docs: hand off EM rolling planning phase three
This commit is contained in:
梁薄云
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# EM Longitudinal Rolling Planning — Phase 3 Handoff
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## Scope and commits
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- Phase 3 implementation baseline: `59d13e5` (`feat: seed rolling and exact-stop ST profiles`)
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- Task 6: `4159ae0` (`feat: publish rolling trajectories without stop tails`)
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- Task 7 / phase 3 code end: `6cfbaf6` (`feat: reuse prior trajectory in longitudinal planning`)
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Only original-plan Tasks 6 and 7 were implemented. Task 8, Task 9, and Task 10 have not been started. This handoff and the companion phase-4 prompt are documentation-only follow-up artifacts; they do not change the phase-3 code end above.
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The preceding Task 3 and Task 4 fixups remain separate commits, `dbc7b7c` and `26bd822`, because the shared dirty worktree prevented autosquash. Preserve them as part of the actual history; do not rebase, reset, clean, or stash user files merely to rewrite it.
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## Delivered behavior
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### Task 6: mode-aware publication and validation
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`EmTrajectoryMetadata` now carries `EmLongitudinalMode`, supplied by `EmPlanningService`. `TrajectorySampleSchedule` is mode-aware:
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- `RollingContinuation` and `ApproachStopBoundary` publish exactly the ST candidate knots, without an artificial zero-speed hold or a terminal boundary anchor.
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- `ExactStopAtBoundary` locates the internal stable tail with `LongitudinalTerminalSchedule.GetStabilizationStartIndex`, requires its constant `PathS`, `U=0`, `A=0`, and zero tail jerk, marks only its first point as the boundary anchor, then appends `ZeroSpeedHoldSeconds` after the QP horizon with strictly increasing timestamps.
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`EmTrajectoryAssembler` marks an anchor only for the first exact stable-tail knot. `EmTrajectoryValidator` retains finite-value, ordinary kinematics, jerk, and collision checks for every mode, but applies terminal-anchor, zero terminal speed/acceleration/yaw, and static-tail requirements only to `ExactStopAtBoundary`. It now reports `TerminalAccelerationNotZero` when appropriate. No validation, solver, acceleration, or jerk threshold was relaxed, and `OBSERVE_ONLY` behavior is unchanged.
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Task 6 changed only:
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- `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmTrajectoryMetadata.cs`
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- `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Trajectory/TrajectorySampleSchedule.cs`
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- `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Trajectory/EmTrajectoryAssembler.cs`
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- `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Validation/EmTrajectoryValidator.cs`
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- `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Facade/EmPlanningService.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryChecks.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/ExecutorChecks.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/CoordinatorChecks.cs`
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### Task 7: previous-trajectory longitudinal soft reference
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`LongitudinalPreviousTrajectorySeed` and `LongitudinalPreviousTrajectorySeedBuilder` were added. The builder samples a compatible previous `EmTrajectory` at `newEffectiveAtUtc + knotTime`, linearly interpolates world position and signed speed, monotonically projects the position onto the current `LateralPath`, and publishes non-negative progress speed. Missing trajectories, incompatible segment/direction, malformed input, and out-of-range sampling return `LongitudinalPreviousTrajectorySeed.Empty`; none of those conditions throw into the service publication path.
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After lateral planning succeeds, `EmPlanningService` creates the current ST knot times, builds the seed with the prior trajectory/current path/effective time/segment/direction, and passes its `PathS` and `ProgressSpeedMetersPerSecond` arrays into the existing explicit-mode `LongitudinalPlanningInput`. These arrays activate the existing previous-S and previous-U objective terms only as soft references. They are not terminal constraints. LS slicing remains based on `WindowEndReferenceS`.
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Task 7 changed only:
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- `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalPreviousTrajectorySeedBuilder.cs` (new)
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- `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Facade/EmPlanningService.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalModelChecks.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs`
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The service test fixture now captures the emitted ST quadratic program to prove that valid seeds add nonzero previous-S/previous-U objective terms, while an invalid seed adds neither and planning still succeeds. Its scripted solver now returns the supplied warm start for normal longitudinal QPs, allowing phase-1/2 constraints and the phase-3 soft reference to be exercised without fabricating an incompatible primal solution.
