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docs: record EM planner Stage 2 checkpoint

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梁薄云
2026-08-03 22:55:47 +08:00
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docs/superpowers/progress/em-planner-progress.md
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## Current State
- Current stage: 1 — Foundation contracts and boundaries
- Current stage: 2 — Foundation coordinates and corridor
- Stage status: Completed
- Current branch: `trajplanner`
- Last checkpoint commit: `e492e16` (last Stage 1 functional commit; this file is the Stage 1 checkpoint)
- Last checkpoint commit: `aa62d6b` (last Stage 2 functional commit; this file is the Stage 2 checkpoint)
- Protocol design baseline: `554c84f`
- Implementation-plan baseline: `8dd8ff0`
@@ -16,54 +16,54 @@
| 1 | `2026-08-03-em-planner-foundation-implementation.md` | Task 1 — Verification Host and Immutable Contracts | `e12eb31` | RED: `foundation` failed with missing `VehicleMotionState`/`EmTrajectoryPoint`; GREEN: `foundation` printed `PASS foundation` with exit 0. |
| 1 | `2026-08-03-em-planner-foundation-implementation.md` | Task 2 — Configuration, Diagnostics, and Request Validation | `b326431` | RED: `foundation` failed with missing configuration/validation types; GREEN: `foundation` printed `PASS foundation` twice with byte-identical stdout and exit 0. |
| 1 | `2026-08-03-em-planner-foundation-implementation.md` | Task 3 — Direction Segmentation and Exact Boundary Anchors | `e492e16` | RED: `segmentation` failed with missing `ReferencePathSegmenter`; GREEN: `foundation` and `segmentation` each printed their PASS line with exit 0. |
| 2 | `2026-08-03-em-planner-foundation-implementation.md` | Task 4 — Reverse-Safe Frenet Projection and Reconstruction | `06687e2` | RED: `frenet` failed with missing Frenet types including `FrenetProjector`; GREEN: `PASS frenet` with forward/reverse sign, yaw-wrap, bounded U-branch, singular-denominator, and reconstruction checks. |
| 2 | `2026-08-03-em-planner-foundation-implementation.md` | Task 5 — Topology-Preserving Static Corridor | `2d252ff` | RED: `corridor` failed with missing static-corridor types; GREEN: `PASS corridor`, followed by `all-foundation` with all four PASS lines. |
| 2 | `2026-08-03-em-planner-foundation-implementation.md` | Task 6 — Foundation Documentation and Gate | `aa62d6b` | RED: Foundation README was absent; GREEN: README contract scan passed. Placeholder/format scans passed, `all-foundation` passed twice with identical four-line stdout, and the normal-project baseline contained only legacy `auto_avoidance` errors. |
## Current Verification
- Commands:
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- foundation`
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- segmentation`
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- frenet`
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- corridor`
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation` (run twice, stdout compared exactly)
- `git diff --check`
- `git diff-tree --no-commit-id --name-only -r e12eb31`
- `git diff-tree --no-commit-id --name-only -r b326431`
- `git diff-tree --no-commit-id --name-only -r e492e16`
- Result: Stage 1 exit passed. `foundation` printed `PASS foundation`; `segmentation` printed `PASS segmentation`; both commands exited 0. `git diff --check` exited 0. Task 2 ran `foundation` twice with identical stdout. The isolated host build may display two pre-existing `TireFollowing` obsolete-API warnings; it displays no EM Planner warnings or errors.
- Verified commit: `e492e16`
- `rg -n "NotImplementedException|throw new Exception\(\)" ClumsyPilot/ParkrobTrajplanner/EMPlanner ClumsyPilot/tests/EMPlannerVerificationHost`
- `dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore`
- Result: `foundation`, `segmentation`, `frenet`, and `corridor` pass. `all-foundation` produced exactly `PASS foundation`, `PASS segmentation`, `PASS frenet`, and `PASS corridor` twice with exit 0 and identical stdout. `git diff --check` and the placeholder scan have no diagnostics. The isolated host may display two pre-existing `TireFollowing` obsolete-API warnings during a cold implicit build; warmed direct runs contain only the four PASS lines and no EM Planner warnings or errors. The normal project build exits 1 only for the existing `auto_avoidance/MultiWheelAutoAvoidance.cs` missing `NetTopologySuite` (3) and `OpenCvSharp` (1) references, plus that legacy file's duplicate-using warning; it has no EM Planner errors.
