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docs: record EM Planner stage 9 checkpoint

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梁薄云
2026-08-04 13:06:35 +08:00
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## Current State
- Current stage: 9 - rolling coordination and gear-switch execution
- Stage status: Completed
- Current branch: `trajplanner`
- Last checkpoint commit: `de402e6` (last Stage 9 functional commit; this file is the Stage 9 checkpoint)
- Protocol design baseline: `554c84f`
- Implementation-plan baseline: `8dd8ff0`
## Historical Stage 8 Current State
- Current stage: 8 — complete trajectory publication and pure one-shot planning service
- Stage status: Completed
- Current branch: `trajplanner`
@@ -11,6 +20,14 @@
## Completed Tasks
| Stage | Plan | Tasks | Commits | Verification |
|---:|---|---|---|---|
| 9 | `2026-08-03-em-planner-rolling-execution-implementation.md` | Task 1 - Cycle Identity, Scheduling Decision, and Stale-Result Suppression | `d75380c` | RED: the authorized inherited coordinator draft threw `ObjectDisposedException` when a completed current cycle was followed by another cycle. GREEN: `coordinator` printed `PASS coordinator`; the exact 100-run planned loop completed with exit 0 and 100 PASS lines. |
| 9 | `2026-08-03-em-planner-rolling-execution-implementation.md` | Task 2 - Safe Previous-Trajectory Handoff | `55119de` | RED: `coordinator` exited 1 with missing `TrajectoryHandoffSelector` contracts. GREEN: `PASS coordinator` covers forward/reverse same-segment interpolation, age/tracking/terminal/segment/direction/beyond-trajectory/gear-boundary rejection, no cross-boundary interpolation, and coordinator consumption of its immutable published trajectory. |
| 9 | `2026-08-03-em-planner-rolling-execution-implementation.md` | Task 3 - Gear-Switch State Machine and Trajectory Executor | `de402e6` | RED: `executor` exited 1 with missing gear-switch and execution-state types. GREEN: `PASS executor` covers forward-to-reverse and reverse-to-forward zero-speed dwell, one-shot request, confirmation, and Goal/RollingSafetyStop completion. |
## Historical Completed Tasks
| Stage | Plan | Tasks | Commits | Verification |
|---:|---|---|---|---|
| 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. |
@@ -39,6 +56,13 @@
## Current Verification
- Commands: `coordinator`; `executor`; `em-core-all`; `trajectory`; `lateral-all`; `optimization`; `osqp`; `all-foundation`; `git diff --check`, all from the repository root.
- Result: all Stage 9 exit commands exited 0 at `de402e6`. The coordinator binds caller-supplied time and complete cycle identity, publishes only current immutable successes, and isolates sink exceptions. Handoffs use immutable published points or the supplied measured state. The executor receives caller time, measured speed, direction inputs, and exact boundaries; it has no UI, hardware, current-working-directory, controller-command, or dynamic-obstacle dependency.
- RED/GREEN: Task 1 RED `coordinator` exit 1 (`ObjectDisposedException`), GREEN exit 0 plus the 100-run loop exit 0. Task 2 RED `coordinator` exit 1 (missing `TrajectoryHandoffSelector`), GREEN exit 0. Task 3 RED `executor` exit 1 (missing execution types), GREEN exit 0.
- Verified commits: `d75380c`, `55119de`, `de402e6`.
## Historical Current Verification
- Commands:
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-model`
- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-integration`
@@ -63,6 +87,13 @@
## Preserved Workspace State
- The initially untracked Task 1 coordinator draft was explicitly authorized for Stage 9 ownership and committed as `d75380c`.
- Every other captured Stage 9 user-baseline status entry remains untouched and unstaged; no unexpected loss or new non-stage status entry was found.
- The pre-existing `lateral-all` fixture remains root-directory dependent for its pinned OSQP DLL; no completed LS/ST/OSQP/facade behavior was changed.
- Existing baseline noise remains the two obsolete-API warnings and CRLF advisories on user-owned dirty files; `git diff --check` exits 0.
## Historical Preserved Workspace State
- The workspace continues to contain the same unrelated Map, CoarsePath, PathSmoothing, project-file, report, and documentation changes captured at Stage 6 entry. They belong to the user and remain untouched and unstaged.
- Use explicit file paths for every `git add`; never stage the whole workspace.
- The existing user hunk in `ClumsyPilot/ClumsyPilot.csproj` remains preserved. Do not clean, rewrite, or stage it.