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## Interfaces the next phase must preserve
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- `EmLongitudinalMode`: `RollingContinuation`, `ApproachStopBoundary`, `ExactStopAtBoundary`
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- `LongitudinalTerminalSchedule.GetStabilizationStartIndex`
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- Explicit-mode `LongitudinalPlanningInput`, including `PreviousPathS` and `PreviousProgressSpeedMetersPerSecond`
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- `PathUpperBoundS`, `StopBoundaryPathS`, and `PathSpeedLimit.HasStopBoundary`
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- `EmTrajectoryMetadata.LongitudinalMode`
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- `LongitudinalPreviousTrajectorySeed.PathS`, `ProgressSpeedMetersPerSecond`, and `Empty`
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- `LongitudinalPreviousTrajectorySeedBuilder.Build(EmTrajectory, LateralPath, DateTimeOffset, IReadOnlyList<double>, int, TravelDirection)`
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`TerminalPathS` remains compatibility-only. Use `PathUpperBoundS` for the LS/path-window upper bound; use `StopBoundaryPathS` only for an actual Goal or GearSwitch stop boundary.
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## Verification evidence
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All commands below exited `0` at the stated checkpoint:
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```powershell
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# Before Task 6 commit 4159ae0
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory
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# PASS trajectory
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- coordinator
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# PASS coordinator
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- executor
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# PASS executor
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
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# PASS trajectory-observation
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# Before Task 7 commit 6cfbaf6
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-model
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# PASS longitudinal-model
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-planning-service
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# PASS em-planning-service
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# Fresh phase-end checks after Task 7
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory
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# PASS trajectory
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-planning-service
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# PASS em-planning-service
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- coordinator
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# PASS coordinator
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- executor
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# PASS executor
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git diff --check
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# exit 0
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```
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The fresh `trajectory` run emitted two pre-existing obsolete-API warnings from `MovementTests.TireFollowing.cs` and `TireFollowing.cs`; no failure resulted. `git diff --check` returned success but printed CRLF conversion notices for extensive unrelated dirty user files.
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At phase end, `git log -5 --oneline` began with `6cfbaf6`, `4159ae0`, `72592f0`, `59d13e5`, and `26bd822`. The worktree still contains many unrelated modified, deleted, and untracked files in PathSmoothing, CoarsePath, Map, reports, configuration, and other user work. They were not staged or committed. Preserve them exactly: do not run reset, checkout, clean, stash, `git add .`, or `git add -A`.
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## Phase 4 boundary
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Phase 4 is original-plan Tasks 8, 9, and 10 only:
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1. Add service-level multi-cycle regressions for `RollingContinuation -> ApproachStopBoundary -> ExactStopAtBoundary`, including Goal/GearSwitch and independent 5 m / 2 s horizon semantics.
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2. Add observation diagnostics and documentation for mode, terminal state, and jerk-limited stopping capability while retaining `OBSERVE_ONLY`.
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3. Run the complete regression/build set and the target-machine real-OSQP probe. If the current machine lacks the native dependency, record that as pending target-machine verification rather than changing longitudinal logic or thresholds.
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Do not alter the phase-3 behavior to make the new Task 8 fixtures easier. In particular, rolling and approach are allowed to end with nonzero speed, only exact stops carry a boundary anchor/static tail, `ZeroSpeedHoldSeconds` is outside QP time, and previous-trajectory references remain soft only.
