docs: plan staged EM full-direction execution
This commit is contained in:
梁薄云
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# EM Full-Direction-Segment Staged Execution Implementation Plan
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> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:executing-plans to execute only the current phase in a fresh window. Do not use subagents. Steps use checkbox (`- [ ]`) syntax for tracking.
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**Goal:** Execute the approved full-direction-segment planning and observation repair across nine bounded windows with fresh verification, independent handoffs, and copy-ready next-phase prompts.
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**Architecture:** The functional design and 11-task master implementation plan remain authoritative. This plan groups those tasks into nine phase gates; each window reads only its assigned tasks plus the previous handoff, commits implementation in the master-plan boundaries, then commits a factual handoff separately. The final response generates the next prompt only after the handoff commit exists, so every copied prompt carries real hashes.
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**Tech Stack:** Git on Windows/PowerShell, C#/.NET 8, existing EM/OSQP verification hosts, vanilla HTML/CSS/JavaScript/SVG/Canvas, Node.js 24 with test-only jsdom 29.1.1, Markdown handoffs.
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## Global Constraints
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- Repository root is `D:\Users\Desktop\项目\prakrobot\ParkingRobot` and expected branch is `trajplanner`.
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- Functional design: `docs/superpowers/specs/2026-08-06-em-full-direction-segment-visualization-repair-design.md`.
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- Master plan: `docs/superpowers/plans/2026-08-06-em-full-direction-segment-visualization-repair.md`.
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- Staged-execution design: `docs/superpowers/specs/2026-08-06-em-full-direction-segment-staged-execution-design.md`.
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- Every implementation window reads `executing-plans`, `test-driven-development`, and `verification-before-completion`; read `systematic-debugging` only after a real failure or unexpected result.
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- Do not re-run brainstorming, redesign approved behavior, expand features, or spawn subagents.
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- MovementTest remains `OBSERVE_ONLY`; never add chassis, steering, braking, motor, or gear writes.
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- Keep all unrelated dirty and staged work intact. Before editing a dirty target file, record its diff and preserve unrelated hunks.
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- Use `apply_patch` for edits and explicit `git add -- <paths>` commands. Never use `git add .` or `git add -A`.
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- A phase may not implement work assigned to a subsequent phase. Minimal signature propagation is allowed only when the master plan lists that file in the current task.
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- Each phase implementation commit follows the master plan. The handoff is a separate commit named `docs: record EM full-direction phase XX handoff`.
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- A completed phase final response includes the real implementation and handoff hashes plus one copy-ready prompt for the next phase.
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- A blocked phase creates a `阻塞` handoff and outputs a recovery prompt for the same phase, never a later-phase prompt.
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- Phase 9 automated acceptance and supervised vehicle acceptance are separate checkpoints. Unsafe or unavailable vehicle work remains incomplete.
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## Common Phase Start
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Every phase prompt supplies the exact expected previous implementation/handoff hashes. At startup run:
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```powershell
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git branch --show-current
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git rev-parse HEAD
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git log -5 --oneline
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git status --short
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git diff --cached --name-only
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```
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Then run `git merge-base --is-ancestor` for every hash named by the prompt. Read the four authority documents listed above, the current master-plan Task, and the previous handoff in full. If related code changed after the previous handoff, rerun the affected previous-phase GREEN commands before editing.
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## Common Phase Finish
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Before any success claim or commit:
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1. Run the phase RED and confirm the first failure is the intended missing behavior.
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2. Run all phase GREEN/regression commands and read complete output.
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3. Run `git diff --check` over the phase range and inspect `git diff --stat` plus `git diff --cached --name-only`.
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4. Audit actuator calls whenever MovementTest or observer code is touched.
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5. Commit only exact current-phase files.
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6. Create the phase handoff with `apply_patch`, recording entry HEAD, implementation hashes, files, interfaces, RED/GREEN evidence, dirty-worktree preservation, warnings, omissions, and next-phase facts.
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7. Commit only the handoff file.
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8. Use the resulting handoff hash in the final answer’s next-phase prompt.
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---
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### Task 1: Phase 01 — Planning scope, configuration, and full-segment selection
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**Master-plan scope:** Task 1 and Task 2 only.
