EM Planner Execution Progress

Current State

Current stage: 7 — ST model and longitudinal optimization
Stage status: Completed
Current branch: trajplanner
Last checkpoint commit: 510bf97 (last Stage 7 functional commit; this file is the Stage 7 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.
3	`2026-08-03-em-planner-osqp-backend-implementation.md`	Task 1 — Solver-Neutral Sparse QP Contracts	`104081e`	RED: `optimization` failed with missing `SparseTripletBuilder`; GREEN: `PASS optimization` covered deterministic CSC canonicalization, duplicate summation, zero dropping, upper-triangular Hessians, QP validation, and defensive copies.
3	`2026-08-03-em-planner-osqp-backend-implementation.md`	Task 2 — Reproducible OSQP 1.0.0 Native Package	`2abb465`	RED: the planned package script was absent; GREEN: the fixed-tag build printed `OSQP v1.0.0 win-x64 package ready`. The package contains the pinned DLL, license files, version/build flags, and lowercase SHA-256 manifest; `dumpbin` verified x64 and the four required exports.
3	`2026-08-03-em-planner-osqp-backend-implementation.md`	Task 3 — Absolute-Path Native Loader and ABI Structures	`39c1708`	RED: `osqp-loader` failed with missing `OsqpNativeLoader`; GREEN: `PASS osqp-loader` verified missing/corrupt DLL diagnostics, real `1.0.0` loading from a copied plugin directory, and one stable handle across 16 parallel first-use calls.
4	`2026-08-03-em-planner-osqp-backend-implementation.md`	Task 4 — OSQP Solve Lifecycle and Status Mapping	`a957fda`	RED: `osqp-loader` failed with missing `OsqpNativeSolver`; GREEN: fixed bounded, equality, infeasible and one-tick time-limit QPs pass inside a copied clean-plugin process. Status values 1–11 map to the planner-neutral contract, with finite metrics and captured native status. Twenty exact `osqp` solve/cleanup cycles printed `PASS osqp-solve` and `PASS osqp-loader` on every iteration.
4	`2026-08-03-em-planner-osqp-backend-implementation.md`	Task 5 — Backend Completion Gate	`61dfa79`	RED: `osqp` was rejected by the verification-host command parser; GREEN: it runs the full solver/loader group. README now records the pinned package, deployment layout, absolute-load rule, ownership and status mapping. `dumpbin /dependents` found only Windows/runtime DLLs; an externally located working directory still loaded a copied clean plugin bundle and solved the micro QPs.
5	`2026-08-03-em-planner-lateral-ls-implementation.md`	Task 1 — Variable Layout and Exact Discrete Lateral Dynamics	`c225b17`	RED: `lateral-model` failed to build with missing `LateralVariableLayout`; GREEN: `PASS lateral-model` covered contiguous `4N-1` indices, range checks, unequal-S exact integration, station/corridor/start validation, defensive copies, and the lateral result publication contract.
5	`2026-08-03-em-planner-lateral-ls-implementation.md`	Task 2 — Normalized Objective and Linear Hard Constraints	`f703d41`	RED: `lateral-model` failed to build with missing `LateralObjectiveBuilder`; GREEN: `PASS lateral-model` inspected normalized P/q coefficients with `1e-12` comparisons, exact integration equalities, finite hard bounds, goal/gear versus rolling terminal behavior, empty-intersection early failure, and the solver-neutral fake-QP boundary.
5	`2026-08-03-em-planner-lateral-ls-implementation.md`	Task 3 — Nonlinear Geometry Evaluation and Independent Validation	`0c48a7d`	RED: `lateral-model` failed to build with missing `LateralGeometryEvaluator`; GREEN: `PASS lateral-model` covered straight and constant-curvature references in forward/reverse, full Frenet curvature, actual strictly increasing PathS, curvature/yaw-rate signs, and rejection of denominator, curvature, non-finite, and independently recomputed world-geometry violations.
6	`2026-08-03-em-planner-lateral-ls-implementation.md`	Task 4 — Sequential Convex Outer Loop and Feasible-Candidate Fallback	`f19df53`	RED: `lateral-integration` failed to build with missing `SequentialConvexOptimizer` and `LateralPlanner`; GREEN: `PASS lateral-integration` scripted validation-before-fallback, invalid-vector rejection, `SolvedInaccurate` residual/geometry rejection, 0.05 m trust centering, complete-primal warm starts, five-call cap, cancellation, timeout and facade behavior.
6	`2026-08-03-em-planner-lateral-ls-implementation.md`	Task 5 — Real-OSQP Lateral Scenarios and Gate	`4d83ed2`	RED: `lateral-all` reached the real forward scenario but rejected the empty initial warm start; the subsequent loader diagnosis confirmed the host output bundle intentionally lacks `osqp.dll`. GREEN: the solver-neutral full initial primal and a clean copied plugin-bundle probe produced `PASS lateral-model`, `PASS lateral-integration`, and `PASS lateral-real-osqp` for deterministic forward/reverse straight, gentle curve, seed-connected obstacle narrowing, gear-switch, and rolling scenarios.

