docs: plan MovementTest solver timeout

2026-08-05 11:36:01 +08:00
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+# MovementTest Solver Timeout 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:** Make the observation-only MovementTest expose a 0.50-second default OSQP time budget without relaxing solver accuracy.
+
+**Architecture:** `TrajectoryObservationSettings` owns the test-facing time-budget value and validates/copies it. The MovementTest maps its public field into those settings, and `TrajectoryObservationController` maps the snapshot into the per-session EM configuration. The production EM defaults remain unchanged.
+
+**Tech Stack:** C# 10, .NET, existing EMPlannerVerificationHost test host.
+
+## Global Constraints
+
+- Default test solver timeout is exactly `0.50d` seconds.
+- `AbsoluteTolerance`, `RelativeTolerance`, and `StrictResidualTolerance` remain `1e-5d`.
+- Do not change vehicle constraints, map construction, speed limits, or observe-only command behavior.
+- Do not alter `EmPlannerConfiguration.CreateDefault()`; the override belongs only to the observation test.
+
+---
+
+### Task 1: Propagate the test solver budget into an EM request
+
+**Files:**
+
+- Modify: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs:122-170,384-405`
+- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs:9-49`
+- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs:25-70`
+- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs:198-214`
+
+**Interfaces:**
+
+- Consumes: `TrajectoryObservationSettings.CreateValidatedSnapshot()` and `TrajectoryObservationController.StartCycle(...)`.
+- Produces: `TrajectoryObservationSettings.SolverTimeoutSeconds`, copied to `EmPlanningRequest.Configuration.Scheduling.SolverTimeoutSeconds`.
+
+- [ ] **Step 1: Write the failing test**
+
+In `VerifiesControllerBuildsSegmentZeroRequest`, set a non-default observation setting and assert it reaches the request:
+
+```csharp
+var settings = new TrajectoryObservationSettings
+{
+    SolverTimeoutSeconds = 0.42d,
+};
+// Start one controller cycle.
+Verification.NearlyEqual(0.42d, planningService.Requests[0].Configuration.Scheduling.SolverTimeoutSeconds,
+    "observer configured solver timeout");
+```
+
+Also extend `VerifiesSettingsSnapshotAndVehicle` to assert that a default snapshot retains `0.50d`, and extend `RejectsInvalidSettings` with `settings => settings.SolverTimeoutSeconds = 0d`.
+
+- [ ] **Step 2: Run the focused verification to verify it fails**
+
+Run:
+
+```powershell
+dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
+```
+
+Expected: FAIL because `SolverTimeoutSeconds` does not yet exist or its value is not propagated to the request.
+
+- [ ] **Step 3: Write the minimal implementation**
+
+Add and copy/validate the settings property:
+
+```csharp
+public double SolverTimeoutSeconds { get; set; } = 0.50d;
+```
+
+Map it from the public MovementTest field, then set the session-local EM configuration:
+
+```csharp
+configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
+```
+
+Do not alter the EM default configuration or any tolerance property.
+
+- [ ] **Step 4: Run focused verification to verify it passes**
+
+Run:
+
+```powershell
+dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
+```
+
+Expected: all trajectory-observation checks pass, including timeout propagation and invalid-setting rejection.
+
+- [ ] **Step 5: Run the related EM regression suite**
+
+Run:
+
+```powershell
+dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-all
+dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
+```
+
+Expected: both commands finish successfully with no errors.
+
+- [ ] **Step 6: Commit the 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 solver timeout"
+```
+