# MovementTest OSQP Iteration Limit 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:** Expose a 12000-iteration OSQP cap for observation-only MovementTest sessions.

**Architecture:** TrajectoryObservationSettings owns an integer iteration limit, snapshots and validates it. The public MovementTest field maps into those settings, and the observation controller maps it into the session-local EM solver configuration. Production EM defaults remain unchanged.

**Tech Stack:** C# 10, .NET, EMPlannerVerificationHost.

## Global Constraints

- Default MaximumOsqpIterations is exactly 12000.
- SolverTimeoutSeconds remains at its existing 0.50d MovementTest default.
- AbsoluteTolerance, RelativeTolerance, and StrictResidualTolerance remain 1e-5d.
- Do not change production EM defaults, vehicle/map constraints, or observe-only command behavior.

---

### Task 1: Propagate the test iteration limit into an EM request

**Files:**

- Modify: ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs:95-176,384-416
- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs:9-50
- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs:25-71
- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs:198-215

**Interfaces:**

- Consumes: TrajectoryObservationSettings.CreateValidatedSnapshot() and TrajectoryObservationController.StartCycle(...).
- Produces: TrajectoryObservationSettings.MaximumOsqpIterations, copied to EmPlanningRequest.Configuration.Solver.MaximumOsqpIterations.

- [x] **Step 1: Write the failing test**

Add assertions proving the public field uses the default and a custom setting reaches the request:

~~~csharp
Verification.True(source.Contains("public int MaximumOsqpIterations = 12000;"),
    "observer MovementTest exposes the test OSQP iteration default");

var settings = new TrajectoryObservationSettings
{
    MaximumOsqpIterations = 9000,
};
// Start one controller cycle.
Verification.Equal(9000, planningService.Requests[0].Configuration.Solver.MaximumOsqpIterations,
    "observer configured OSQP iteration limit");
~~~

Assert 0 and negative iteration limits are rejected.

- [x] **Step 2: Run focused verification to verify it fails**

Run:

~~~powershell
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
~~~

Expected: FAIL because MaximumOsqpIterations is absent.

- [x] **Step 3: Write the minimal implementation**

Add this setting and snapshot mapping:

~~~csharp
public int MaximumOsqpIterations { get; set; } = 12000;
~~~

Validate it with:

~~~csharp
if (MaximumOsqpIterations <= 0)
    throw new ArgumentOutOfRangeException(nameof(MaximumOsqpIterations), "Value must be positive.");
~~~

Map it into the MovementTest settings and session configuration:

~~~csharp
configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
~~~

- [x] **Step 4: Run focused verification to verify it passes**

Run:

~~~powershell
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
~~~

Expected: PASS trajectory-observation.

- [x] **Step 5: Run full regression and build**

Run:

~~~powershell
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-all
dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
~~~

Expected: all suites pass and the build reports zero errors.

- [x] **Step 6: Commit 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 OSQP iterations"
~~~