@@ -71,6 +102,10 @@
## Decisions Needed
- None. Stage 9 completed within scope.
## Historical Decisions Needed
- None. Stage 7 completed within scope.
## Prior Stage 7 Entry Record
@@ -139,6 +174,15 @@
## Next Stage
- Stage: 10 - generic control adaptation, plugin packaging, and final rolling gate.
- Readiness: Ready after this Stage 9 checkpoint is committed.
- Plan: `docs/superpowers/plans/2026-08-03-em-planner-rolling-execution-implementation.md`
- Authorized tasks only: Task 4 - Generic Control Adapter; Task 5 - Plugin Output and License Packaging; Task 6 - Rolling End-to-End and Final Gate.
- Entry checks: confirm `d75380c`, `55119de`, `de402e6`, and this Stage 9 progress checkpoint are ancestors of `HEAD`; capture and preserve `git status --short` with an empty index; run `coordinator`, `executor`, `em-core-all`, `trajectory`, `lateral-all`, `optimization`, `osqp`, and `all-foundation` from the repository root.
- Exit gate: Tasks 4-6 each have independent RED/GREEN and commits; `em-all` and `git diff --check` exit 0; the stage-10 progress update is committed alone and no Stage 11 prompt is generated.
## Historical Stage 9 Next Stage
- Stage: 9 — rolling coordination and gear-switch execution
- Readiness: Ready after this Stage 8 progress checkpoint is committed.
- Plan: `docs/superpowers/plans/2026-08-03-em-planner-rolling-execution-implementation.md`
@@ -155,6 +199,44 @@
工作目录：D:\Users\Desktop\项目\prakrobot\ParkingRobot
本窗口只执行阶段 10：通用控制适配、插件发布与最终滚动验收。唯一授权范围是：
docs/superpowers/plans/2026-08-03-em-planner-rolling-execution-implementation.md 的 Task 4、Task 5、Task 6。
不要开始动态障碍物、UI/硬件集成，或任何未在该计划中的后续工作。
开始前必须完整读取：
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-rolling-execution-implementation.md
使用 executing-plans、test-driven-development 和 verification-before-completion；不要使用子代理。只在 trajplanner 上工作。
开始 Task 4 前：
- 确认 d75380c、55119de、de402e6 以及紧随其后的 Stage 9 进度 checkpoint 均可从 HEAD 追溯。
- 保存完整 git status --short 基线，确认暂存区为空，并保留所有既有用户修改。
- 从仓库根目录运行并确认退出码为 0：coordinator、executor、em-core-all、trajectory、lateral-all、optimization、osqp、all-foundation。
- 不使用 git add .、git add -A、清理命令或破坏性 Git 命令；每次仅显式暂存计划指定文件。
- Stage 6 lateral-all 测试夹具依赖仓库根目录的当前工作目录定位固定 OSQP DLL；不要修改已完成 LS/ST/OSQP/发布门面来改变该基线。
执行要求：
- 严格逐任务 TDD；Task 4-6 各自独立提交，提交前运行 git diff --cached --check，并用 git diff-tree 核对范围。
- Task 4 只能产生通用控制命令，不能引用 MultiVehicleScriptVx、MultiVehicleScriptVy、MultiVehicleScriptVth、UI 或硬件对象。
- Task 5 只能按计划输出并验证 ClumsyPilot.dll、osqp.dll 与许可证目录；不得重写现有 csproj 用户 hunk。
- Task 6 只添加计划要求的端到端证据和 README 所有权/部署说明；不实现动态障碍物、UI 或硬件集成。
阶段结束时：
- 仅在 Task 4-6 均有独立 RED/GREEN 证据和计划规定的最终出口验证后，运行 em-all 和 git diff --check。
- 确认暂存区为空、起始用户修改仍保留；只更新并单独提交 docs/superpowers/progress/em-planner-progress.md。
- 返回提交、RED/GREEN 证据、命令/退出码和未处理基线问题；Stage 10 是最终阶段，不生成 Stage 11 实施提示词。
```
## Historical Stage 9 Next-Window Prompt
```text
请继续 ParkingRobot 仓库的 EM Planner 多窗口实施。
工作目录：D:\Users\Desktop\项目\prakrobot\ParkingRobot
本窗口只执行阶段 9：滚动协调与换向执行。唯一授权范围是：
docs/superpowers/plans/2026-08-03-em-planner-rolling-execution-implementation.md 的 Task 1、Task 2、Task 3。
不要开始通用控制适配、插件最终发布、动态障碍物、UI/硬件集成或任何 Stage 10 工作。