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**Files:**
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- Create: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningScope.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningRequest.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmPlanningStatus.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Contracts/EmTrajectoryMetadata.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/SchedulingConfiguration.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/LongitudinalConfiguration.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/ValidationConfiguration.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Configuration/EmPlannerConfiguration.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Validation/EmPlanningRequestValidator.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Segmentation/PlanningHorizonSelector.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Facade/EmPlanningService.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Trajectory/EmTrajectoryAssembler.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/FoundationChecks.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalModelChecks.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs`
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- Handoff: `docs/superpowers/handoffs/em-full-direction-visualization/phase-01.md`
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**Interfaces:**
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- Produces `EmPlanningScope.RollingHorizon` and `FullDirectionSegment`.
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- Produces request/metadata scope, desired speeds, adaptive-resource configuration, terminal tolerances, and explicit `NoProgress`, `TerminalPoseMismatch`, and `FullSegmentResourceLimitExceeded` statuses.
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- Produces scope-aware `PlanningHorizonSelector.Select` that keeps rolling behavior intact and selects the true direction boundary for full mode.
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- [ ] **Step 1: Execute master Task 1 RED/GREEN/commit**
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Follow every checkbox in master Task 1. Required focused commands:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- foundation
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-planning-service
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```
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Expected GREEN: `PASS foundation` and `PASS em-planning-service`.
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Commit exactly as:
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```powershell
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git commit -m "feat: define full-direction EM planning scope"
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```
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- [ ] **Step 2: Execute master Task 2 RED/GREEN/commit**
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Follow every checkbox in master Task 2. Required commands:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-model
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-planning-service
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```
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Expected GREEN: `PASS longitudinal-model` and `PASS em-planning-service`; full mode reaches the true Goal/GearSwitch boundary and rolling remains truncated by its configured window.
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Commit exactly as:
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```powershell
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git commit -m "feat: select complete EM direction segments"
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```
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- [ ] **Step 3: Run phase regression and handoff**
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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 diff --check
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```
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Expected: every `em-core-all` component PASS and no new whitespace errors.
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Create `phase-01.md`, then commit only it:
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```powershell
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git add -- docs/superpowers/handoffs/em-full-direction-visualization/phase-01.md
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git commit -m "docs: record EM full-direction phase 01 handoff"
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```
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**Exit gate:** Task 1–2 commits and handoff are reachable; no adaptive knot schedule or MovementTest/Web/Painter work exists.
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---
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### Task 2: Phase 02 — Adaptive full-segment ST schedule
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**Master-plan scope:** Task 3 only.
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**Files:**
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- Create: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalKnotSchedule.cs`
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- Create: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/FullDirectionSegmentScheduleBuilder.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/PathSpeedLimitBuilder.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalPlanningInput.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalConstraintBuilder.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalSolutionValidator.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/SequentialLongitudinalOptimizer.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalPreviousTrajectorySeedBuilder.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Facade/EmPlanningService.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalModelChecks.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs`
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- Handoff: `docs/superpowers/handoffs/em-full-direction-visualization/phase-02.md`
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**Interfaces:**
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- Consumes Phase 01 scope/configuration.
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- Produces immutable `LongitudinalKnotSchedule` and `FullDirectionSegmentScheduleBuilder.TryBuild`.
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- Makes `LongitudinalPlanningInput.KnotSchedule` the sole optimization-knot source while publication remains separately sampled.
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- [ ] **Step 1: Execute master Task 3 RED/GREEN**
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Run the exact model RED before implementation, then all Task 3 changes. Required GREEN:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-model
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-integration
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```
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Expected: both PASS, including short/long derived duration, curvature/stop breakpoints, knot cap failure, and publication-density independence.
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- [ ] **Step 2: Commit and run regression**
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```powershell
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git commit -m "feat: derive adaptive full-segment ST schedule"
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all
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git diff --check
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```
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Expected: commit contains only Task 3 paths; `em-core-all` PASS.
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- [ ] **Step 3: Write and commit Phase 02 handoff**
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```powershell
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git add -- docs/superpowers/handoffs/em-full-direction-visualization/phase-02.md
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git commit -m "docs: record EM full-direction phase 02 handoff"
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```
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**Exit gate:** derived `T_end` and adaptive knots are validated; no static-start objective, terminal pose, MovementTest, or visualization work is included.