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# New Window Prompt: EM Longitudinal Rolling Planning — Phase 4
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Work in `D:\Users\Desktop\项目\prakrobot\ParkingRobot`. This is an implementation task, not a design discussion. Before editing, read these files completely:
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- `docs/superpowers/specs/2026-08-05-em-longitudinal-rolling-planning-design.md`
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- `docs/superpowers/plans/2026-08-05-em-longitudinal-rolling-planning.md`
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- `docs/superpowers/plans/2026-08-05-em-longitudinal-rolling-four-phase-roadmap.md`
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- `docs/superpowers/handoffs/2026-08-05-em-longitudinal-rolling-phase-3.md`
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The phase-3 code end is `6cfbaf6` (`feat: reuse prior trajectory in longitudinal planning`); Task 6 is `4159ae0`. Earlier Task 3/4 fixups `dbc7b7c` and `26bd822` intentionally remain separate because the shared worktree was already dirty and Git refused autosquash. Keep the actual interfaces from the phase-3 handoff, particularly `EmLongitudinalMode`, `LongitudinalTerminalSchedule`, explicit-mode `LongitudinalPlanningInput`, `PathUpperBoundS`, `StopBoundaryPathS`, `PathSpeedLimit.HasStopBoundary`, `EmTrajectoryMetadata.LongitudinalMode`, and `LongitudinalPreviousTrajectorySeed`.
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Execute only original-plan Tasks 8, 9, and 10. Use `executing-plans`, TDD for every behavior change, `systematic-debugging` for every unexpected build/test failure, and `verification-before-completion` before each commit and the final handoff. Do not re-run brainstorming. Do not create chassis behavior: `OBSERVE_ONLY` remains mandatory.
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Start by recording:
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```powershell
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git branch --show-current
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git status --short
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git log -10 --oneline
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git show --stat --oneline 6cfbaf6
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```
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The branch is `trajplanner` and the worktree contains substantial unrelated user changes. Never reset, checkout, clean, broadly stage, stash user files, use `git add .`, or use `git add -A`. Before every commit stage only that task's listed files, then run `git diff --cached --name-only` and `git diff --cached --check`.
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## Task 8 — service mode flow, Goal/GearSwitch, and multi-cycle regression
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Files:
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- `ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/EmFixtureFactory.cs`
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Write and observe the failing tests first. With a sufficiently long unobstructed straight path, call `EmPlanningService.Plan` across three physical states and assert the published metadata flows in this exact order:
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```csharp
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Verification.Equal(EmLongitudinalMode.RollingContinuation,
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rolling.Trajectory.Metadata.LongitudinalMode, "cycle 1 rolls");
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Verification.True(rolling.Trajectory.Points[rolling.Trajectory.Points.Count - 1]
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.SignedLongitudinalVelocity != 0d, "cycle 1 has nonzero terminal speed");
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Verification.Equal(EmLongitudinalMode.ApproachStopBoundary,
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approach.Trajectory.Metadata.LongitudinalMode, "cycle 2 approaches");
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Verification.Equal(EmLongitudinalMode.ExactStopAtBoundary,
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exact.Trajectory.Metadata.LongitudinalMode, "cycle 3 stops");
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Verification.NearlyEqual(0d, exact.Trajectory.Points[exactAnchor]
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.SignedLongitudinalVelocity, "goal speed is zero");
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Verification.True(exact.Trajectory.Points.Count > exactAnchor + 1,
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"goal anchor is followed by a QP stabilization point");
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Verification.NearlyEqual(exact.Trajectory.Points[exactAnchor].PathS,
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exact.Trajectory.Points[exactAnchor + 1].PathS,
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"goal stabilization keeps the stop position");
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Verification.NearlyEqual(0d, exact.Trajectory.Points[exactAnchor + 1]
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.SignedLongitudinalVelocity, "goal stabilization speed is zero");
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```
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Repeat the exact-stop assertion using `CreateGearPairReferencePath()` and verify that the published trajectory contains no point from the following direction segment. Add an independent semantic regression with:
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```csharp
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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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It must publish 21 points, end before `PathS=5m`, have nonzero terminal speed, and pass publication validation. This proves distance is the LS window and time is the single ST horizon.
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Run the new test first:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all
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```
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Before fixture work, at least one assertion may fail because an old fake solver assumes every trajectory stops. If a production failure is exposed, repair it only in the original owning Task 1–7 scope and rerun its targeted tests; Task 8 itself is fixture/regression work and must not weaken production validation. Update scripted fixtures by mode:
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- rolling and approach return nonzero terminal velocity and no hold tail;
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- exact returns the real boundary anchor and its QP-internal `S/U/A` static tail, with only a later optional external hold.
