Vehicle, + new PathSmoothingConfiguration())); + } + + internal static IReadOnlyList CopyWithFiniteClearance( + IReadOnlyList source, + MultiWheelC.TrajectoryPlanning.Mapping.PlanningGridMap map) + { + double widthMeters = (map.Bounds.XMax - map.Bounds.XMin) / 1000d; + double heightMeters = (map.Bounds.YMax - map.Bounds.YMin) / 1000d; + double finiteEmptyMapClearance = Math.Sqrt(widthMeters * widthMeters + heightMeters * heightMeters); + var copy = new List(source.Count); + for (int index = 0; index < source.Count; index++) + { + CoarsePathPoint point = source[index]; + double clearance = double.IsPositiveInfinity(point.BodyClearance) + ? finiteEmptyMapClearance + : point.BodyClearance; + copy.Add(new CoarsePathPoint( + point.X, point.Y, point.Heading, point.UnwrappedHeading, point.ArcLength, point.Direction, + point.VehicleCurvature, clearance, point.IsGearSwitchPoint, point.Source)); + } + return copy.AsReadOnly(); + } +} diff --git a/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixture.cs b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixture.cs new file mode 100644 index 0000000..e19185d --- /dev/null +++ b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixture.cs @@ -0,0 +1,156 @@ +using System.Collections.Generic; +using System.Collections.ObjectModel; +using MultiWheelC.TrajectoryPlanning.CoarsePath; +using Newtonsoft.Json; + +namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Test; + +/// 一个可复现的快速粗路径夹具及其地图、车辆和方向段快照。 +public sealed class SmoothingScenarioFixture +{ + internal SmoothingScenarioFixture(SmoothingFixtureRecord record, bool fingerprintCurrent) + { + Record = record; + Id = record.Id; + FixtureVersion = record.FixtureVersion; + ConfigurationFingerprint = record.ConfigurationFingerprint; + IsConfigurationFingerprintCurrent = fingerprintCurrent; + Path = ToPath(record.Path); + Segments = ToSegments(record.Segments); + } + + /// 稳定英文场景标识。 + public string Id { get; } + /// 夹具自身的正版本号。 + public int FixtureVersion { get; } + /// 由夹具输入生成的稳定 SHA-256 指纹。 + public string ConfigurationFingerprint { get; } + /// 存储指纹是否与当前夹具内容一致。 + public bool IsConfigurationFingerprintCurrent { get; } + /// 快速比较使用的不可变粗路径点。 + public IReadOnlyList Path { get; } + /// 覆盖粗路径的不可变方向段。 + public IReadOnlyList Segments { get; } + + internal SmoothingFixtureRecord Record { get; } + + private static IReadOnlyList ToPath(IReadOnlyList source) + { + var result = new List(source.Count); + for (int index = 0; index < source.Count; index++) + { + SmoothingFixturePathPoint point = source[index]; + result.Add(new CoarsePathPoint( + point.XMeters, point.YMeters, point.HeadingRadians, point.UnwrappedHeadingRadians, + point.ArcLengthMeters, point.Direction, point.VehicleCurvaturePerMeter, + point.BodyClearanceMeters, point.IsGearSwitchPoint, point.Source)); + } + return new ReadOnlyCollection(result); + } + + private static IReadOnlyList ToSegments(IReadOnlyList source) + { + var result = new List(source.Count); + for (int index = 0; index < source.Count; index++) + { + SmoothingFixtureSegment segment = source[index]; + result.Add(new PathSegment(segment.SegmentIndex, segment.Direction, segment.StartIndex, segment.EndIndex, + segment.StartsAtGearSwitch, segment.EndsAtGearSwitch)); + } + return new ReadOnlyCollection(result); + } +} + +internal sealed class SmoothingFixtureDocument +{ + [JsonProperty("schemaVersion")] public int SchemaVersion { get; set; } + [JsonProperty("scenarios")] public List Scenarios { get; set; } = new List(); +} + +internal sealed class SmoothingFixtureRecord +{ + [JsonProperty("id")] public string Id { get; set; } + [JsonProperty("fixtureVersion")] public int FixtureVersion { get; set; } + [JsonProperty("configurationFingerprint")] public string ConfigurationFingerprint { get; set; } + [JsonProperty("map")] public SmoothingFixtureMap Map { get; set; } + [JsonProperty("vehicle")] public SmoothingFixtureVehicle Vehicle { get; set; } + [JsonProperty("planningConfiguration")] public SmoothingFixturePlanningConfiguration PlanningConfiguration { get; set; } + [JsonProperty("path")] public List Path { get; set; } = new List(); + [JsonProperty("segments")] public List Segments { get; set; } = new List(); +} + +internal sealed class SmoothingFixtureMap +{ + [JsonProperty("xMinMm")] public float XMinMm { get; set; } + [JsonProperty("xMaxMm")] public float XMaxMm { get; set; } + [JsonProperty("yMinMm")] public float YMinMm { get; set; } + [JsonProperty("yMaxMm")] public float YMaxMm { get; set; } + [JsonProperty("resolutionMm")] public float ResolutionMm { get; set; } + [JsonProperty("obstacles")] public List Obstacles { get; set; } = new List(); +} + +internal sealed class SmoothingFixtureObstacle +{ + [JsonProperty("kind")] public string Kind { get; set; } + [JsonProperty("xMinMm")] public float XMinMm { get; set; } + [JsonProperty("xMaxMm")] public float XMaxMm { get; set; } + [JsonProperty("yMinMm")] public float YMinMm { get; set; } + [JsonProperty("yMaxMm")] public float YMaxMm { get; set; } + [JsonProperty("centerXMm")] public float CenterXMm { get; set; } + [JsonProperty("centerYMm")] public float CenterYMm { get; set; } + [JsonProperty("radiusMm")] public float RadiusMm { get; set; } +} + +internal sealed class SmoothingFixtureVehicle +{ + [JsonProperty("lengthMeters")] public double LengthMeters { get; set; } + [JsonProperty("widthMeters")] public double WidthMeters { get; set; } + [JsonProperty("safetyMarginMeters")] public double SafetyMarginMeters { get; set; } + [JsonProperty("maximumCurvaturePerMeter")] public double MaximumCurvaturePerMeter { get; set; } +} + +/// 产生夹具粗路径时使用的 Hybrid A* 配置快照；仅用于溯源和指纹验证，不参与快速夹具加载时的规划。 +internal sealed class SmoothingFixturePlanningConfiguration +{ + [JsonProperty("primitiveLengthMeters")] public double PrimitiveLengthMeters { get; set; } + [JsonProperty("integrationStepMeters")] public double IntegrationStepMeters { get; set; } + [JsonProperty("maximumCollisionCheckStepMeters")] public double MaximumCollisionCheckStepMeters { get; set; } + [JsonProperty("headingResolutionRadians")] public double HeadingResolutionRadians { get; set; } + [JsonProperty("curvatureLevelCount")] public int CurvatureLevelCount { get; set; } + [JsonProperty("goalPositionToleranceMeters")] public double GoalPositionToleranceMeters { get; set; } + [JsonProperty("goalHeadingToleranceRadians")] public double GoalHeadingToleranceRadians { get; set; } + [JsonProperty("maximumExpandedNodes")] public int MaximumExpandedNodes { get; set; } + [JsonProperty("searchTimeoutSeconds")] public double SearchTimeoutSeconds { get; set; } + [JsonProperty("heuristicWeight")] public double HeuristicWeight { get; set; } + [JsonProperty("reverseCostMultiplier")] public double ReverseCostMultiplier { get; set; } + [JsonProperty("gearSwitchPenaltyMeters")] public double GearSwitchPenaltyMeters { get; set; } + [JsonProperty("curvatureMagnitudeWeight")] public double CurvatureMagnitudeWeight { get; set; } + [JsonProperty("curvatureChangePenaltyMetersPerLevel")] public double CurvatureChangePenaltyMetersPerLevel { get; set; } + [JsonProperty("clearanceCostWeight")] public double ClearanceCostWeight { get; set; } + [JsonProperty("clearanceCostDistanceMeters")] public double ClearanceCostDistanceMeters { get; set; } + [JsonProperty("allowReverse")] public bool AllowReverse { get; set; } +} + +internal sealed class SmoothingFixturePathPoint +{ + [JsonProperty("xMeters")] public double XMeters { get; set; } + [JsonProperty("yMeters")] public double YMeters { get; set; } + [JsonProperty("headingRadians")] public double HeadingRadians { get; set; } + [JsonProperty("unwrappedHeadingRadians")] public double UnwrappedHeadingRadians { get; set; } + [JsonProperty("arcLengthMeters")] public double ArcLengthMeters { get; set; } + [JsonProperty("direction")] public TravelDirection Direction { get; set; } + [JsonProperty("vehicleCurvaturePerMeter")] public double VehicleCurvaturePerMeter { get; set; } + [JsonProperty("bodyClearanceMeters")] public double BodyClearanceMeters { get; set; } + [JsonProperty("isGearSwitchPoint")] public bool IsGearSwitchPoint { get; set; } + [JsonProperty("source")] public CoarsePathPointSource Source { get; set; } +} + +internal sealed class SmoothingFixtureSegment +{ + [JsonProperty("segmentIndex")] public int SegmentIndex { get; set; } + [JsonProperty("direction")] public TravelDirection Direction { get; set; } + [JsonProperty("startIndex")] public int StartIndex { get; set; } + [JsonProperty("endIndex")] public int EndIndex { get; set; } + [JsonProperty("startsAtGearSwitch")] public bool StartsAtGearSwitch { get; set; } + [JsonProperty("endsAtGearSwitch")] public bool EndsAtGearSwitch { get; set; } +} diff --git a/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixtureLoader.cs b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixtureLoader.cs new file mode 100644 index 0000000..977e708 --- /dev/null +++ b/ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/SmoothingScenarioFixtureLoader.cs @@ -0,0 +1,244 @@ +using System; +using System.Collections.Generic; +using System.Globalization; +using System.IO; +using System.Security.Cryptography; +using System.Text; +using MultiWheelC.TrajectoryPlanning.CoarsePath; +using MultiWheelC.TrajectoryPlanning.Mapping; +using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing; +using Newtonsoft.Json; + +namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Test; + +/// 加载并验证版本化 JSON 快速夹具；此类不运行 Hybrid A*。 +public static class SmoothingScenarioFixtureLoader +{ + /// 读取、校验并冻结指定的快速夹具文件。 + public static IReadOnlyList LoadAndVerify(string fixturePath) + { + if (string.IsNullOrWhiteSpace(fixturePath)) throw new ArgumentException("夹具路径不能为空。", nameof(fixturePath)); + if (!File.Exists(fixturePath)) throw new FileNotFoundException("找不到路径平滑夹具文件。", fixturePath); + + SmoothingFixtureDocument document = JsonConvert.DeserializeObject( + File.ReadAllText(fixturePath, Encoding.UTF8)); + if (document == null || document.SchemaVersion != 1 || document.Scenarios == null) + throw new InvalidDataException("路径平滑夹具架构版本无效。"); + + var fixtures = new List(document.Scenarios.Count); + var ids = new HashSet(StringComparer.Ordinal); + for (int index = 0; index < document.Scenarios.Count; index++) + { + SmoothingFixtureRecord record = document.Scenarios[index]; + Validate(record, ids); + string fingerprint = ComputeFingerprint(record); + if (!string.Equals(record.ConfigurationFingerprint, fingerprint, StringComparison.Ordinal)) + throw new InvalidDataException("路径平滑夹具指纹已过期：" + record.Id + "。"); + fixtures.Add(new SmoothingScenarioFixture(record, true)); + } + return fixtures.AsReadOnly(); + } + + internal static string ComputeFingerprint(SmoothingFixtureRecord record) + { + string material = BuildFingerprintMaterial(record); + using (SHA256 sha256 = SHA256.Create()) + { + byte[] hash = sha256.ComputeHash(Encoding.UTF8.GetBytes(material)); + var builder = new StringBuilder(hash.Length * 2 + 7); + builder.Append("sha256:"); + for (int index = 0; index < hash.Length; index++) builder.Append(hash[index].ToString("x2", CultureInfo.InvariantCulture)); + return builder.ToString(); + } + } + + internal static PlanningGridMap BuildMap(SmoothingScenarioFixture fixture) + { + SmoothingFixtureRecord record = fixture.Record; + var obstacles = new List(record.Map.Obstacles.Count); + for (int index = 0; index < record.Map.Obstacles.Count; index++) + { + SmoothingFixtureObstacle obstacle = record.Map.Obstacles[index]; + if (string.Equals(obstacle.Kind, "circle", StringComparison.Ordinal)) + obstacles.Add(new CircleObstacle(obstacle.CenterXMm, obstacle.CenterYMm, obstacle.RadiusMm)); + else if (string.Equals(obstacle.Kind, "axis-aligned-rectangle", StringComparison.Ordinal)) + obstacles.Add(new AxisAlignedRectangleObstacle(obstacle.XMinMm, obstacle.XMaxMm, obstacle.YMinMm, obstacle.YMaxMm)); + else + throw new InvalidDataException("夹具包含未知障碍物类型。"); + } + + var mapRequest = new PlanningMapRequest + { + Bounds = new MapBoundsMm(record.Map.XMinMm, record.Map.XMaxMm, record.Map.YMinMm, record.Map.YMaxMm), + ResolutionMm = record.Map.ResolutionMm, + AllowExplicitEmptyMap = obstacles.Count == 0, + ObstacleSources = obstacles.Count == 0 + ? Array.Empty() + : new IMapObstacleSource[] { new ManualObstacleSource("fixture-" + record.Id, record.FixtureVersion, true, obstacles) }, + }; + PlanningMapBuildResult build = new PlanningMapFactory().Create(mapRequest); + if (!build.Succeeded || build.Map == null) throw new InvalidDataException("夹具地图无法重建：" + record.Id + "。"); + return build.Map; + } + + internal static VehicleParameters BuildVehicle(SmoothingScenarioFixture fixture) + { + SmoothingFixtureVehicle vehicle = fixture.Record.Vehicle; + return new VehicleParameters + { + LengthMeters = vehicle.LengthMeters, + WidthMeters = vehicle.WidthMeters, + SafetyMarginMeters = vehicle.SafetyMarginMeters, + MaximumCurvaturePerMeter = vehicle.MaximumCurvaturePerMeter, + }; + } + + private static void Validate(SmoothingFixtureRecord record, ISet ids) + { + if (record == null || string.IsNullOrWhiteSpace(record.Id) || record.FixtureVersion <= 0 || + record.Map == null || record.Vehicle == null || record.PlanningConfiguration == null || record.Path == null || record.Path.Count < 2 || + record.Segments == null || record.Segments.Count == 0 || !ids.Add(record.Id)) + throw new InvalidDataException("路径平滑夹具缺少必需字段、版本或唯一 ID。"); + + ValidateMap(record); + ValidateVehicle(record); + ValidatePlanningConfiguration(record); + ValidatePathContract(record); + } + + private static void ValidateMap(SmoothingFixtureRecord record) + { + SmoothingFixtureMap map = record.Map; + if (!IsFinite(map.XMinMm) || !IsFinite(map.XMaxMm) || !IsFinite(map.YMinMm) || !IsFinite(map.YMaxMm) || + !IsFinite(map.ResolutionMm) || map.XMaxMm <= map.XMinMm || map.YMaxMm <= map.YMinMm || map.ResolutionMm <= 0f || + map.Obstacles == null) + { + throw new InvalidDataException("Fixture map contract is invalid: " + record.Id + "."); + } + + for (int index = 0; index < map.Obstacles.Count; index++) + { + SmoothingFixtureObstacle obstacle = map.Obstacles[index]; + bool circle = obstacle != null && string.Equals(obstacle.Kind, "circle", StringComparison.Ordinal) && + IsFinite(obstacle.CenterXMm) && IsFinite(obstacle.CenterYMm) && IsFinite(obstacle.RadiusMm) && obstacle.RadiusMm >= 0f; + bool rectangle = obstacle != null && string.Equals(obstacle.Kind, "axis-aligned-rectangle", StringComparison.Ordinal) && + IsFinite(obstacle.XMinMm) && IsFinite(obstacle.XMaxMm) && IsFinite(obstacle.YMinMm) && IsFinite(obstacle.YMaxMm) && + obstacle.XMaxMm >= obstacle.XMinMm && obstacle.YMaxMm >= obstacle.YMinMm; + if (!circle && !rectangle) + throw new InvalidDataException("Fixture map contract is invalid: " + record.Id + "."); + } + } + + private static void ValidateVehicle(SmoothingFixtureRecord record) + { + SmoothingFixtureVehicle vehicle = record.Vehicle; + if (!IsFinite(vehicle.LengthMeters) || !IsFinite(vehicle.WidthMeters) || !IsFinite(vehicle.SafetyMarginMeters) || + !IsFinite(vehicle.MaximumCurvaturePerMeter) || vehicle.LengthMeters <= 0d || vehicle.WidthMeters <= 0d || + vehicle.SafetyMarginMeters < 0d || vehicle.MaximumCurvaturePerMeter <= 0d) + { + throw new InvalidDataException("Fixture vehicle contract is invalid: " + record.Id + "."); + } + } + + private static void ValidatePlanningConfiguration(SmoothingFixtureRecord record) + { + SmoothingFixturePlanningConfiguration configuration = record.PlanningConfiguration; + if (!IsPositiveFinite(configuration.PrimitiveLengthMeters) || !IsPositiveFinite(configuration.IntegrationStepMeters) || + !IsPositiveFinite(configuration.MaximumCollisionCheckStepMeters) || !IsPositiveFinite(configuration.HeadingResolutionRadians) || + configuration.CurvatureLevelCount < 2 || !IsPositiveFinite(configuration.GoalPositionToleranceMeters) || + !IsPositiveFinite(configuration.GoalHeadingToleranceRadians) || configuration.MaximumExpandedNodes <= 0 || + !IsPositiveFinite(configuration.SearchTimeoutSeconds) || !IsFinite(configuration.HeuristicWeight) || + !IsFinite(configuration.ReverseCostMultiplier) || !IsFinite(configuration.GearSwitchPenaltyMeters) || + !IsFinite(configuration.CurvatureMagnitudeWeight) || !IsFinite(configuration.CurvatureChangePenaltyMetersPerLevel) || + !IsFinite(configuration.ClearanceCostWeight) || !IsPositiveFinite(configuration.ClearanceCostDistanceMeters)) + { + throw new InvalidDataException("Fixture planning configuration contract is invalid: " + record.Id + "."); + } + } + + private static void ValidatePathContract(SmoothingFixtureRecord record) + { + var fixture = new SmoothingScenarioFixture(record, true); + try + { + var request = new PathSmoothingRequest( + fixture.Path, + fixture.Segments, + BuildMap(fixture), + BuildVehicle(fixture), + new PathSmoothingConfiguration()); + if (!new PathSmoothingPreprocessor().TryPrepare(request, out _, out string reason)) + throw new InvalidDataException("Fixture path contract is invalid: " + record.Id + "; " + reason); + } + catch (InvalidDataException) + { + throw; + } + catch (Exception exception) + { + throw new InvalidDataException("Fixture path contract is invalid: " + record.Id + "; " + exception.Message, exception); + } + } + + private static bool IsFinite(float value) + { + return !float.IsNaN(value) && !float.IsInfinity(value); + } + + private static bool IsFinite(double value) + { + return !double.IsNaN(value) && !double.IsInfinity(value); + } + + private static bool IsPositiveFinite(double value) + { + return IsFinite(value) && value > 0d; + } + + private static string BuildFingerprintMaterial(SmoothingFixtureRecord record) + { + var builder = new StringBuilder(); + Append(builder, record.Id); Append(builder, record.FixtureVersion); + Append(builder, record.Map.XMinMm); Append(builder, record.Map.XMaxMm); Append(builder, record.Map.YMinMm); + Append(builder, record.Map.YMaxMm); Append(builder, record.Map.ResolutionMm); + for (int index = 0; index < record.Map.Obstacles.Count; index++) + { + SmoothingFixtureObstacle obstacle = record.Map.Obstacles[index]; + Append(builder, obstacle.Kind); Append(builder, obstacle.XMinMm); Append(builder, obstacle.XMaxMm); + Append(builder, obstacle.YMinMm); Append(builder, obstacle.YMaxMm); Append(builder, obstacle.CenterXMm); + Append(builder, obstacle.CenterYMm); Append(builder, obstacle.RadiusMm); + } + Append(builder, record.Vehicle.LengthMeters); Append(builder, record.Vehicle.WidthMeters); + Append(builder, record.Vehicle.SafetyMarginMeters); Append(builder, record.Vehicle.MaximumCurvaturePerMeter); + SmoothingFixturePlanningConfiguration configuration = record.PlanningConfiguration; + Append(builder, configuration.PrimitiveLengthMeters); Append(builder, configuration.IntegrationStepMeters); + Append(builder, configuration.MaximumCollisionCheckStepMeters); Append(builder, configuration.HeadingResolutionRadians); + Append(builder, configuration.CurvatureLevelCount); Append(builder, configuration.GoalPositionToleranceMeters); + Append(builder, configuration.GoalHeadingToleranceRadians); Append(builder, configuration.MaximumExpandedNodes); + Append(builder, configuration.SearchTimeoutSeconds); Append(builder, configuration.HeuristicWeight); + Append(builder, configuration.ReverseCostMultiplier); Append(builder, configuration.GearSwitchPenaltyMeters); + Append(builder, configuration.CurvatureMagnitudeWeight); Append(builder, configuration.CurvatureChangePenaltyMetersPerLevel); + Append(builder, configuration.ClearanceCostWeight); Append(builder, configuration.ClearanceCostDistanceMeters); + Append(builder, configuration.AllowReverse ? 1 : 0); + for (int index = 0; index < record.Path.Count; index++) + { + SmoothingFixturePathPoint point = record.Path[index]; + Append(builder, point.XMeters); Append(builder, point.YMeters); Append(builder, point.HeadingRadians); + Append(builder, point.UnwrappedHeadingRadians); Append(builder, point.ArcLengthMeters); Append(builder, (int)point.Direction); + Append(builder, point.VehicleCurvaturePerMeter); Append(builder, point.BodyClearanceMeters); + Append(builder, point.IsGearSwitchPoint ? 1 : 0); Append(builder, (int)point.Source); + } + for (int index = 0; index < record.Segments.Count; index++) + { + SmoothingFixtureSegment segment = record.Segments[index]; + Append(builder, segment.SegmentIndex); Append(builder, (int)segment.Direction); Append(builder, segment.StartIndex); + Append(builder, segment.EndIndex); Append(builder, segment.StartsAtGearSwitch ? 1 : 0); Append(builder, segment.EndsAtGearSwitch ? 1 : 0); + } + return builder.ToString(); + } + + private static void Append(StringBuilder builder, string value) { builder.Append(value ?? string.Empty).Append('|'); } + private static void Append(StringBuilder builder, int value) { builder.Append(value.ToString(CultureInfo.InvariantCulture)).Append('|'); } + private static void Append(StringBuilder builder, float value) { builder.Append(value.ToString("R", CultureInfo.InvariantCulture)).Append('|'); } + private static void Append(StringBuilder builder, double value) { builder.Append(value.ToString("R", CultureInfo.InvariantCulture)).Append('|'); } +} diff --git a/ClumsyPilot/tests/generate_path_smoothing_fixtures.ps1 b/ClumsyPilot/tests/generate_path_smoothing_fixtures.ps1 new file mode 100644 index 0000000..9f8223a --- /dev/null +++ b/ClumsyPilot/tests/generate_path_smoothing_fixtures.ps1 @@ -0,0 +1,15 @@ +param( + [string]$AssemblyPath = (Join-Path $PSScriptRoot '..