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---
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### Task 3: Phase 03 — Static start, no-progress rejection, and terminal publication gates
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**Master-plan scope:** Task 4 and Task 5 only.
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**Files:**
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/SequentialLongitudinalOptimizer.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalObjectiveBuilder.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalSolutionValidator.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Longitudinal/LongitudinalPlanningResult.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Validation/EmTrajectoryValidator.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Facade/EmPlanningService.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Trajectory/TrajectorySampleSchedule.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/Trajectory/EmTrajectoryAssembler.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalModelChecks.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryChecks.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs`
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- Handoff: `docs/superpowers/handoffs/em-full-direction-visualization/phase-03.md`
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**Interfaces:**
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- Consumes adaptive reference speed and scope.
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- Produces nonzero motion from `v0=0`, `NoProgress`, terminal 3 cm/5° normalized-yaw validation, and publication sample cap.
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- [ ] **Step 1: Execute master Task 4 with real RED evidence**
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-integration
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```
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Expected RED: the clear 5 m static-start fixture remains all-zero or lacks measurable progress.
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After minimal implementation run:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-model
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-integration
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-planning-service
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```
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Expected: all PASS; the explicit all-zero candidate returns `NoProgress` and publishes no trajectory.
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Commit: `fix: accelerate EM trajectories from rest`.
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- [ ] **Step 2: Execute master Task 5 RED/GREEN**
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory
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```
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Expected RED: terminal world pose is not yet validated.
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After implementation run `trajectory` and `em-planning-service`; expect yaw wrap, 3 cm/5° boundary, sample cap, terminal anchor, and `N-1` jerk checks PASS.
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Commit: `feat: validate EM terminal world pose`.
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- [ ] **Step 3: Run phase regression and handoff**
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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 diff --check
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```
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Create/commit `phase-03.md` with message `docs: record EM full-direction phase 03 handoff`.
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**Exit gate:** a full clear segment accelerates from rest and stops at a pose-valid terminal; invalid zero progress/pose/sample count cannot publish.
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---
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### Task 4: Phase 04 — One-shot MovementTest direction segments
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**Master-plan scope:** Task 6 only.
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**Files:**
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationStaticSnapshotBuilder.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationSettingsChecks.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationSegmentChecks.cs`
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- Handoff: `docs/superpowers/handoffs/em-full-direction-visualization/phase-04.md`
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**Interfaces:**
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- Produces `TrajectoryObservationSettings.PlanningScope`, full-mode defaults, and one plan attempt per active segment.
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- Preserves stop hold plus three signed-speed samples before N+1 activation.
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- [ ] **Step 1: Run Task 6 RED and implement one-shot state**
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
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```
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Expected RED: current coordinator cadence starts more than one planning cycle in full scope.
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Implement only Task 6 and rerun the same command. Expected GREEN: one plan for N, observation continues, and one new plan starts only after confirmed N→N+1.
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- [ ] **Step 2: Audit read-only safety and commit**
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```powershell
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rg -n "SendXYThSpeed|SendMotion|DriveStop|PredefinedDriveStop|AccumulateSpeed|SetGear|SetBrake" ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest
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git diff --check
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```
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Expected: no actuator call in observer runtime sources.
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Commit: `feat: observe one full EM direction segment`.
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- [ ] **Step 3: Write and commit Phase 04 handoff**
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Commit `phase-04.md` with `docs: record EM full-direction phase 04 handoff`.
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**Exit gate:** MovementTest is full-scope by explicit setting, plans once per direction segment, retains explicit waiting state, and remains read-only.
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---
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### Task 5: Phase 05 — Observation snapshot and chart semantics
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**Master-plan scope:** Task 7 only.
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**Files:**
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- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/Contracts/VisualizationCharts.cs`
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- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/Contracts/VisualizationGeometry.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationStaticSnapshotBuilder.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationDynamicSnapshotBuilder.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationKinematicChartBuilder.cs`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs`
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- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationVisualizationChecks.cs`
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- Test: `ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/ContractChecks.cs`
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- Test: `ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/SampleSnapshotFactory.cs`
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- Handoff: `docs/superpowers/handoffs/em-full-direction-visualization/phase-05.md`
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**Interfaces:**
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- Produces `VisualizationChartAnnotation` and distinct coarse/Local G2/active/previous/current kinds.
