fix: stabilize stopped-start EM planning and add txt diagnostics

2026-08-07 15:51:31 +08:00
parent f2970d0aff
commit d378ad6257
13 changed files with 373 additions and 53 deletions
@@ -769,9 +769,9 @@ internal static class LongitudinalModelChecks
            out speedFailure);
        Verification.Equal(EmPlanningStatus.Success, speedStatus, "near-terminal no-progress envelope: " + speedFailure);
        Verification.True(!validator.TryValidate(nearTerminalInput, nearTerminalLimit, stationary, out _,
-            out failureStatus, out _), "near-terminal fixture remains subject to its stop-tail contract");
-        Verification.True(failureStatus != EmPlanningStatus.NoProgress,
-            "near-terminal gear-switch stop is not classified as no progress");
+            out failureStatus, out _), "near-terminal stationary full segment is rejected");
+        Verification.Equal(EmPlanningStatus.NoProgress, failureStatus,
+            "near-terminal gear-switch stop is classified as no progress");
    }

    private static void VerifiesPreviousTrajectorySeedResamplesAndProjectsMonotonically()