- Verified commit: `aa62d6b`
## Preserved Workspace State
- The workspace already contains many unrelated Map, CoarsePath, PathSmoothing, project-file, report, and documentation changes. They belong to the user and must remain untouched and unstaged.
- The workspace continues to contain many unrelated Map, CoarsePath, PathSmoothing, project-file, report, and documentation changes. They belong to the user and remain untouched and unstaged.
- Use explicit file paths for every `git add`; never stage the whole workspace.
- Inspect the existing diff before modifying `ClumsyPilot/ClumsyPilot.csproj`, then append only the Stage 1 rules required by the Foundation plan.
- The normal `ClumsyPilot.csproj` build can be blocked by legacy `auto_avoidance/MultiWheelAutoAvoidance.cs` references to `NetTopologySuite` and `OpenCvSharp`.
- Stage 1 used the isolated `EMPlannerVerificationHost` rule. The normal project build was intentionally not used as a Stage 1 gate and no legacy functionality was deleted or rewritten.
- Start and end `git status --short` both retain the user's unrelated changes; only the Stage 1 source and host additions were committed.
- The existing user hunk in `ClumsyPilot/ClumsyPilot.csproj` remains preserved. Do not clean, rewrite, or stage it.
- The normal `ClumsyPilot.csproj` build remains blocked by legacy `auto_avoidance/MultiWheelAutoAvoidance.cs` references to `NetTopologySuite` and `OpenCvSharp`; do not delete or bypass legacy functionality to change this baseline.
## Decisions Needed
- None. Stage 1 completed within scope.
- None. Stage 2 completed within scope.
## Next Stage
- Stage: 2 — Foundation coordinates and corridor
- Readiness: Ready for Stage 2 entry checks.
- Plan: `docs/superpowers/plans/2026-08-03-em-planner-foundation-implementation.md`
- Stage: 3 — OSQP contracts and native loading
- Readiness: Ready for Stage 3 entry checks.
- Plan: `docs/superpowers/plans/2026-08-03-em-planner-osqp-backend-implementation.md`
- Tasks:
- Task 4 — Reverse-Safe Frenet Projection and Reconstruction
- Task 5 — Topology-Preserving Static Corridor
- Task 6 — Foundation Documentation and Gate
- Task 1 — Solver-Neutral Sparse QP Contracts
- Task 2 — Reproducible OSQP 1.0.0 Native Package
- Task 3 — Absolute-Path Native Loader and ABI Structures
- Entry checks:
- Confirm branch `trajplanner`.
- Confirm `e12eb31`, `b326431`, and `e492e16` exist and each has only its recorded Stage 1 task files.
- Confirm the staging area is empty.
- Capture `git status --short` before editing.
- Run the isolated host `foundation` and `segmentation` groups; both must pass before Task 4 starts.
- Preserve all unrelated user changes, including the existing modified `ClumsyPilot.csproj` hunk.
- Confirm branch `trajplanner`, commits through `aa62d6b`, and an empty staging area.
- Capture `git status --short` before editing and preserve every unrelated user change.
- Confirm the Stage 2 checkpoint content and run `all-foundation` before Task 1.
- Read the OSQP implementation plan and verify its required native-build tools/files before modifying code.
- Exit gate:
- Each of Foundation Tasks 4–6 has its own passing verification and independent commit.
- `all-foundation` passes twice with deterministic four-line output.
- The normal project baseline is recorded separately; only the documented legacy `auto_avoidance` dependency errors may remain.
- `git diff --check` reports no new whitespace errors and the staging area is empty after task commits.
- This progress file is updated to mark Stage 2 completed and Stage 3 ready, then committed alone.
- Tasks 1–3 each have an independent commit and their prescribed RED/GREEN evidence.
- The OSQP contract, reproducible package, absolute-path loader, ABI, and failure diagnostics checks pass.
- `all-foundation` remains passing; normal-project baseline remains separately recorded.
- `git diff --check` is clean; the staging area is empty; a Stage 3 progress checkpoint is committed alone.