\bin\Debug\netstandard2.0\ClumsyPilot.dll'), + [string]$OutputPath = (Join-Path $PSScriptRoot '..\ParkrobTrajplanner\PathSmoothing\Test\Fixtures\path-smoothing-fixtures.json'), + [switch]$Overwrite +) + +$ErrorActionPreference = 'Stop' +$newtonsoftPath = Join-Path $env:USERPROFILE '.nuget\packages\newtonsoft.json\13.0.4\lib\netstandard2.0\Newtonsoft.Json.dll' +if (Test-Path -LiteralPath $newtonsoftPath) { [Reflection.Assembly]::LoadFrom($newtonsoftPath) | Out-Null } +$assembly = [Reflection.Assembly]::LoadFrom((Resolve-Path $AssemblyPath)) +$type = $assembly.GetType('MultiWheelC.TrajectoryPlanning.PathSmoothing.Test.SmoothingFixtureGenerator', $true) +$method = $type.GetMethod('Generate', [Type[]]@([string], [bool])) +if ($null -eq $method) { throw 'SmoothingFixtureGenerator.Generate(string, bool) is missing.' } +$method.Invoke($null, @([IO.Path]::GetFullPath($OutputPath), [bool]$Overwrite)) +Write-Output "Path smoothing fixtures generated: $OutputPath" diff --git a/ClumsyPilot/tests/verify_path_smoothing_fixtures.ps1 b/ClumsyPilot/tests/verify_path_smoothing_fixtures.ps1 new file mode 100644 index 0000000..ec883c4 --- /dev/null +++ b/ClumsyPilot/tests/verify_path_smoothing_fixtures.ps1 @@ -0,0 +1,119 @@ +param( + [string]$AssemblyPath = (Join-Path $PSScriptRoot '..\bin\Debug\netstandard2.0\ClumsyPilot.dll'), + [string]$FixturePath = (Join-Path $PSScriptRoot '..\ParkrobTrajplanner\PathSmoothing\Test\Fixtures\path-smoothing-fixtures.json')) + +$ErrorActionPreference = 'Stop' +$newtonsoftPath = Join-Path $env:USERPROFILE '.nuget\packages\newtonsoft.json\13.0.4\lib\netstandard2.0\Newtonsoft.Json.dll' +if (Test-Path -LiteralPath $newtonsoftPath) { [Reflection.Assembly]::LoadFrom($newtonsoftPath) | Out-Null } +$assembly = [Reflection.Assembly]::LoadFrom((Resolve-Path $AssemblyPath)) + +function Assert-True($Actual, [string]$Message) { if (-not $Actual) { throw $Message } } +function Assert-Equal($Expected, $Actual, [string]$Message) { + if ($Expected -ne $Actual) { throw "$Message Expected=$Expected Actual=$Actual" } +} +function Assert-ThrowsMatching([scriptblock]$Action, [string]$ExpectedPattern, [string]$Message) { + try { + & $Action + } + catch { + $exception = $_.Exception + while ($null -ne $exception.InnerException) { $exception = $exception.InnerException } + if ($exception.Message -match $ExpectedPattern) { return } + throw "$Message ExpectedPattern=$ExpectedPattern Actual=$($exception.Message)" + } + throw "$Message Expected an exception." +} +function Get-RequiredType([string]$Name) { return $assembly.GetType($Name, $true) } + +$root = 'MultiWheelC.TrajectoryPlanning.PathSmoothing.Test.' +$comparison = 'MultiWheelC.TrajectoryPlanning.PathSmoothing.Comparison.' +$loaderType = Get-RequiredType ($root + 'SmoothingScenarioFixtureLoader') +$factoryType = Get-RequiredType ($root + 'SmoothingScenarioFactory') +$fixtureType = Get-RequiredType ($root + 'SmoothingScenarioFixture') +$comparisonRequestType = Get-RequiredType ($comparison + 'PathSmoothingComparisonRequest') +$preprocessorType = Get-RequiredType 'MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing.PathSmoothingPreprocessor' + +$loadMethod = $loaderType.GetMethod('LoadAndVerify', [Type[]]@([string])) +Assert-True ($null -ne $loadMethod) 'Fixture loader must expose LoadAndVerify(string).' +$fixtureRequestsMethod = $factoryType.GetMethod('CreateFixtureRequests', [Type[]]@([string])) +Assert-True ($null -ne $fixtureRequestsMethod) 'Scenario factory must expose CreateFixtureRequests(string).' +$generateMethod = $assembly.GetType($root + 'SmoothingFixtureGenerator', $true).GetMethod('Generate', [Type[]]@([string], [bool])) +Assert-True ($null -ne $generateMethod) 'Fixture generator must expose Generate(string, bool).' +$tryPrepareMethod = $preprocessorType.GetMethod('TryPrepare') +Assert-True ($null -ne $tryPrepareMethod) 'Fixture paths must be checked through PathSmoothingPreprocessor.TryPrepare.' + +$fixtures = $loadMethod.Invoke($null, @((Resolve-Path $FixturePath).Path)) +$fixtureDocument = Get-Content -Raw -Encoding UTF8 $FixturePath | ConvertFrom-Json +$expected = @( + 'straight', 'single-turn', 's-bend', 'large-heading-change', + 'rectangle-detour', 'multi-obstacle-detour', + 'narrow-corridor', 'forward-reverse-switch') +Assert-Equal $expected.Count $fixtures.Count 'Fixture loader must return exactly eight fast fixtures.' + +$actualIds = @($fixtures | ForEach-Object { $_.Id }) +Assert-Equal ($expected -join ',') ($actualIds -join ',') 'Fixture IDs must be stable and in documented order.' +Assert-Equal $actualIds.Count (@($actualIds | Select-Object -Unique).Count) 'Fixture IDs must be unique.' +foreach ($fixture in $fixtures) { + Assert-True ($fixture -is $fixtureType) 'Loader must return immutable smoothing fixture values.' + Assert-True ($fixture.FixtureVersion -gt 0) "Fixture $($fixture.Id) must carry a positive version." + Assert-True $fixture.IsConfigurationFingerprintCurrent "Fixture $($fixture.Id) must match its stored configuration fingerprint." + Assert-True ($fixture.ConfigurationFingerprint -match '^sha256:[0-9a-f]{64}$') "Fixture $($fixture.Id) must expose a lowercase SHA-256 fingerprint." + Assert-True ($fixture.Path.Count -gt 1) "Fixture $($fixture.Id) must include a coarse path." + Assert-True ($fixture.Segments.Count -gt 0) "Fixture $($fixture.Id) must include direction segments." + foreach ($segment in $fixture.Segments) { + Assert-True ($segment.StartIndex -ge 0 -and $segment.EndIndex -lt $fixture.Path.Count -and $segment.EndIndex -ge $segment.StartIndex) "Fixture $($fixture.Id) must retain valid segment coverage." + } +} +foreach ($record in $fixtureDocument.scenarios) { + Assert-True ($null -ne $record.planningConfiguration) "Fixture $($record.id) must retain the planning configuration that produced its coarse path." +} + +$requests = $fixtureRequestsMethod.Invoke($null, @((Resolve-Path $FixturePath).Path)) +Assert-Equal 8 $requests.Count 'Fast fixtures must create exactly eight comparison requests without Hybrid A*.' +foreach ($request in $requests) { + Assert-True ($request -is $comparisonRequestType) 'Fast fixture factory must create comparison requests.' + $prepareArguments = [object[]]@($request.SmoothingRequest, $null, $null) + $prepared = $tryPrepareMethod.Invoke([Activator]::CreateInstance($preprocessorType), $prepareArguments) + Assert-True $prepared "Fixture path must satisfy the PathSmoothingPreprocessor input contract. Reason=$($prepareArguments[2])" +} + +$loaderSource = Get-Content -Raw -Encoding UTF8 (Join-Path $PSScriptRoot '..\ParkrobTrajplanner\PathSmoothing\Test\SmoothingScenarioFixtureLoader.cs') +Assert-True (-not $loaderSource.Contains('HybridAStarPlanner')) 'Fixture-only loading must not reference HybridAStarPlanner.' +$generatorSource = Get-Content -Raw -Encoding UTF8 (Join-Path $PSScriptRoot '..\ParkrobTrajplanner\PathSmoothing\Test\SmoothingFixtureGenerator.cs') +Assert-True $generatorSource.Contains('CoarsePathPlanningService') 'Fixture generation must snapshot actual successful coarse-path planning outputs.' +Assert-True $generatorSource.Contains('CoarsePathScenarioFactory') 'Fixture generation must use the established coarse-path scenarios where available.' + +function Write-CorruptedFixture([scriptblock]$Mutate) { + $temporaryPath = [IO.Path]::GetTempFileName() + $document = Get-Content -Raw -Encoding UTF8 $FixturePath | ConvertFrom-Json + & $Mutate $document + [IO.File]::WriteAllText($temporaryPath, ($document | ConvertTo-Json -Depth 16), [Text.UTF8Encoding]::new($false)) + return $temporaryPath +} + +$coverageFixture = Write-CorruptedFixture { param($document) $document.scenarios[0].segments[0].endIndex = 1 } +$directionFixture = Write-CorruptedFixture { param($document) $document.scenarios[0].segments[0].direction = 1 } +$switchFixture = Write-CorruptedFixture { param($document) $document.scenarios[0].segments[0].endsAtGearSwitch = $true } +try { + Assert-ThrowsMatching { $loadMethod.Invoke($null, @($coverageFixture)) } 'Fixture path contract' 'Loader must reject segment gaps before accepting the fingerprint.' + Assert-ThrowsMatching { $loadMethod.Invoke($null, @($directionFixture)) } 'Fixture path contract' 'Loader must reject segment direction mismatches before accepting the fingerprint.' + Assert-ThrowsMatching { $loadMethod.Invoke($null, @($switchFixture)) } 'Fixture path contract' 'Loader must reject illegal gear-switch topology before accepting the fingerprint.' +} +finally { + foreach ($temporaryPath in @($coverageFixture, $directionFixture, $switchFixture)) { + if ($temporaryPath -and [IO.File]::Exists($temporaryPath)) { [IO.File]::Delete($temporaryPath) } + } +} + +$generationPath = [IO.Path]::GetTempFileName() +try { + Assert-ThrowsMatching { $generateMethod.Invoke($null, @($generationPath, $false)) } '.+' 'Fixture generation must refuse to overwrite an existing target.' + $generateMethod.Invoke($null, @($generationPath, $true)) + $generatedFixtures = $loadMethod.Invoke($null, @($generationPath)) + Assert-Equal 8 $generatedFixtures.Count 'Generated fixture data must remain loadable and retain all scenarios.' +} +finally { + if ([IO.File]::Exists($generationPath)) { [IO.File]::Delete($generationPath) } +} + +Write-Output 'Path smoothing fixture checks passed.' diff --git a/ClumsyPilot/tests/verify_path_smoothing_integration.ps1 b/ClumsyPilot/tests/verify_path_smoothing_integration.ps1 new file mode 100644 index 0000000..e6895b0 --- /dev/null +++ b/ClumsyPilot/tests/verify_path_smoothing_integration.ps1 @@ -0,0 +1,140 @@ +param([string]$AssemblyPath = (Join-Path $PSScriptRoot '..