feat: configure observation visualization

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -31,16 +31,26 @@ 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 int MaximumOsqpIterations = 12000;
-    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；默认 6s，不等于观察循环周期。</summary>
-    public double TimeHorizonSeconds = 6d;
+    public double SolverTimeoutSeconds = 5.0d;
+    public int MaximumOsqpIterations = 100000;
+    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；默认 2s，不等于观察循环周期。</summary>
+    public double TimeHorizonSeconds = 2d;
     /// <summary>Trajectory 相邻 TimeFromStart 时间戳的间隔，单位 s；默认 0.10s，不等于观察循环周期。</summary>
     public double OutputTimeStepSeconds = 0.10d;
     public double VehicleLengthMeters = 0.80d;
     public double VehicleWidthMeters = 0.60d;
     public double SafetyMarginMeters = 0.05d;
     public double MaximumCurvaturePerMeter = 1d / 1.20d;
+    public bool EnableWebVisualization = false;
+    public bool AutoOpenWebVisualization = true;
+    public int WebVisualizationPort = 0;
+    public double WebRefreshRateHz = 10d;
+    public int VisualizationHistoryCycleLimit = 60;
+    public bool EnableNativePainterVisualization = false;
+    public double DirectionConfirmationSpeedMetersPerSecond = 0.02d;
+    public int DirectionConfirmationSamples = 3;
+    public double GearSwitchProjectionToleranceMeters = 0.50d;
+    public double GearSwitchStopHoldSeconds = 0.20d;
 
     public override void Test()
     {
@@ -73,6 +83,16 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                 VehicleWidthMeters = VehicleWidthMeters,
                 SafetyMarginMeters = SafetyMarginMeters,
                 MaximumCurvaturePerMeter = MaximumCurvaturePerMeter,
+                EnableWebVisualization = EnableWebVisualization,
+                AutoOpenWebVisualization = AutoOpenWebVisualization,
+                WebVisualizationPort = WebVisualizationPort,
+                WebRefreshRateHz = WebRefreshRateHz,
+                VisualizationHistoryCycleLimit = VisualizationHistoryCycleLimit,
+                EnableNativePainterVisualization = EnableNativePainterVisualization,
+                DirectionConfirmationSpeedMetersPerSecond = DirectionConfirmationSpeedMetersPerSecond,
+                DirectionConfirmationSamples = DirectionConfirmationSamples,
+                GearSwitchProjectionToleranceMeters = GearSwitchProjectionToleranceMeters,
+                GearSwitchStopHoldSeconds = GearSwitchStopHoldSeconds,
             };
             settings = settings.CreateValidatedSnapshot();
             TimeSpan observerPeriod = TimeSpan.FromSeconds(settings.ObserverPeriodSeconds);

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md

@@ -27,10 +27,24 @@ single S-T output duration. Only a real Goal or gear-switch boundary may publish
 | `MapResolutionMm` | mm | `50` | Local occupancy-grid resolution. |
 | `ReplanPeriodSeconds` | s | `0.20` | Minimum interval between EM planning cycles. |
 | `ObserverPeriodSeconds` | s | `0.05` | Live-state sampling and redraw interval. |
+| `SolverTimeoutSeconds` | s | `5.0` | EM solver timeout frozen for the session. |
+| `MaximumOsqpIterations` | iterations | `100000` | OSQP iteration limit frozen for the session. |
+| `TimeHorizonSeconds` | s | `2.0` | Single ST trajectory horizon, not the observer period. |
+| `OutputTimeStepSeconds` | s | `0.10` | Published trajectory timestamp spacing. |
 | `VehicleLengthMeters` | m | `0.80` | Vehicle envelope length supplied to coarse, smoothing, and EM planning. |
 | `VehicleWidthMeters` | m | `0.60` | Vehicle envelope width supplied to planning. |
 | `SafetyMarginMeters` | m | `0.05` | Additional planning clearance outside the vehicle envelope. |
 | `MaximumCurvaturePerMeter` | 1/m | `1 / 1.20` | Maximum allowed vehicle curvature (about `0.8333 1/m`). |
+| `EnableWebVisualization` | bool | `false` | Enables the local web dashboard session. |
+| `AutoOpenWebVisualization` | bool | `true` | Opens the tokenized local dashboard URI when web output is enabled. |
+| `WebVisualizationPort` | port | `0` | `0` selects an ephemeral port; otherwise use `1024` through `65535`. |
+| `WebRefreshRateHz` | Hz | `10` | Maximum dynamic web snapshot publication rate. |
+| `VisualizationHistoryCycleLimit` | cycles | `60` | Bounded web history length. |
+| `EnableNativePainterVisualization` | bool | `false` | Enables the optional native Painter fallback. |
+| `DirectionConfirmationSpeedMetersPerSecond` | m/s | `0.02` | Minimum signed-speed magnitude used to confirm the next direction. |
+| `DirectionConfirmationSamples` | samples | `3` | Strictly increasing matching-direction samples required after the stop hold. |
+| `GearSwitchProjectionToleranceMeters` | m | `0.50` | Maximum switch-point projection distance for both adjacent segments. |
+| `GearSwitchStopHoldSeconds` | s | `0.20` | Continuous real-stop duration required before direction samples count. |
 
