docs: plan MovementTest OSQP iterations

2026-08-05 11:59:38 +08:00
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+# MovementTest OSQP Iteration Limit Implementation Plan
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox syntax for tracking.
+
+**Goal:** Expose a 12000-iteration OSQP cap for observation-only MovementTest sessions.
+
+**Architecture:** TrajectoryObservationSettings owns an integer iteration limit, snapshots and validates it. The public MovementTest field maps into those settings, and the observation controller maps it into the session-local EM solver configuration. Production EM defaults remain unchanged.
+
+**Tech Stack:** C# 10, .NET, EMPlannerVerificationHost.
+
+## Global Constraints
+
+- Default MaximumOsqpIterations is exactly 12000.
+- SolverTimeoutSeconds remains at its existing 0.50d MovementTest default.
+- AbsoluteTolerance, RelativeTolerance, and StrictResidualTolerance remain 1e-5d.
+- Do not change production EM defaults, vehicle/map constraints, or observe-only command behavior.
+
+---
+
+### Task 1: Propagate the test iteration limit into an EM request
+
+**Files:**
+
+- Modify: ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs:95-176,384-416
+- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs:9-50
+- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs:25-71
+- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs:198-215
+
+**Interfaces:**
+
+- Consumes: TrajectoryObservationSettings.CreateValidatedSnapshot() and TrajectoryObservationController.StartCycle(...).
+- Produces: TrajectoryObservationSettings.MaximumOsqpIterations, copied to EmPlanningRequest.Configuration.Solver.MaximumOsqpIterations.
+
+- [ ] **Step 1: Write the failing test**
+
+Add assertions proving the public field uses the default and a custom setting reaches the request:
+
+~~~csharp
+Verification.True(source.Contains("public int MaximumOsqpIterations = 12000;"),
+    "observer MovementTest exposes the test OSQP iteration default");
+
+var settings = new TrajectoryObservationSettings
+{
+    MaximumOsqpIterations = 9000,
+};
+// Start one controller cycle.
+Verification.Equal(9000, planningService.Requests[0].Configuration.Solver.MaximumOsqpIterations,
+    "observer configured OSQP iteration limit");
+~~~
+
+Assert 0 and negative iteration limits are rejected.
+
+- [ ] **Step 2: Run focused verification to verify it fails**
+
+Run:
+
+~~~powershell
+dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
+~~~
+
+Expected: FAIL because MaximumOsqpIterations is absent.
+
+- [ ] **Step 3: Write the minimal implementation**
+
+Add this setting and snapshot mapping:
+
+~~~csharp
+public int MaximumOsqpIterations { get; set; } = 12000;
+~~~
+
+Validate it with:
+
+~~~csharp
+if (MaximumOsqpIterations <= 0)
+    throw new ArgumentOutOfRangeException(nameof(MaximumOsqpIterations), "Value must be positive.");
+~~~
+
+Map it into the MovementTest settings and session configuration:
+
+~~~csharp
+configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
+~~~
+
+- [ ] **Step 4: Run focused verification to verify it passes**
+
+Run:
+
+~~~powershell
+dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
+~~~
+
+Expected: PASS trajectory-observation.
+
+- [ ] **Step 5: Run full regression and build**
+
+Run:
+
+~~~powershell
+dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-all
+dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
+~~~
+
+Expected: all suites pass and the build reports zero errors.
+
+- [ ] **Step 6: Commit implementation**
+
+~~~powershell
+git add ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs
+git commit -m "feat: configure MovementTest OSQP iterations"
+~~~
+