\bin\Debug\netstandard2.0\ClumsyPilot.dll')) + +$ErrorActionPreference = 'Stop' +$assembly = [Reflection.Assembly]::LoadFrom((Resolve-Path $AssemblyPath)) + +function Assert-True($Actual, [string]$Message) { if (-not $Actual) { throw $Message } } +function Assert-Equal($Expected, $Actual, [string]$Message) { + if ($Expected -ne $Actual) { throw "$Message Expected=$Expected Actual=$Actual" } +} +function Assert-Near([double]$Expected, [double]$Actual, [string]$Message) { + if ([Math]::Abs($Expected - $Actual) -gt 0.000001) { throw "$Message Expected=$Expected Actual=$Actual" } +} +function Get-RequiredType([string]$Name) { return $assembly.GetType($Name, $true) } + +function Assert-CoarsePathGeometry($ExpectedPath, $ActualPath, $Map, [string]$ScenarioName) { + Assert-Equal $ExpectedPath.Count $ActualPath.Count "Raw comparison request $ScenarioName must preserve every coarse-path point." + for ($index = 0; $index -lt $ExpectedPath.Count; $index++) { + $expected = $ExpectedPath[$index] + $actual = $ActualPath[$index] + Assert-Near $expected.X $actual.X "Raw comparison request $ScenarioName point $index must preserve X." + Assert-Near $expected.Y $actual.Y "Raw comparison request $ScenarioName point $index must preserve Y." + Assert-Near $expected.Heading $actual.Heading "Raw comparison request $ScenarioName point $index must preserve heading." + Assert-Near $expected.UnwrappedHeading $actual.UnwrappedHeading "Raw comparison request $ScenarioName point $index must preserve unwrapped heading." + Assert-Near $expected.ArcLength $actual.ArcLength "Raw comparison request $ScenarioName point $index must preserve arc length." + Assert-Equal $expected.Direction $actual.Direction "Raw comparison request $ScenarioName point $index must preserve travel direction." + Assert-Near $expected.VehicleCurvature $actual.VehicleCurvature "Raw comparison request $ScenarioName point $index must preserve vehicle curvature." + $expectedClearance = $expected.BodyClearance + if ([double]::IsPositiveInfinity($expectedClearance)) { + $widthMeters = ($Map.Bounds.XMax - $Map.Bounds.XMin) / 1000.0 + $heightMeters = ($Map.Bounds.YMax - $Map.Bounds.YMin) / 1000.0 + $expectedClearance = [Math]::Sqrt($widthMeters * $widthMeters + $heightMeters * $heightMeters) + } + Assert-Near $expectedClearance $actual.BodyClearance "Raw comparison request $ScenarioName point $index must preserve or normalize clearance for smoothing." + Assert-Equal $expected.IsGearSwitchPoint $actual.IsGearSwitchPoint "Raw comparison request $ScenarioName point $index must preserve gear-switch flag." + Assert-Equal $expected.Source $actual.Source "Raw comparison request $ScenarioName point $index must preserve point source." + } +} + +function Assert-SegmentTopology($ExpectedSegments, $ActualPath, $ActualSegments, [string]$Description) { + Assert-Equal $ExpectedSegments.Count $ActualSegments.Count "$Description must preserve segment count." + $expectedStartIndex = 0 + for ($index = 0; $index -lt $ActualSegments.Count; $index++) { + $expected = $ExpectedSegments[$index] + $actual = $ActualSegments[$index] + Assert-Equal $index $actual.SegmentIndex "$Description segment $index must retain its stable index." + Assert-Equal $expected.Direction $actual.Direction "$Description segment $index must preserve travel direction." + Assert-Equal $expected.StartsAtGearSwitch $actual.StartsAtGearSwitch "$Description segment $index must preserve start gear-switch topology." + Assert-Equal $expected.EndsAtGearSwitch $actual.EndsAtGearSwitch "$Description segment $index must preserve end gear-switch topology." + Assert-Equal $expectedStartIndex $actual.StartIndex "$Description segment $index must start directly after the prior segment." + Assert-True ($actual.EndIndex -ge $actual.StartIndex -and $actual.EndIndex -lt $ActualPath.Count) "$Description segment $index must cover valid path indices." + Assert-Equal $actual.StartsAtGearSwitch $ActualPath[$actual.StartIndex].IsGearSwitchPoint "$Description segment $index start flag must match its path point." + for ($pointIndex = $actual.StartIndex; $pointIndex -le $actual.EndIndex; $pointIndex++) { + Assert-Equal $actual.Direction $ActualPath[$pointIndex].Direction "$Description segment $index may not contain mixed directions." + } + $hasNext = $index + 1 -lt $ActualSegments.Count + $expectedEndSwitch = $hasNext -and $ActualPath[$actual.EndIndex + 1].IsGearSwitchPoint + Assert-Equal $expectedEndSwitch $actual.EndsAtGearSwitch "$Description segment $index end flag must match the next gear switch." + $expectedStartIndex = $actual.EndIndex + 1 + } + Assert-Equal $ActualPath.Count $expectedStartIndex "$Description segments must cover every path point." +} + +function Assert-GearSwitchGeometry($ExpectedPath, $ActualPath, [string]$Description) { + $expectedSwitches = @($ExpectedPath | Where-Object { $_.IsGearSwitchPoint }) + $actualSwitches = @($ActualPath | Where-Object { $_.IsGearSwitchPoint }) + Assert-Equal $expectedSwitches.Count $actualSwitches.Count "$Description must preserve gear-switch count." + for ($index = 0; $index -lt $expectedSwitches.Count; $index++) { + Assert-Near $expectedSwitches[$index].X $actualSwitches[$index].X "$Description gear switch $index must preserve X." + Assert-Near $expectedSwitches[$index].Y $actualSwitches[$index].Y "$Description gear switch $index must preserve Y." + Assert-Near $expectedSwitches[$index].Heading $actualSwitches[$index].Heading "$Description gear switch $index must preserve heading." + Assert-Equal $expectedSwitches[$index].Direction $actualSwitches[$index].Direction "$Description gear switch $index must preserve direction." + } +} + +function Assert-RawBaselinePath($ExpectedPath, $ActualPath, [string]$ScenarioName) { + Assert-Equal $ExpectedPath.Count $ActualPath.Count "Raw baseline $ScenarioName must preserve every