 The four vehicle fields are public editable MovementTest inputs. They, the map/timing fields, goal, and manual obstacles
 are validated and copied into a frozen input snapshot before the background session starts. Later edits cannot change an

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs

@@ -12,16 +12,26 @@ 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 int MaximumOsqpIterations { get; set; } = 12000;
-    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；不等于观察循环周期。</summary>
-    public double TimeHorizonSeconds { get; set; } = 6d;
+    public double SolverTimeoutSeconds { get; set; } = 5d;
+    public int MaximumOsqpIterations { get; set; } = 100000;
+    /// <summary>单次 ST 轨迹覆盖的未来时长，单位 s；默认 2 s，不等于观察循环周期。</summary>
+    public double TimeHorizonSeconds { get; set; } = 2d;
     /// <summary>发布 Trajectory 相邻 TimeFromStart 时间戳的间隔，单位 s；不等于观察循环周期。</summary>
     public double OutputTimeStepSeconds { get; set; } = 0.10d;
     public double VehicleLengthMeters { get; set; } = 0.80d;
     public double VehicleWidthMeters { get; set; } = 0.60d;
     public double SafetyMarginMeters { get; set; } = 0.05d;
     public double MaximumCurvaturePerMeter { get; set; } = 1d / 1.20d;
+    public bool EnableWebVisualization { get; set; } = false;
+    public bool AutoOpenWebVisualization { get; set; } = true;
+    public int WebVisualizationPort { get; set; } = 0;
+    public double WebRefreshRateHz { get; set; } = 10d;
+    public int VisualizationHistoryCycleLimit { get; set; } = 60;
+    public bool EnableNativePainterVisualization { get; set; } = false;
+    public double DirectionConfirmationSpeedMetersPerSecond { get; set; } = 0.02d;
+    public int DirectionConfirmationSamples { get; set; } = 3;
+    public double GearSwitchProjectionToleranceMeters { get; set; } = 0.50d;
+    public double GearSwitchStopHoldSeconds { get; set; } = 0.20d;
 
     public TrajectoryObservationSettings CreateValidatedSnapshot()
     {
@@ -39,6 +49,16 @@ public sealed class TrajectoryObservationSettings
             VehicleWidthMeters = VehicleWidthMeters,
             SafetyMarginMeters = SafetyMarginMeters,
             MaximumCurvaturePerMeter = MaximumCurvaturePerMeter,
+            EnableWebVisualization = EnableWebVisualization,
+            AutoOpenWebVisualization = AutoOpenWebVisualization,
+            WebVisualizationPort = WebVisualizationPort,
+            WebRefreshRateHz = WebRefreshRateHz,
+            VisualizationHistoryCycleLimit = VisualizationHistoryCycleLimit,
+            EnableNativePainterVisualization = EnableNativePainterVisualization,
+            DirectionConfirmationSpeedMetersPerSecond = DirectionConfirmationSpeedMetersPerSecond,
+            DirectionConfirmationSamples = DirectionConfirmationSamples,
+            GearSwitchProjectionToleranceMeters = GearSwitchProjectionToleranceMeters,
+            GearSwitchStopHoldSeconds = GearSwitchStopHoldSeconds,
         };
         snapshot.Validate();
         return snapshot;
@@ -62,6 +82,18 @@ public sealed class TrajectoryObservationSettings
         EnsurePositiveFinite(VehicleWidthMeters, nameof(VehicleWidthMeters));
         EnsurePositiveFinite(SafetyMarginMeters, nameof(SafetyMarginMeters));
         EnsurePositiveFinite(MaximumCurvaturePerMeter, nameof(MaximumCurvaturePerMeter));
+        if (WebVisualizationPort != 0 && (WebVisualizationPort < 1024 || WebVisualizationPort > 65535))
+            throw new ArgumentOutOfRangeException(nameof(WebVisualizationPort),
+                "Port must be zero or in the inclusive range 1024 through 65535.");
+        EnsurePositiveFinite(WebRefreshRateHz, nameof(WebRefreshRateHz));
+        if (VisualizationHistoryCycleLimit <= 0)
+            throw new ArgumentOutOfRangeException(nameof(VisualizationHistoryCycleLimit), "Value must be positive.");
+        EnsurePositiveFinite(DirectionConfirmationSpeedMetersPerSecond,
+            nameof(DirectionConfirmationSpeedMetersPerSecond));
+        if (DirectionConfirmationSamples <= 0)
+            throw new ArgumentOutOfRangeException(nameof(DirectionConfirmationSamples), "Value must be positive.");
+        EnsurePositiveFinite(GearSwitchProjectionToleranceMeters, nameof(GearSwitchProjectionToleranceMeters));
+        EnsurePositiveFinite(GearSwitchStopHoldSeconds, nameof(GearSwitchStopHoldSeconds));
     }
 
     public VehicleParameters CreateVehicle()