| 7 | 2026-08-03-em-planner-longitudinal-st-implementation.md | Task 1 — Speed Envelope over Actual PathS | 62ea9db, correction 25742ab | RED: longitudinal-model first failed with missing longitudinal input/speed-envelope types; the sparse stopping chord and then the discrete jerk-release tail checks also failed before refinement. GREEN: PASS longitudinal-model proves actual strictly increasing LS PathS consumption, finite curvature/curvature-rate/stopping limits, stopping-distance precheck, dense actual-PathS stations, and discrete deceleration/jerk tail stations. | | 7 | 2026-08-03-em-planner-longitudinal-st-implementation.md | Task 2 — Time-Knot Layout, Dynamics, Objective, and Hard Constraints | c01d0d5 | RED: longitudinal-model failed with missing ST candidate/layout/constraint types. GREEN: PASS longitudinal-model inspects normalized objective coefficients, solver-neutral QuadraticProgram assembly, exact constant-jerk dynamics, monotonic progress, finite physical bounds, exact start state, and hard terminal s_N/u_N. | | 7 | 2026-08-03-em-planner-longitudinal-st-implementation.md | Task 3 — Longitudinal Outer Loop and Strict Validation | 510bf97 | RED: longitudinal-integration failed first with missing optimizer/validator/facade types; focused checks then exposed invalid fallback acceptance, sparse envelope probes, noncanonical endpoints, and loss of a strictly validated initial seed on immediate timeout. GREEN: PASS longitudinal-integration covers scripted statuses, strict residual/physical validation, deep-copy last-feasible fallback, complete-primal warm starts, the five-iteration cap, cancellation, and deterministic real OSQP forward/reverse/curvature/jerk-stop/short/zero-start scenarios in a clean copied plugin bundle. |

Current Verification

Commands:
- dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-model
- dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-integration
- dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-integration
- dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-all
- dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-model
- 1..20 | ForEach-Object { dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- osqp; if ($LASTEXITCODE -ne 0) { throw "OSQP verification failed on iteration $_" } }
- dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- optimization
- dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- osqp-loader
- dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation
- C:\Program Files (x86)\Microsoft Visual Studio\2022\BuildTools\VC\Tools\MSVC\14.44.35207\bin\Hostx64\x64\dumpbin.exe /dependents ClumsyPilot/ThirdParty/OSQP/win-x64/osqp.dll
- Clean copied plugin bundle: run EMPlannerVerificationHost.exe osqp-probe from a separate working directory.
- git diff --check
Result: The Stage 5 lateral-model gate exited 0 after all three Task commits. It proves the 4N-1 layout, exact unequal-station dynamics, immutable lateral inputs/results, normalized OSQP-convention P/q assembly, finite hard corridor/derivative/trust/denominator bounds, terminal distinction, full forward/reverse world reconstruction, actual PathS, and independent validation. optimization, osqp, and all four all-foundation groups exited 0. The dependency list remains KERNEL32.dll, VCRUNTIME140.dll, and API-set CRT DLLs only—no MKL, CUDA or external QDLDL. git diff --check had no whitespace diagnostics; immediately before this checkpoint update the staging area was empty and no Stage 5 scope files were uncommitted.
Result: Stage 6 exit commands all exited 0 at 4d83ed2: lateral-integration; lateral-all (model, scripted SQP, and clean-plugin real OSQP groups); optimization; osqp; all-foundation; and git diff --check. The real OSQP gate runs every fixed scenario twice and compares status, point count, and all lateral-path numeric fields within 1e-10; the obstacle scenario stays in the negative, seed-connected corridor interval. The LS implementation remains dependent only on IQpSolver/QuadraticProgram; no LS P/Invoke, UI, hardware object, or current-working-directory dependency was added.
Result: Stage 7 exit commands all exited 0 from the repository root at 510bf97: longitudinal-model; longitudinal-integration; lateral-integration; lateral-all; optimization; osqp; all-foundation; and git diff --check. ST consumes only actual LS PathS and reaches OSQP only through IQpSolver/QuadraticProgram; no ST P/Invoke, UI, hardware object, or current-working-directory dependency was added. The jerk-stop case retains only the independently validated initial seed when OSQP reaches its 4000-iteration limit; the timed-out solver vector is not accepted.
Baseline note: invoking the pre-existing lateral-all test from the ClumsyPilot subdirectory fails its pinned-DLL lookup because that Stage 6 test constructs the source path from Directory.GetCurrentDirectory(). Running the documented command from the repository root exits 0. Stage 7 does not modify or bypass the completed LS test.
Normal-project baseline: dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore exits 1 only for the legacy auto_avoidance/MultiWheelAutoAvoidance.cs missing NetTopologySuite (3) and OpenCvSharp (1) references, plus that legacy file's duplicate-using warning. There are no EM Planner errors.
Verified commits: 104081e, 2abb465, 39c1708, a957fda, 61dfa79, c225b17, f703d41, 0c48a7d, f5c69c2, f19df53, 4d83ed2, 62ea9db, c01d0d5, 25742ab, and 510bf97

