feat: configure MovementTest ST time controls

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs

@@ -33,6 +33,10 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
     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;
+    /// <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;
@@ -63,6 +67,8 @@ public sealed class TrajectoryObservationMovementTest : MovementTest
                 ObserverPeriodSeconds = ObserverPeriodSeconds,
                 SolverTimeoutSeconds = SolverTimeoutSeconds,
                 MaximumOsqpIterations = MaximumOsqpIterations,
+                TimeHorizonSeconds = TimeHorizonSeconds,
+                OutputTimeStepSeconds = OutputTimeStepSeconds,
                 VehicleLengthMeters = VehicleLengthMeters,
                 VehicleWidthMeters = VehicleWidthMeters,
                 SafetyMarginMeters = SafetyMarginMeters,

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs

@@ -14,6 +14,10 @@ public sealed class TrajectoryObservationSettings
     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;
+    /// <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;
@@ -29,6 +33,8 @@ public sealed class TrajectoryObservationSettings
             ObserverPeriodSeconds = ObserverPeriodSeconds,
             SolverTimeoutSeconds = SolverTimeoutSeconds,
             MaximumOsqpIterations = MaximumOsqpIterations,
+            TimeHorizonSeconds = TimeHorizonSeconds,
+            OutputTimeStepSeconds = OutputTimeStepSeconds,
             VehicleLengthMeters = VehicleLengthMeters,
             VehicleWidthMeters = VehicleWidthMeters,
             SafetyMarginMeters = SafetyMarginMeters,
@@ -47,6 +53,11 @@ public sealed class TrajectoryObservationSettings
         EnsurePositiveFinite(SolverTimeoutSeconds, nameof(SolverTimeoutSeconds));
         if (MaximumOsqpIterations <= 0)
             throw new ArgumentOutOfRangeException(nameof(MaximumOsqpIterations), "Value must be positive.");
+        EnsurePositiveFinite(TimeHorizonSeconds, nameof(TimeHorizonSeconds));
+        EnsurePositiveFinite(OutputTimeStepSeconds, nameof(OutputTimeStepSeconds));
+        if (OutputTimeStepSeconds > TimeHorizonSeconds)
+            throw new ArgumentOutOfRangeException(nameof(OutputTimeStepSeconds),
+                "The trajectory timestamp spacing cannot exceed the ST time horizon.");
         EnsurePositiveFinite(VehicleLengthMeters, nameof(VehicleLengthMeters));
         EnsurePositiveFinite(VehicleWidthMeters, nameof(VehicleWidthMeters));
         EnsurePositiveFinite(SafetyMarginMeters, nameof(SafetyMarginMeters));

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs

@@ -209,6 +209,8 @@ public sealed class TrajectoryObservationController
         configuration.Scheduling.ReplanPeriodSeconds = settings.ReplanPeriodSeconds;
         configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
         configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
+        configuration.Scheduling.TimeHorizonSeconds = settings.TimeHorizonSeconds;
+        configuration.Scheduling.OutputTimeStepSeconds = settings.OutputTimeStepSeconds;
         coordinator = new EmPlanningCoordinator(planningService);
         executor = new TrajectoryExecutor(configuration);
         this.sessionId = sessionId;