## Next-Window Prompt
@@ -72,49 +72,32 @@
工作目录：D:\Users\Desktop\项目\prakrobot\ParkingRobot
本窗口是阶段 2：Foundation 坐标与走廊，只执行 Foundation 实施计划的 Task 4–6，不得提前执行阶段 3 或后续阶段。
本窗口是阶段 3：OSQP 契约与原生加载，只执行 `docs/superpowers/plans/2026-08-03-em-planner-osqp-backend-implementation.md` 的 Task 1–3；不得提前执行阶段 4 或后续阶段。
开始工作前必须完整读取：
1. docs/superpowers/specs/2026-08-03-em-planner-ls-st-design.md
2. docs/superpowers/specs/2026-08-03-em-planner-windowed-execution-design.md
3. docs/superpowers/progress/em-planner-progress.md
4. docs/superpowers/plans/2026-08-03-em-planner-foundation-implementation.md
4. docs/superpowers/plans/2026-08-03-em-planner-osqp-backend-implementation.md
执行时使用 executing-plans、test-driven-development 和 verification-before-completion 技能，并完整读取对应 SKILL.md。不要使用子代理。
开始前：
- 确认工作目录和分支 trajplanner；
- 确认提交 e12eb31、b326431 与 e492e16 存在；
- 检查 git status --short 和暂存区；
- 保存开始时的工作区状态用于结束时对照；
- 当前工作区存在大量用户修改，全部保留，不得清理、覆盖或顺带提交；
- 如果进度文件、Git 或实际文件不一致，先诊断并报告，不要直接覆盖。
- 运行：
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- foundation`
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- segmentation`
两者必须通过后才能开始 Task 4。
阶段范围：
- Task 4：Reverse-Safe Frenet Projection and Reconstruction；
- Task 5：Topology-Preserving Static Corridor；
- Task 6：Foundation Documentation and Gate。
- 确认工作目录、分支 `trajplanner`、Stage 1–2 提交（含 `06687e2`、`2d252ff`、`aa62d6b`）及暂存区为空。
- 保存 `git status --short` 作为结束对照；保留所有既有用户修改，绝不清理、覆盖或顺带提交。
- 核对本进度文件与 Git；若不一致，先诊断并报告。
- 运行 `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation`，必须通过后才开始 Task 1。
- 记录正常项目基线：旧 `auto_avoidance/MultiWheelAutoAvoidance.cs` 缺失 `NetTopologySuite`/`OpenCvSharp` 引用仍可存在，不得通过删除旧功能规避。
执行要求：
- 严格按 Foundation 计划逐任务进行 TDD；
- 每个任务先运行计划指定的失败验证，再实现最小内容，再运行通过验证；
- 每个任务形成独立提交，只用显式路径 git add；
- 修改 ClumsyPilot/ClumsyPilot.csproj 前先查看现有差异，只追加本阶段要求；
- 不修改无关 Map、CoarsePath、PathSmoothing 和旧 auto_avoidance 文件；
- 不实现 OSQP、LS、ST、滚动执行或动态障碍功能；
- 主项目既有 auto_avoidance 依赖失败不能通过删除旧功能规避；使用计划中的隔离验证宿主；
- 任何完成声明前运行计划指定验证和 git diff --check。
- 严格逐任务 TDD：RED、最小 GREEN、计划指定验证；每项独立提交，只显式暂存计划范围文件。
- 不修改无关 Map、CoarsePath、PathSmoothing 或旧 auto_avoidance。
- 不实现 LS、ST、滚动执行、动态障碍或阶段 4 OSQP solve lifecycle。
- 完成声明前运行计划指定验证和 `git diff --check`。
阶段结束时：
- 确认 Task 4–6 各有独立提交和测试证据；
- 运行完整 Foundation 阶段出口验证（`all-foundation` 两次）及计划指定的正常项目基线检查；
- 核对每个提交只包含计划文件，暂存区为空；
- 更新 docs/superpowers/progress/em-planner-progress.md：记录提交、验证命令和结果，将阶段 2 标为 Completed，将阶段 3 标为 ready；
- 只暂存进度文件并单独提交阶段检查点；
- 返回本阶段完成内容、提交列表、测试证据、遗留问题；
- 给出阶段 3 可直接复制的新窗口提示词。
- 完成 Task 1–3 的独立提交和测试证据；执行 OSQP 阶段出口验证，并确认 `all-foundation` 仍通过。
- 按计划记录正常项目基线；暂存区为空。
- 更新并单独提交 `docs/superpowers/progress/em-planner-progress.md`，将 Stage 3 标为 Completed、Stage 4 标为 Ready。
- 返回提交、证据、遗留问题和 Stage 4 提示词。
```