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.
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 7 completed within scope.

Prior Stage 7 Entry Record

Stage: 7 — ST model and longitudinal optimization
Readiness: Ready for Stage 7 entry checks after this checkpoint is committed.
Plan: docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md
Tasks:
- Task 1 — Speed Envelope over Actual PathS
- Task 2 — Time-Knot Layout, Dynamics, Objective, and Hard Constraints
- Task 3 — Longitudinal Outer Loop and Strict Validation
Entry checks:
- Confirm branch trajplanner, a957fda, 61dfa79, c225b17, f703d41, 0c48a7d, f5c69c2, f19df53, and 4d83ed2 are ancestors of HEAD, and the Stage 6 progress checkpoint is present.
- Capture git status --short before editing and preserve every unrelated user change.
- Read the two EM Planner design documents, this progress file, and the longitudinal-ST implementation plan in full.
- Run lateral-integration, lateral-all, optimization, osqp, and all-foundation before Task 1.
- ST must consume actual, strictly increasing LS PathS and keep the OSQP boundary solver-neutral through IQpSolver.
Exit gate:
- Tasks 1–3 each have an independent commit and their prescribed RED/GREEN evidence.
- The actual-PathS speed envelope, stopping precheck, ST dynamics/QP, and strict longitudinal validation pass.
- The Stage 7 plan's full exit gate and git diff --check pass; the staging area is empty; a Stage 7 progress checkpoint is committed alone.

Prior Stage 7 Window Prompt (Historical)

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 7：ST 模型与纵向优化。唯一授权范围是：
`docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md` 的 Task 1、Task 2、Task 3。
不要开始轨迹发布、单次规划服务、滚动执行、控制适配、动态障碍物或任何后续阶段。

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-longitudinal-st-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。Stage 4–6 提交必须可从 `HEAD` 追溯：`a957fda`、`61dfa79`、`c225b17`、`f703d41`、`0c48a7d`、`f5c69c2`、`f19df53` 和 `4d83ed2`；随后是本进度文件的独立 Stage 6 checkpoint。若这些提交、进度记录或入口验证任一不一致，停止实施并先报告事实，不要猜测或重做已提交工作。

