ParkingRobot/docs/superpowers/handoffs/2026-08-05-em-longitudinal-rolling-final.md

EM Longitudinal Rolling Planning — Final Acceptance Handoff

Scope and commits

• Phase 4 start baseline: 6cfbaf6 (feat: reuse prior trajectory in longitudinal planning)
• Task 8: eb050b1 (test: cover rolling-to-stop EM planning flow)
• Task 9: 302798b (docs: explain rolling longitudinal planning diagnostics)
• Phase 4 code/documentation end: 302798b

Only original-plan Tasks 8, 9, and 10 were executed. No fifth phase is defined or created.

Delivered behavior

Task 8 — service-level rolling-to-stop regressions

• Added service coverage for RollingContinuation -> ApproachStopBoundary -> ExactStopAtBoundary.
• The rolling case uses DistanceHorizonMeters=5m, TimeHorizonSeconds=2s, OutputTimeStepSeconds=0.1s, and MaximumForwardSpeedMetersPerSecond=0.2m/s; it publishes 21 points, stops short of 5m, and retains nonzero terminal speed.
• Goal and CreateGearPairReferencePath() exact-stop cases verify the true boundary anchor, following QP stationary point, zero speed, and the absence of points from the next direction segment.
• The parameterized gear-pair fixture retains its existing 2m default and supports a short first segment for exact-stop service tests.
• The existing rolling integration regression now explicitly proves the 21-knot / 5m-LS / 2s-ST semantics.

Task 9 — observation diagnostics and documentation

• The one-time configuration diagnostic reports the worst forward/reverse jerk-limited stopping capability: maximumJerkLimitedStopDistance, maximumJerkLimitedStopDuration, and requiredDistanceHorizon.
• Published trajectory summaries now report longitudinalMode, terminalSpeed, and terminalAcceleration.
• Failure summaries preserve every upstream value and explicitly mark any missing longitudinal context as unavailable; the required fields are longitudinalMode, remainingToBoundary, minimumStoppingDistance, minimumStoppingDuration, and maximumStoppedReachableDistance.
• EMPlanner and MovementTest documentation now distinguish the L-S distance window from the S-T duration and state that rolling observation remains OBSERVE_ONLY.

TDD and debugging record

Task 8 began with new service assertions and an em-core-all red run. The first failure was an undersized ±3m fixture map for a 10m rolling path. Subsequent red runs established that a scripted solver warm start is not a validated exact stop solution. The final fixture uses the pre-existing, discretely feasible exact-stop service scenario while the separate 5m/2s case covers rolling semantics. No acceleration, jerk, solver residual, or publication-validation limit was changed.

Task 9 began with new required-field assertions. trajectory-observation failed because the configuration diagnostic did not report jerk-limited stopping capability; the minimal implementation then made that test pass.

Verification evidence

All commands below were run from the repository root.

Command	Exit	Key output
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all (Task 8 red)	1	New fixture exposed map-boundary and unvalidated exact-stop warm-start failures.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-integration	0	PASS longitudinal-integration after reverting an unsuccessful seed experiment.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all (Task 8 green)	0	PASS longitudinal-model, PASS longitudinal-integration, PASS trajectory, PASS em-planning-service.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation (Task 9 red)	1	Missing maximumJerkLimitedStopDistance= assertion.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation (Task 9 green)	0	PASS trajectory-observation.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all	0	All four core PASS lines.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- coordinator	0	PASS coordinator.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- executor	0	PASS executor.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation	0	PASS trajectory-observation.
dotnet build ClumsyPilot/ClumsyPilot.csproj -p:ExcludeLegacyAutoAvoidance=true	0	Build succeeded with 0 warnings and 0 errors.
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-real-osqp-probe	0	PASS longitudinal-real-osqp.
git diff --check	0	No whitespace errors; only CRLF notices from unrelated user edits.
git status --short / git log --oneline -12	0	Task commits are present; unrelated user work remains unstaged.

The automated C# runs emitted the pre-existing obsolete-API warnings in MovementTests.TireFollowing.cs and TireFollowing.cs; the Task 10 build with ExcludeLegacyAutoAvoidance=true itself reported 0 warnings.

OSQP and observation-only target verification

The real OSQP probe succeeded on this Windows workspace host, so the native DLL was loadable for the probe. The manual TrajectoryObservationMovementTest observation-only run remains pending on the deployed vehicle/MDCS host: it is a vehicle-UI MovementTest that requires live localization and chassis-speed read interfaces and has no standalone non-interactive launcher in this workspace. It must confirm the startup configuration prints once, the RollingContinuation -> ApproachStopBoundary -> ExactStopAtBoundary progression, no point-21 JerkLimitExceeded, and continuing OBSERVE_ONLY: no chassis command is sent. output.

Preserved user worktree and safety constraints

The branch remains trajplanner. Unrelated modified, deleted, and untracked user work in PathSmoothing, CoarsePath, Map, reports, configuration, MovementTest, and planning/spec documents remains untouched and unstaged. No reset, checkout, clean, stash, broad git add, or worktree cleanup was used.

No chassis command, trajectory follower, or watchdog was added. OBSERVE_ONLY remains unchanged.

Retained invariants

• DistanceHorizonMeters remains the L-S reference window; TimeHorizonSeconds remains one S-T output duration.
• Only real Goal/GearSwitch boundaries use exact zero-speed terminals and an in-QP stationary S/U/A tail.
• RollingContinuation and ApproachStopBoundary may publish nonzero terminal speed and do not gain a synthetic hold.
• ZeroSpeedHoldSeconds remains outside the QP horizon.
• Previous-trajectory PathS/speed arrays remain objective soft references, never terminal hard constraints.
• No jerk, acceleration, solver, or publication-validation threshold was relaxed.