feat: 完成四轮子独立pid调试

crates/chassis-tune/src/main.rs

@@ -1,6 +1,7 @@
 #![allow(clippy::unwrap_used, clippy::expect_used)]
 
 use std::sync::Mutex;
+use std::sync::atomic::{AtomicBool, Ordering};
 
 pub mod report {
     //! 报告与产物写出：CSV / TOML / JSON / Markdown（可选 SVG）。
@@ -1656,6 +1657,7 @@ struct TuningBench {
     continue_on_abort: bool,
     best: Mutex<Option<(f64, experiment::Trace)>>,
     aborts: Mutex<Vec<String>>,
+    stopped: AtomicBool,
     describe: String,
 }
 
@@ -1682,6 +1684,7 @@ impl TuningBench {
             continue_on_abort,
             best: Mutex::new(None),
             aborts: Mutex::new(Vec::new()),
+            stopped: AtomicBool::new(false),
             describe,
         })
     }
@@ -1701,12 +1704,18 @@ impl TuningBench {
 
 impl Evaluator for TuningBench {
     fn evaluate(&self, gains: &VelocityGains) -> Score {
+        if self.stopped.load(Ordering::Relaxed) {
+            return Score::penalized(Verdict::Rejected);
+        }
         let outcome = self.runner.run_trial(gains);
         let score = if let Some(reason) = outcome.abort {
             self.aborts
                 .lock()
                 .unwrap_or_else(std::sync::PoisonError::into_inner)
                 .push(format!("{}: {reason}", self.describe));
+            if !self.continue_on_abort {
+                self.stopped.store(true, Ordering::Relaxed);
+            }
             Score::penalized(verdict_for(&reason))
         } else {
             match experiment::StepMetrics::from_trace(&outcome.trace, &self.scenario()) {