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- Produces real `s_end`, gear/final marker, vehicle/plan-start, correct LS/ST/kinematic axes, and real curvature limit.
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- [ ] **Step 1: Run both Task 7 RED hosts**
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
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dotnet run --project ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/TrajectoryPlanningVisualizationVerificationHost.csproj
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```
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Expected RED: duplicate current horizon, missing annotations, or incorrect curvature-limit semantics.
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- [ ] **Step 2: Implement Task 7 and run GREEN**
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Run both commands again. Expected: both PASS; full mode contains exactly one current trajectory; jerk current series has `N-1` points; LS uses `ReferenceS`, ST uses `PathS`; curvature limit comes from vehicle geometry.
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Commit: `fix: publish distinct EM observation semantics`.
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||||
- [ ] **Step 3: Regression, audit, and handoff**
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||||
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||||
Run `trajectory-observation`, the visualization host, actuator `rg`, and `git diff --check`. Commit `phase-05.md` as `docs: record EM full-direction phase 05 handoff`.
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||||
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||||
**Exit gate:** immutable snapshots carry all correct semantics before any Web or Painter rendering changes.
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||||
|
||||
---
|
||||
|
||||
### Task 6: Phase 06 — DOM/SVG Web rendering repair
|
||||
|
||||
**Master-plan scope:** Task 8 only.
|
||||
|
||||
**Files:**
|
||||
|
||||
- Create: `ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom/package.json`
|
||||
- Create: `ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom/package-lock.json`
|
||||
- Create: `ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom/dashboard.dom.test.mjs`
|
||||
- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/Web/index.html`
|
||||
- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/Web/app.css`
|
||||
- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/Web/app.js`
|
||||
- Modify: `ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/WebAssetChecks.cs`
|
||||
- Handoff: `docs/superpowers/handoffs/em-full-direction-visualization/phase-06.md`
|
||||
|
||||
**Interfaces:**
|
||||
|
||||
- Adds test-only Node/jsdom DOM verification.
|
||||
- Repairs hidden tabs, empty overview, y ticks/units, stable domains, semantic layer order, vehicle/boundary markers, and thin paper style.
|
||||
|
||||
- [ ] **Step 1: Install locked test dependency and run RED**
|
||||
|
||||
Create the exact Task 8 `package.json`, run:
|
||||
|
||||
```powershell
|
||||
npm install --package-lock-only --prefix ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom
|
||||
npm test --prefix ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom
|
||||
```
|
||||
|
||||
Expected RED: hidden-section CSS, y ticks, semantic classes, or empty-state assertions fail.
|
||||
|
||||
- [ ] **Step 2: Implement Task 8 and run GREEN**
|
||||
|
||||
```powershell
|
||||
npm test --prefix ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom
|
||||
dotnet run --project ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/TrajectoryPlanningVisualizationVerificationHost.csproj
|
||||
```
|
||||
|
||||
Expected: all DOM tests pass and .NET host prints `PASS trajectory-planning-visualization`.
|
||||
|
||||
Commit: `fix: repair EM observation web charts`.
|
||||
|
||||
- [ ] **Step 3: Verify production assets and handoff**
|
||||
|
||||
Confirm no npm package is copied into plugin output, run `git diff --check`, and commit `phase-06.md` as `docs: record EM full-direction phase 06 handoff`.
|
||||
|
||||
**Exit gate:** existing four-tab page renders correct data/axes/layers with no layout redesign; zoom is not yet implemented.
|
||||
|
||||
---
|
||||
|
||||
### Task 7: Phase 07 — Per-chart viewport zoom
|
||||
|
||||
**Master-plan scope:** Task 9 only.
|
||||
|
||||
**Files:**
|
||||
|
||||
- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/Web/index.html`
|
||||
- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/Web/app.css`
|
||||
- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/Web/app.js`
|
||||
- Modify: `ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom/dashboard.dom.test.mjs`
|
||||
- Handoff: `docs/superpowers/handoffs/em-full-direction-visualization/phase-07.md`
|
||||
|
||||
**Interfaces:**
|
||||
|
||||
- Produces per-chart viewport-only box zoom, wheel zoom, reset, and fullscreen.
