feat: format EM observation diagnostics

2026-08-05 09:55:35 +08:00
parent 17ab0df863
commit 822db6934a
2 changed files with 66 additions and 0 deletions
@@ -0,0 +1,40 @@
+using System;
+using System.Globalization;
+using MultiWheelC.TrajectoryPlanning.EMPlanner;
+
+namespace MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
+
+public sealed class TrajectoryObservationDiagnostic
+{
+    public TrajectoryObservationDiagnostic(string text)
+    {
+        Text = text ?? string.Empty;
+    }
+
+    public string Text { get; }
+}
+
+public static class TrajectoryObservationDiagnostics
+{
+    public static TrajectoryObservationDiagnostic Create(PlanningCycleResult latestCycle,
+        TimeSpan elapsed, bool planningInFlight, EmTrajectory publishedTrajectory)
+    {
+        if (latestCycle == null)
+            return new TrajectoryObservationDiagnostic(planningInFlight
+                ? "planning status=pending"
+                : "planning status=not-started");
+
+        string text = "planning cycle=" + latestCycle.Version.ToString(CultureInfo.InvariantCulture) +
+            " status=" + latestCycle.Result.Status +
+            " published=" + latestCycle.Published +
+            " elapsed=" + Math.Max(0d, elapsed.TotalMilliseconds).ToString("F0", CultureInfo.InvariantCulture) +
+            "ms";
+        if (planningInFlight)
+            text += "\nreplan=pending";
+        if (publishedTrajectory != null)
+            text += "\ntrajectory=" + publishedTrajectory.Metadata.TrajectoryId;
+        if (!string.IsNullOrWhiteSpace(latestCycle.Result.FailureReason))
+            text += "\nreason=" + latestCycle.Result.FailureReason;
+        return new TrajectoryObservationDiagnostic(text);
+    }
+}