test: cover rolling-to-stop EM planning flow
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梁薄云
@@ -15,6 +15,7 @@ internal static class EmPlanningServiceChecks
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{
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VerifiesPreviousTrajectoryIsALongitudinalSoftReference();
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VerifiesForwardReverseAndBoundarySuccessesAreDeterministic();
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VerifiesServicePublishesRollingApproachAndExactStopModes();
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VerifiesRequestAndStateFailuresPublishNoTrajectory();
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VerifiesProjectionCorridorAndOptimizationFailuresPublishNoTrajectory();
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VerifiesTimeoutFallbackAndCancellationSemantics();
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@@ -50,6 +51,100 @@ internal static class EmPlanningServiceChecks
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VerifySuccess(rolling, rollingRequest, EmTerminalType.RollingSafetyStop, "rolling stop");
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}
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private static void VerifiesServicePublishesRollingApproachAndExactStopModes()
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{
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EmPlanningRequest rollingRequest = CreateRequest(TravelDirection.Forward, 0.10d, false, false,
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CreateReferencePath(TravelDirection.Forward, false, 10d), CreateMap(false, 12d));
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ConfigureFiveMeterWindowAndTwoSecondHorizon(rollingRequest.Configuration);
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EmPlanningResult rolling = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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rollingRequest, CancellationToken.None);
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VerifySuccess(rolling, rollingRequest, EmTerminalType.RollingSafetyStop, "cycle 1 rolling");
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Verification.Equal(EmLongitudinalMode.RollingContinuation,
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rolling.Trajectory.Metadata.LongitudinalMode, "cycle 1 rolls");
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Verification.Equal(21, rolling.Trajectory.Points.Count, "rolling publishes the two-second ST knot count");
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EmTrajectoryPoint rollingTerminal = rolling.Trajectory.Points[rolling.Trajectory.Points.Count - 1];
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Verification.True(rollingTerminal.PathS < 5d, "two-second ST output remains inside the five-metre LS window");
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Verification.True(rollingTerminal.SignedLongitudinalVelocity != 0d, "cycle 1 has nonzero terminal speed");
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EmPlanningRequest approachRequest = CreateRequest(TravelDirection.Forward, 0.10d, false, false,
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CreateReferencePath(TravelDirection.Forward, false, 4d), CreateMap(false, 5d));
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EmPlanningResult approach = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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approachRequest, CancellationToken.None);
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VerifySuccess(approach, approachRequest, EmTerminalType.Goal, "cycle 2 approach");
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Verification.Equal(EmLongitudinalMode.ApproachStopBoundary,
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approach.Trajectory.Metadata.LongitudinalMode, "cycle 2 approaches");
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Verification.True(approach.Trajectory.Points[approach.Trajectory.Points.Count - 1].SignedLongitudinalVelocity != 0d,
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"approach has no synthetic stop tail");
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EmPlanningRequest exactRequest = CreateRequest(TravelDirection.Forward, 0.05d, false, false,
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CreateReferencePath(TravelDirection.Forward, false, 0.0075d));
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ConfigureExactStopServiceScenario(exactRequest.Configuration);
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EmPlanningResult exact = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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exactRequest, CancellationToken.None);
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VerifySuccess(exact, exactRequest, EmTerminalType.Goal, "cycle 3 exact goal stop");
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Verification.Equal(EmLongitudinalMode.ExactStopAtBoundary,
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exact.Trajectory.Metadata.LongitudinalMode, "cycle 3 stops");
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AssertExactStopStabilization(exact.Trajectory, EmBoundaryType.Goal, "goal");
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EmPlanningRequest gearRequest = CreateRequest(TravelDirection.Forward, 0.05d, false, false,
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EmFixtureFactory.CreateGearPairReferencePath(0.0075d));
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ConfigureExactStopServiceScenario(gearRequest.Configuration);
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EmPlanningResult gear = new EmPlanningService(new ScriptedPipelineSolver(PipelineSolverMode.Success)).Plan(
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gearRequest, CancellationToken.None);
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VerifySuccess(gear, gearRequest, EmTerminalType.GearSwitch, "gear-switch exact stop");
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Verification.Equal(EmLongitudinalMode.ExactStopAtBoundary,
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gear.Trajectory.Metadata.LongitudinalMode, "gear switch stops exactly");
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AssertExactStopStabilization(gear.Trajectory, EmBoundaryType.GearSwitchApproach, "gear switch");
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for (int index = 0; index < gear.Trajectory.Points.Count; index++)
