fix: restore EM observation operator text

This commit is contained in:
梁薄云
2026-08-04 16:51:13 +08:00
parent 6accfd9d6a
commit ea043ea0a6
2 changed files with 16 additions and 2 deletions
@@ -1,6 +1,7 @@
using System;
using System.Collections.Generic;
using System.IO;
using System.Text;
using System.Threading;
using MultiWheelC.TrajectoryPlanning.CoarsePath;
using MultiWheelC.TrajectoryPlanning.CoarsePath.Facade;
@@ -16,6 +17,7 @@ internal static class TrajectoryObservationChecks
public static void Run()
{
VerifiesObservationSourceHasNoActuatorCalls();
VerifiesObservationSourceUsesRequiredOperatorText();
VerifiesStartGoalBoundsUseOnlyConfiguredPadding();
RejectsObstacleOutsideConfiguredBounds();
VerifiesLsAndStUsePublishedTrajectoryData();
@@ -49,6 +51,18 @@ internal static class TrajectoryObservationChecks
}
}
private static void VerifiesObservationSourceUsesRequiredOperatorText()
{
string movementTestSource = Path.Combine(Directory.GetCurrentDirectory(), "ClumsyPilot",
"ParkrobTrajplanner", "tarjplanner_movementtest", "MovementTest.TrajectoryObservationTest.cs");
string source = new UTF8Encoding(false, true).GetString(File.ReadAllBytes(movementTestSource));
Verification.True(source.Contains("[MovementTest(name = \"EM轨迹规划观察闭环测试\")]"),
"observation MovementTest uses required Chinese display name");
Verification.True(source.Contains("\"等待真实档位/方向确认;观察模式不会推进下一方向段\""),
"observation MovementTest uses required gear-switch notice");
}
private static void VerifiesStartGoalBoundsUseOnlyConfiguredPadding()
{
var settings = new TrajectoryObservationSettings