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

EM Planner Execution Progress

Current State

• Current stage: 2 — Foundation coordinates and corridor
• Stage status: Completed
• Current branch: trajplanner
• Last checkpoint commit: aa62d6b (last Stage 2 functional commit; this file is the Stage 2 checkpoint)
• Protocol design baseline: 554c84f
• Implementation-plan baseline: 8dd8ff0

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.
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.
2	2026-08-03-em-planner-foundation-implementation.md	Task 4 — Reverse-Safe Frenet Projection and Reconstruction	06687e2	RED: frenet failed with missing Frenet types including FrenetProjector; GREEN: PASS frenet with forward/reverse sign, yaw-wrap, bounded U-branch, singular-denominator, and reconstruction checks.
2	2026-08-03-em-planner-foundation-implementation.md	Task 5 — Topology-Preserving Static Corridor	2d252ff	RED: corridor failed with missing static-corridor types; GREEN: PASS corridor, followed by all-foundation with all four PASS lines.
2	2026-08-03-em-planner-foundation-implementation.md	Task 6 — Foundation Documentation and Gate	aa62d6b	RED: Foundation README was absent; GREEN: README contract scan passed. Placeholder/format scans passed, all-foundation passed twice with identical four-line stdout, and the normal-project baseline contained only legacy auto_avoidance errors.

Current Verification

• Commands:
  • dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- foundation
  • dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- segmentation
  • dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- frenet
  • dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- corridor
  • dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation (run twice, stdout compared exactly)
  • git diff --check
  • rg -n "NotImplementedException|throw new Exception\(\)" ClumsyPilot/ParkrobTrajplanner/EMPlanner ClumsyPilot/tests/EMPlannerVerificationHost
  • dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
• Result: foundation, segmentation, frenet, and corridor pass. all-foundation produced exactly PASS foundation, PASS segmentation, PASS frenet, and PASS corridor twice with exit 0 and identical stdout. git diff --check and the placeholder scan have no diagnostics. The isolated host may display two pre-existing TireFollowing obsolete-API warnings during a cold implicit build; warmed direct runs contain only the four PASS lines and no EM Planner warnings or errors. The normal project build exits 1 only for the existing auto_avoidance/MultiWheelAutoAvoidance.cs missing NetTopologySuite (3) and OpenCvSharp (1) references, plus that legacy file's duplicate-using warning; it has no EM Planner errors.
• Verified commit: aa62d6b

Preserved Workspace State

• The workspace continues to contain many unrelated Map, CoarsePath, PathSmoothing, project-file, report, and documentation changes. 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.
• The normal ClumsyPilot.csproj build remains blocked by legacy auto_avoidance/MultiWheelAutoAvoidance.cs references to NetTopologySuite and OpenCvSharp; do not delete or bypass legacy functionality to change this baseline.

Decisions Needed

• None. Stage 2 completed within scope.

Next Stage

• Stage: 3 — OSQP contracts and native loading
• Readiness: Ready for Stage 3 entry checks.
• Plan: docs/superpowers/plans/2026-08-03-em-planner-osqp-backend-implementation.md
• Tasks:
  • Task 1 — Solver-Neutral Sparse QP Contracts
  • Task 2 — Reproducible OSQP 1.0.0 Native Package
  • Task 3 — Absolute-Path Native Loader and ABI Structures
• Entry checks:
  • Confirm branch trajplanner, commits through aa62d6b, and an empty staging area.
  • Capture git status --short before editing and preserve every unrelated user change.
  • Confirm the Stage 2 checkpoint content and run all-foundation before Task 1.
  • Read the OSQP implementation plan and verify its required native-build tools/files before modifying code.
• Exit gate:
  • Tasks 1–3 each have an independent commit and their prescribed RED/GREEN evidence.
  • The OSQP contract, reproducible package, absolute-path loader, ABI, and failure diagnostics checks pass.
  • all-foundation remains passing; normal-project baseline remains separately recorded.
  • git diff --check is clean; the staging area is empty; a Stage 3 progress checkpoint is committed alone.

Next-Window Prompt

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

本窗口是阶段 3：OSQP 契约与原生加载，只执行 `docs/superpowers/plans/2026-08-03-em-planner-osqp-backend-implementation.md` 的 Task 1–3；不得提前执行阶段 4 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
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-osqp-backend-implementation.md

执行时使用 executing-plans、test-driven-development 和 verification-before-completion 技能，并完整读取对应 SKILL.md。不要使用子代理。

开始前：
- 确认工作目录、分支 `trajplanner`、Stage 1–2 提交（含 `06687e2`、`2d252ff`、`aa62d6b`）及暂存区为空。
- 保存 `git status --short` 作为结束对照；保留所有既有用户修改，绝不清理、覆盖或顺带提交。
- 核对本进度文件与 Git；若不一致，先诊断并报告。
- 运行 `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation`，必须通过后才开始 Task 1。
- 记录正常项目基线：旧 `auto_avoidance/MultiWheelAutoAvoidance.cs` 缺失 `NetTopologySuite`/`OpenCvSharp` 引用仍可存在，不得通过删除旧功能规避。

执行要求：
- 严格逐任务 TDD：RED、最小 GREEN、计划指定验证；每项独立提交，只显式暂存计划范围文件。
- 不修改无关 Map、CoarsePath、PathSmoothing 或旧 auto_avoidance。
- 不实现 LS、ST、滚动执行、动态障碍或阶段 4 OSQP solve lifecycle。
- 完成声明前运行计划指定验证和 `git diff --check`。

阶段结束时：
- 完成 Task 1–3 的独立提交和测试证据；执行 OSQP 阶段出口验证，并确认 `all-foundation` 仍通过。
- 按计划记录正常项目基线；暂存区为空。
- 更新并单独提交 `docs/superpowers/progress/em-planner-progress.md`，将 Stage 3 标为 Completed、Stage 4 标为 Ready。
- 返回提交、证据、遗留问题和 Stage 4 提示词。