coarse-path point." + for ($index = 0; $index -lt $ExpectedPath.Count; $index++) { + $expected = $ExpectedPath[$index] + $actual = $ActualPath[$index] + Assert-Near $expected.X $actual.X "Raw baseline $ScenarioName point $index must preserve X." + Assert-Near $expected.Y $actual.Y "Raw baseline $ScenarioName point $index must preserve Y." + Assert-Near $expected.Heading $actual.Heading "Raw baseline $ScenarioName point $index must preserve heading." + Assert-Near $expected.UnwrappedHeading $actual.UnwrappedHeading "Raw baseline $ScenarioName point $index must preserve unwrapped heading." + Assert-Near $expected.ArcLength $actual.ArcLength "Raw baseline $ScenarioName point $index must preserve arc length." + Assert-Equal $expected.Direction $actual.Direction "Raw baseline $ScenarioName point $index must preserve travel direction." + Assert-Near $expected.VehicleCurvature $actual.VehicleCurvature "Raw baseline $ScenarioName point $index must preserve vehicle curvature." + Assert-Equal $expected.IsGearSwitchPoint $actual.IsGearSwitchPoint "Raw baseline $ScenarioName point $index must preserve gear-switch topology." + } +} + +$coarse = 'MultiWheelC.TrajectoryPlanning.CoarsePath.' +$coarseFacade = $coarse + 'Facade.' +$coarseTest = $coarse + 'Test.' +$smoothingTest = 'MultiWheelC.TrajectoryPlanning.PathSmoothing.Test.' +$smoothingFacade = 'MultiWheelC.TrajectoryPlanning.PathSmoothing.Facade.' +$comparison = 'MultiWheelC.TrajectoryPlanning.PathSmoothing.Comparison.' + +$coarseServiceType = Get-RequiredType ($coarseFacade + 'CoarsePathPlanningService') +$coarseJobType = Get-RequiredType ($coarseFacade + 'CoarsePathPlanningJob') +$coarseResultType = Get-RequiredType ($coarseFacade + 'CoarsePathPlanningJobResult') +$scenarioType = Get-RequiredType ($coarseTest + 'CoarsePathTestScenario') +$coarseFactoryType = Get-RequiredType ($coarseTest + 'CoarsePathScenarioFactory') +$scenarioFactoryType = Get-RequiredType ($smoothingTest + 'SmoothingScenarioFactory') +$comparisonServiceType = Get-RequiredType ($smoothingFacade + 'PathSmoothingComparisonService') +$comparisonRequestType = Get-RequiredType ($comparison + 'PathSmoothingComparisonRequest') + +$coarseCreate = $coarseFactoryType.GetMethod('Create', [Type[]]@($scenarioType)) +$coarsePlan = $coarseServiceType.GetMethod('Plan', [Type[]]@($coarseJobType, [Threading.CancellationToken])) +$createComparisonRequest = $scenarioFactoryType.GetMethod('CreateEndToEndRequest', [Type[]]@($coarseJobType, $coarseResultType)) +$compare = $comparisonServiceType.GetMethod('Compare', [Type[]]@($comparisonRequestType, [Threading.CancellationToken])) +Assert-True ($null -ne $createComparisonRequest) 'Smoothing scenario factory must convert a successful coarse planning job into a comparison request.' + +$planner = [Activator]::CreateInstance($coarseServiceType) +$comparisonService = [Activator]::CreateInstance($comparisonServiceType) +foreach ($scenarioName in @('ExplicitEmpty', 'RectangleDetour', 'ManualAndTwoLeg', 'ReverseGearSwitch')) { + $scenario = [Enum]::Parse($scenarioType, $scenarioName) + $job = $coarseCreate.Invoke($null, @($scenario)) + $planningTimer = [Diagnostics.Stopwatch]::StartNew() + $planned = $coarsePlan.Invoke($planner, @($job, [Threading.CancellationToken]::None)) + $planningTimer.Stop() + Assert-Equal 'Success' $planned.PlanningResult.Status.ToString() "Coarse scenario $scenarioName must succeed before smoothing comparison." + $request = $createComparisonRequest.Invoke($null, @($job, $planned)) + Assert-CoarsePathGeometry $planned.PlanningResult.Path $request.SmoothingRequest.CoarsePath $planned.MapResult.Map $scenarioName + $comparisonTimer = [Diagnostics.Stopwatch]::StartNew() + $comparisonResult = $compare.Invoke($comparisonService, @($request, [Threading.CancellationToken]::None)) + $comparisonTimer.Stop() + Assert-True (-not $comparisonResult.IsCancelled) "Comparison $scenarioName must not be cancelled." + Assert-Equal 'Success' $comparisonResult.RawPathBaseline.Status.ToString() "Raw baseline $scenarioName must remain a feasible, verified copy of the coarse path." + Assert-RawBaselinePath $planned.PlanningResult.Path $comparisonResult.RawPathBaseline.Path $scenarioName + Assert-SegmentTopology $planned.PlanningResult.Segments $comparisonResult.RawPathBaseline.Path $comparisonResult.RawPathBaseline.Segments "Raw baseline $scenarioName" + Assert-GearSwitchGeometry $planned.PlanningResult.Path $comparisonResult.RawPathBaseline.Path "Raw baseline $scenarioName" + foreach ($entry in $comparisonResult.Entries | Where-Object { $_.Status.ToString() -eq 'Success' }) { + Assert-SegmentTopology $comparisonResult.RawPathBaseline.Segments $entry.Path $entry.Segments "Successful $($entry.Method) $scenarioName" + Assert-GearSwitchGeometry $comparisonResult.RawPathBaseline.Path $entry.Path "Successful $($entry.Method) $scenarioName" + } + $successfulEntryCount = @($comparisonResult.Entries | Where-Object { $_.Status.ToString() -eq 'Success' }).Count + Write-Output ("$scenarioName diagnostics: planning=$([Math]::Round($planningTimer.Elapsed.TotalSeconds, 3))s; comparison=$([Math]::Round($comparisonTimer.Elapsed.TotalSeconds, 3))s; successfulMethods=$successfulEntryCount") +} + +Write-Output 'Path smoothing end-to-end integration checks passed.'