docs: record EM planner Stage 1 checkpoint

docs/superpowers/progress/em-planner-progress.md

@@ -3,9 +3,9 @@
 ## Current State
 
 - Current stage: 1 — Foundation contracts and boundaries
-- Stage status: NotStarted
+- Stage status: Completed
 - Current branch: `trajplanner`
-- Last checkpoint commit: None; Stage 1 has not started
+- Last checkpoint commit: `e492e16` (last Stage 1 functional commit; this file is the Stage 1 checkpoint)
 - Protocol design baseline: `554c84f`
 - Implementation-plan baseline: `8dd8ff0`
 
@@ -13,17 +13,21 @@
 
 | Stage | Plan | Tasks | Commits | Verification |
 |---:|---|---|---|---|
-| — | — | — | — | No implementation task has started |
+| 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. |
 
 ## Current Verification
 
 - Commands:
-  - `git cat-file -e 554c84f^{commit}`
+  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- foundation`
-  - `git cat-file -e 8dd8ff0^{commit}`
+  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- segmentation`
-  - `git branch --show-current`
+  - `git diff --check`
-  - `git diff --cached --name-only`
+  - `git diff-tree --no-commit-id --name-only -r e12eb31`
-- Result: Bootstrap prerequisites passed; Stage 1 entry is ready
+  - `git diff-tree --no-commit-id --name-only -r b326431`
-- Verified commit: `554c84f` for protocol design and `8dd8ff0` for implementation plans
+  - `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`
 
 ## Preserved Workspace State
 
@@ -31,33 +35,35 @@
 - 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 must use the isolated `EMPlannerVerificationHost` rule from the Foundation plan. Do not delete or rewrite legacy functionality to hide the baseline build failure.
+- 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.
 
 ## Decisions Needed
 
-- None. The Stage 1 scope and contracts are approved.
+- None. Stage 1 completed within scope.
 
 ## Next Stage
 
-- Stage: 1 — Foundation contracts and boundaries
+- 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`
 - Tasks:
-  - Task 1 — Verification Host and Immutable Contracts
+  - Task 4 — Reverse-Safe Frenet Projection and Reconstruction
-  - Task 2 — Configuration, Diagnostics, and Request Validation
+  - Task 5 — Topology-Preserving Static Corridor
-  - Task 3 — Direction Segmentation and Exact Boundary Anchors
+  - Task 6 — Foundation Documentation and Gate
 - Entry checks:
   - Confirm branch `trajplanner`.
-  - Confirm commits `554c84f` and `8dd8ff0` exist.
+  - 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.
-  - Confirm no prior Stage 1 functionality commit is recorded; if EM files already exist, inspect and reconcile them before continuing.
+  - 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.
 - Exit gate:
-  - Each of Foundation Tasks 1–3 has its own passing verification and independent commit.
+  - Each of Foundation Tasks 4–6 has its own passing verification and independent commit.
-  - The Foundation verification host passes `foundation` and `segmentation` groups required through Task 3.
+  - `all-foundation` passes twice with deterministic four-line output.
-  - Exact gear-switch approach/departure identities and exact horizon anchors are verified.
+  - 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.
+  - `git diff --check` reports no new whitespace errors and the staging area is empty after task commits.
-  - The staging area is empty after all task commits.
+  - This progress file is updated to mark Stage 2 completed and Stage 3 ready, then committed alone.
-  - This progress file is updated to mark Stage 1 completed and Stage 2 ready, then committed alone.
 
 ## Next-Window Prompt
 
@@ -66,7 +72,7 @@
 
 工作目录：D:\Users\Desktop\项目\prakrobot\ParkingRobot
 
-本窗口是阶段 1：Foundation 契约与边界，只执行 Foundation 实施计划的 Task 1–3，不得提前执行 Task 4 或后续阶段。
+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。
 
 开始工作前必须完整读取：
 1. docs/superpowers/specs/2026-08-03-em-planner-ls-st-design.md
@@ -78,16 +84,20 @@
 
 开始前：
 - 确认工作目录和分支 trajplanner；
-- 确认提交 554c84f 与 8dd8ff0 存在；
+- 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 1：Verification Host and Immutable Contracts；
+- Task 4：Reverse-Safe Frenet Projection and Reconstruction；
-- Task 2：Configuration, Diagnostics, and Request Validation；
+- Task 5：Topology-Preserving Static Corridor；
-- Task 3：Direction Segmentation and Exact Boundary Anchors。
+- Task 6：Foundation Documentation and Gate。
 
 执行要求：
 - 严格按 Foundation 计划逐任务进行 TDD；
@@ -95,16 +105,16 @@
 - 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 Frenet、静态走廊、OSQP、LS、ST、滚动执行或动态障碍功能；
+- 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。
 
 阶段结束时：
-- 确认 Task 1–3 各有独立提交和测试证据；
+- 确认 Task 4–6 各有独立提交和测试证据；
-- 运行截至 Task 3 的 Foundation 阶段出口验证；
+- 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 1 标为 Completed，将阶段 2 标为 ready；
+- 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 2 可直接复制的新窗口提示词。
+- 给出阶段 3 可直接复制的新窗口提示词。
 ```