开始 Task 1 前：
- 保存完整 `git status --short` 基线，确认暂存区为空；工作区已有大量与 EM 无关的 Map、CoarsePath、PathSmoothing、报告、文档、项目文件和未跟踪修改，必须完整保留。
- 不得使用 `git add .`、`git add -A`、`git reset --hard`、`git checkout --` 或任何清理命令；每次只用显式路径暂存计划指定文件。
- 运行以下隔离入口验证，并确认全部退出码为 0：
  ```powershell
  dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-integration
  dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-all
  dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- optimization
  dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- osqp
  dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation

ClumsyPilot.csproj 中有既有用户 hunk；正常项目构建仍会因旧 auto_avoidance/MultiWheelAutoAvoidance.cs 缺少 NetTopologySuite 与 OpenCvSharp 失败。不要修改、删除、屏蔽或绕过该旧模块，也不要把它当成 EM 回归。

实施约束：

严格逐任务 TDD：先增加该任务的最小失败检查，观察其因缺少目标行为而失败，再写最小生产代码，并运行计划指定 GREEN 验证。
Task 1、2、3 各自形成独立功能提交；提交前用 git diff --cached --check 和 git diff-tree 核对文件集合。
ST 只能消费 LS 输出的实际、严格递增 PathS，并且只能通过既有 solver-neutral IQpSolver/QuadraticProgram 边界使用 OSQP；不能向 ST 引入 P/Invoke、当前工作目录依赖、UI 或硬件对象。
不修改无关的 Map、CoarsePath、PathSmoothing、旧 auto_avoidance、已完成 LS 或 OSQP 后端；不实现轨迹发布、滚动执行、控制适配或动态障碍物。

阶段结束条件：

仅在 Task 1–3 均有独立提交、各自 RED/GREEN 证据和该计划全部出口验证通过后，运行 Stage 7 规定的 LS/ST/优化/OSQP/Foundation 回归及 git diff --check。
检查暂存区为空、用户的起始 git status --short 修改仍被保留；然后只更新并单独提交 docs/superpowers/progress/em-planner-progress.md。
最终报告必须给出实际提交、命令/退出码、未处理基线问题，并提供阶段 8（仅轨迹发布与单次规划服务 Task 4–6）的精确下一窗口提示词。


## Next Stage

- Stage: 8 — complete trajectory publication and pure one-shot planning service
- Readiness: Ready for Stage 8 entry checks after this checkpoint is committed.
- Plan: `docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md`
- Authorized tasks only:
  - Task 4 — Complete Trajectory Assembly and Redundant-Field Consistency
  - Task 5 — Independent World-Space Publication Validator
  - Task 6 — Pure One-Shot EmPlanningService
- Explicit exclusions: rolling execution, controller adaptation, dynamic obstacles, UI/hardware integration, and every later phase.

## 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 8：完整轨迹发布与纯单次规划服务。唯一授权范围是：
docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md 的 Task 4、Task 5、Task 6。
不要开始滚动执行、控制适配、动态障碍物、UI/硬件集成或任何后续阶段。

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-longitudinal-st-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 a957fda、61dfa79、c225b17、f703d41、0c48a7d、f5c69c2、f19df53、4d83ed2、62ea9db、c01d0d5、25742ab、510bf97 以及紧随其后的 Stage 7 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：longitudinal-model、longitudinal-integration、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。
- 不修复、删除、屏蔽或绕过旧 auto_avoidance/MultiWheelAutoAvoidance.cs 基线依赖失败。
- 已完成的 Stage 6 lateral-all 测试夹具使用当前工作目录定位固定 DLL，因此必须从仓库根目录运行；不要修改已完成 LS 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 只创建 EMPlanner/Trajectory 下的轨迹组装代码、TrajectoryChecks.cs，并修改验证宿主 Program.cs。必须保证方向符号、速度分量、yaw rate、严格递增时间、不递减 PathS、精确零速终端及 0.20 s hold tail 一致。
- Task 5 只创建 EmTrajectoryValidator.cs 并修改 TrajectoryChecks.cs。必须独立重算运动学与冗余字段，使用姿态和 0.025 m 最大步长的 swept collision 检查，不得把求解器状态当成发布证据。
- Task 6 只创建 IEmPlanningService.cs、EmPlanningService.cs、EmPlanningServiceChecks.cs，并修改 Program.cs 与 EMPlanner/README.md。按计划规定的唯一顺序组织纯 Plan(request, cancellationToken) 管线，使用请求时间戳，不读系统时钟，不发布部分求解向量，不修改请求所有的列表。
- 只能通过 IQpSolver/QuadraticProgram 使用 OSQP；禁止新增 P/Invoke、当前工作目录依赖、UI 或硬件对象。
- 不修改无关 Map、CoarsePath、PathSmoothing、旧 auto_avoidance、已完成 LS/ST/OSQP 后端；不实现滚动执行、控制适配或动态障碍物。

阶段结束时：
- 仅在 Task 4–6 均有独立 RED/GREEN 证据和计划出口验证后，连续两次运行 em-core-all，并运行 longitudinal-model、longitudinal-integration、lateral-all、optimization、osqp、all-foundation 及 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、未处理基线问题，并明确停在 Task 6。

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