|
||||
- Never mutates snapshot arrays or sends planner configuration.
|
||||
|
||||
- [ ] **Step 1: Run frozen-data interaction RED**
|
||||
|
||||
```powershell
|
||||
npm test --prefix ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom
|
||||
```
|
||||
|
||||
Expected RED: zoom controls and viewport state are absent.
|
||||
|
||||
- [ ] **Step 2: Implement Task 9 and run GREEN**
|
||||
|
||||
```powershell
|
||||
npm test --prefix ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom
|
||||
dotnet run --project ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/TrajectoryPlanningVisualizationVerificationHost.csproj
|
||||
```
|
||||
|
||||
Expected: wheel/box/reset/fullscreen tests pass; serialized input snapshot remains byte-identical.
|
||||
|
||||
Commit: `feat: add observation chart viewport zoom`.
|
||||
|
||||
- [ ] **Step 3: Handoff**
|
||||
|
||||
Run `git diff --check`; commit `phase-07.md` as `docs: record EM full-direction phase 07 handoff`.
|
||||
|
||||
**Exit gate:** every chart has independent local navigation and no Native Painter changes.
|
||||
|
||||
---
|
||||
|
||||
### Task 8: Phase 08 — Native Painter correctness
|
||||
|
||||
**Master-plan scope:** Task 10 only.
|
||||
|
||||
**Files:**
|
||||
|
||||
- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPresentation.cs`
|
||||
- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs`
|
||||
- Test: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationVisualizationChecks.cs`
|
||||
- Handoff: `docs/superpowers/handoffs/em-full-direction-visualization/phase-08.md`
|
||||
|
||||
**Interfaces:**
|
||||
|
||||
- Consumes Phase 05 semantics.
|
||||
- Produces equal-scale world geometry, correct LS/ST axes, thin vehicle outline/heading ray, and correct `s_end`/gear/final markers.
|
||||
|
||||
- [ ] **Step 1: Run Painter geometry RED**
|
||||
|
||||
```powershell
|
||||
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
|
||||
```
|
||||
|
||||
Expected RED: the current pose uses a large `endArrow: true` marker or old axis semantics.
|
||||
|
||||
- [ ] **Step 2: Implement Task 10 and run GREEN**
|
||||
|
||||
Run the same command. Expected: `PASS trajectory-observation`; tests prove the large triangle is absent and x/y use one scale.
|
||||
|
||||
Commit: `fix: correct EM observation painter geometry`.
|
||||
|
||||
- [ ] **Step 3: Safety audit and handoff**
|
||||
|
||||
```powershell
|
||||
rg -n "SendXYThSpeed|SendMotion|DriveStop|PredefinedDriveStop|AccumulateSpeed|SetGear|SetBrake" ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest
|
||||
git diff --check
|
||||
```
|
||||
|
||||
Commit `phase-08.md` as `docs: record EM full-direction phase 08 handoff`.
|
||||
|
||||
**Exit gate:** Native Painter is semantically correct but not redesigned; Web remains primary.
|
||||
|
||||
---
|
||||
|
||||
### Task 9: Phase 09 — Documentation, automated acceptance, and vehicle continuation
|
||||
|
||||
**Master-plan scope:** Task 11 only.
|
||||
|
||||
**Files:**
|
||||
|
||||
- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md`
|
||||
- Modify: `ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md`
|
||||
- Modify: `ClumsyPilot/TrajectoryPlanningVisualization/README.md`
|
||||
- Create: `docs/superpowers/handoffs/em-full-direction-visualization/phase-09.md`
|
||||
- Create only after supervised execution: `docs/superpowers/handoffs/em-full-direction-visualization/phase-09-vehicle.md`
|
||||
|
||||
**Interfaces:**
|
||||
|
||||
- Produces operator documentation and fresh automated evidence.
|
||||
- Produces either final supervised vehicle acceptance or an exact continuation/recovery prompt without false completion.