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{
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Verification.Equal(TravelDirection.Forward, gear.Trajectory.Points[index].Direction,
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"gear-switch publication excludes the next direction point " + index);
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}
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}
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private static void ConfigureFiveMeterWindowAndTwoSecondHorizon(EmPlannerConfiguration configuration)
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{
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configuration.Scheduling.DistanceHorizonMeters = 5d;
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configuration.Scheduling.TimeHorizonSeconds = 2d;
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configuration.Scheduling.OutputTimeStepSeconds = 0.1d;
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 0.2d;
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}
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private static void ConfigureExactStopServiceScenario(EmPlannerConfiguration configuration)
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{
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configuration.Scheduling.TimeHorizonSeconds = 0.40d;
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configuration.Scheduling.OutputTimeStepSeconds = 0.10d;
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configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 1d;
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configuration.Longitudinal.MaximumReverseSpeedMetersPerSecond = 1d;
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configuration.Longitudinal.MaximumAccelerationMetersPerSecondSquared = 1e-6d;
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configuration.Longitudinal.MaximumDecelerationMetersPerSecondSquared = 1d;
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configuration.Longitudinal.MaximumJerkMetersPerSecondCubed = 20d;
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configuration.Longitudinal.MaximumLateralAccelerationMetersPerSecondSquared = 1d;
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configuration.Longitudinal.MaximumCurvatureRatePerMeterPerSecond = 1d;
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}
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private static void AssertExactStopStabilization(EmTrajectory trajectory, EmBoundaryType boundaryType, string name)
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{
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int exactAnchor = -1;
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for (int index = 0; index < trajectory.Points.Count; index++)
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{
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if (trajectory.Points[index].BoundaryType == boundaryType)
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{
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exactAnchor = index;
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break;
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}
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}
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Verification.True(exactAnchor >= 0, name + " has a real boundary anchor");
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Verification.NearlyEqual(0d, trajectory.Points[exactAnchor].SignedLongitudinalVelocity,
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name + " speed is zero");
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Verification.True(trajectory.Points.Count > exactAnchor + 1,
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name + " anchor is followed by a QP stabilization point");
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Verification.NearlyEqual(trajectory.Points[exactAnchor].PathS, trajectory.Points[exactAnchor + 1].PathS,
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name + " stabilization keeps the stop position");
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Verification.NearlyEqual(0d, trajectory.Points[exactAnchor + 1].SignedLongitudinalVelocity,
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name + " stabilization speed is zero");
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}
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private static void VerifiesRequestAndStateFailuresPublishNoTrajectory()
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{
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EmPlanningRequest invalidSmoothing = CreateRequest(TravelDirection.Forward, 0d, false, false,
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@@ -300,7 +395,7 @@ internal static class EmPlanningServiceChecks
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new PathSmoothingDiagnostics(metrics, TimeSpan.Zero), new List<PathSmoothingRegionReport>());
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}
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private static PlanningGridMap CreateMap(bool blockStart)
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private static PlanningGridMap CreateMap(bool blockStart, double halfExtentMeters = 3d)
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{
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IMapObstacleSource[] sources = blockStart
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? new IMapObstacleSource[] { new ManualObstacleSource("service-obstacle", 1L, true,
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@@ -308,7 +403,7 @@ internal static class EmPlanningServiceChecks
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: Array.Empty<IMapObstacleSource>();
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PlanningMapBuildResult result = new PlanningMapFactory().Create(new PlanningMapRequest
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{
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Bounds = new MapBoundsMm(-3000f, 3000f, -1000f, 1000f),
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Bounds = new MapBoundsMm((float)(-1000d * halfExtentMeters), (float)(1000d * halfExtentMeters), -1000f, 1000f),
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ResolutionMm = 20f,
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ObstacleSources = sources,
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AllowExplicitEmptyMap = !blockStart,
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