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The phase-3 service fixture already uses a realistic longer direct path and captures the longitudinal QP for prior-trajectory soft-reference coverage. Preserve that coverage while adding the new mode-flow assertions.
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Required checks and commit:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all
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git add -- ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs ClumsyPilot/tests/EMPlannerVerificationHost/EmFixtureFactory.cs
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git diff --cached --name-only
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git diff --cached --check
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git commit -m "test: cover rolling-to-stop EM planning flow"
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```
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Expected: `PASS longitudinal-model`, `PASS longitudinal-integration`, `PASS trajectory`, and `PASS em-planning-service` as part of `PASS em-core-all`.
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## Task 9 — observation diagnostics and documentation
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Files:
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- `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationDiagnostics.cs`
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- `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs`
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- `ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md`
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- `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md`
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Write failing observation tests first. The one-time configuration diagnostic must include:
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```text
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maximumJerkLimitedStopDistance=
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maximumJerkLimitedStopDuration=
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requiredDistanceHorizon=
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```
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Every successful trajectory summary must include:
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```text
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longitudinalMode=RollingContinuation
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terminalSpeed=
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terminalAcceleration=
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```
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Failure diagnostics must include at least `longitudinalMode=`, `remainingToBoundary=`, `minimumStoppingDistance=`, `minimumStoppingDuration=`, and `maximumStoppedReachableDistance=`. Use the worst forward/reverse speed to print the maximum jerk-limited stopping capability once per session, not inside a per-frame UI redraw block. Preserve `OBSERVE_ONLY` and do not issue a chassis command.
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Update `EMPlanner/README.md` to state exactly that `DistanceHorizonMeters` controls the LS reference window, `TimeHorizonSeconds` controls ST output duration, only Goal/GearSwitchApproach may require an exact zero-speed terminal, and rolling/approach may publish nonzero terminal speed. Update the MovementTest README to state that rolling trajectory observation remains `OBSERVE_ONLY` and never commands the chassis.
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Required checks and commit:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
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git add -- ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationDiagnostics.cs ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md
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git diff --cached --name-only
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git diff --cached --check
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git commit -m "docs: explain rolling longitudinal planning diagnostics"
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```
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Expected: `PASS trajectory-observation`.
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## Task 10 — complete regression and target-machine OSQP verification
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Task 10 is verification-only: do not modify files and do not create an empty commit. Run:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- coordinator
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- executor
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
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dotnet build ClumsyPilot/ClumsyPilot.csproj -p:ExcludeLegacyAutoAvoidance=true
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-real-osqp-probe
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```
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Then perform the manual `TrajectoryObservationMovementTest` observation-only probe with the current manual parameters. Confirm one startup configuration print, rolling with nonzero terminal speed and no hold when far from Goal, approach near Goal, exact stop with `U=0,A=0`, no point-21 `JerkLimitExceeded`, and recurring `OBSERVE_ONLY: no chassis command is sent.`
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The real-OSQP probe must run on a machine with the required native dependency. If this window cannot load it, record the result precisely as pending target-machine verification; do not bypass it by modifying longitudinal code, solver residuals, or any validation threshold. Finish with `git diff --check`, `git status --short`, and `git log --oneline -12`, preserving all unrelated dirty work.
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After Task 10, use `writing-plans` to create `docs/superpowers/handoffs/2026-08-05-em-longitudinal-rolling-final.md`, record all command results and target-machine status, stage and commit only that final handoff document, and stop.
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Global semantics are non-negotiable: `DistanceHorizonMeters` is only an LS look-ahead window; `TimeHorizonSeconds` is only one ST horizon; only actual Goal/GearSwitch boundaries permit exact zero speed; `ZeroSpeedHoldSeconds` is outside QP time; previous-trajectory arrays remain objective soft references; never loosen jerk, acceleration, solver, or validation thresholds; and never add chassis commands.
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Reference in New Issue
Block a user