|
||||
|
||||
- [ ] **Step 1: Update docs and commit**
|
||||
|
||||
Follow master Task 11 Step 1 exactly. Commit only the three READMEs as:
|
||||
|
||||
```powershell
|
||||
git commit -m "docs: explain full-direction EM observation"
|
||||
```
|
||||
|
||||
- [ ] **Step 2: Run the complete automated suite**
|
||||
|
||||
```powershell
|
||||
npm test --prefix ClumsyPilot/tests/TrajectoryPlanningVisualizationWebDom
|
||||
dotnet run --project ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/TrajectoryPlanningVisualizationVerificationHost.csproj
|
||||
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
|
||||
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-all
|
||||
dotnet build ClumsyPilot/ClumsyPilot.csproj -p:ExcludeLegacyAutoAvoidance=true
|
||||
rg -n "SendXYThSpeed|SendMotion|DriveStop|PredefinedDriveStop|AccumulateSpeed|SetGear|SetBrake" ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest
|
||||
git diff --check
|
||||
```
|
||||
|
||||
Expected: Node tests pass; visualization/observation/em-all PASS; build exits 0; no observer actuator calls; no new whitespace errors.
|
||||
|
||||
- [ ] **Step 3: Run deterministic local smoke**
|
||||
|
||||
```powershell
|
||||
dotnet run --project ClumsyPilot/tests/TrajectoryPlanningVisualizationVerificationHost/TrajectoryPlanningVisualizationVerificationHost.csproj -- --smoke-seconds 60
|
||||
```
|
||||
|
||||
Verify the tokenized page and port cleanup exactly as master Task 11. Record screenshots/log paths.
|
||||
|
||||
- [ ] **Step 4: Commit automated handoff**
|
||||
|
||||
Write `phase-09.md`. If supervision/safety is unavailable, set status `自动验收完成但实车待验` and include every pending vehicle item. Commit only it:
|
||||
|
||||
```powershell
|
||||
git add -- docs/superpowers/handoffs/em-full-direction-visualization/phase-09.md
|
||||
git commit -m "docs: record EM full-direction phase 09 handoff"
|
||||
```
|
||||
|
||||
Output a full Phase 09 vehicle-continuation prompt using the real handoff hash.
|
||||
|
||||
- [ ] **Step 5: Execute vehicle continuation only when supervised and safe**
|
||||
|
||||
A new window verifies Phase 09 evidence reachability and reruns affected automation if related code changed. It then performs the eight-item vehicle checklist from master Task 11 without writing hardware commands.
|
||||
|
||||
- [ ] **Step 6: Record final vehicle status**
|
||||
|
||||
If all items pass, create `phase-09-vehicle.md` with status `完成` and commit:
|
||||
|
||||
```powershell
|
||||
git add -- docs/superpowers/handoffs/em-full-direction-visualization/phase-09-vehicle.md
|
||||
git commit -m "docs: record EM visualization vehicle acceptance"
|
||||
```
|
||||
|
||||
If a real regression appears, write status `阻塞`, record the first valid failure/reproduction/safety impact, commit only the same file with message `docs: record blocked EM visualization vehicle acceptance`, and output a Phase 09 vehicle recovery prompt.
|
||||
|
||||
**Exit gate:** only fresh supervised vehicle evidence permits the statement that the overall work is complete. Final completion has no next-phase prompt.
|
||||
|
||||
---
|
||||
|
||||
## Phase Prompt Construction Rule
|
||||
|
||||
After each handoff commit, construct the next prompt from factual repository state. The prompt must include:
|
||||
|
||||
- absolute repository path and expected branch;
|
||||
- exact current HEAD, previous implementation hashes, and handoff hash;
|
||||
- exact required documents and current sections/tasks;
|
||||
- startup ancestry/status/dirty-worktree checks;
|
||||
- exact allowed files and forbidden later-phase work;
|
||||
- exact RED/GREEN/regression/audit commands;
|
||||
- implementation and handoff commit messages;
|
||||
- completion output and blocked recovery behavior.
|
||||
|
||||
Never write an unresolved hash variable or depend on chat history. The prompt may instruct the next agent to read a file, but it must say why and identify the exact phase/task.
|
||||
Reference in New Issue
Block a user