185 lines
23 KiB
Markdown
185 lines
23 KiB
Markdown
# EM Planner Execution Progress
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## Current State
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- Current stage: 7 — ST model and longitudinal optimization
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- Stage status: Completed
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- Current branch: `trajplanner`
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- Last checkpoint commit: `510bf97` (last Stage 7 functional commit; this file is the Stage 7 checkpoint)
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- Protocol design baseline: `554c84f`
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- Implementation-plan baseline: `8dd8ff0`
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## Completed Tasks
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| Stage | Plan | Tasks | Commits | Verification |
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|---:|---|---|---|---|
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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. |
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| 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`. |
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| 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. |
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## Current Verification
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- Commands:
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- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-model`
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- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-integration`
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- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-integration`
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- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-all`
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- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-model`
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- `1..20 | ForEach-Object { dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- osqp; if ($LASTEXITCODE -ne 0) { throw "OSQP verification failed on iteration $_" } }`
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- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- optimization`
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- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- osqp-loader`
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- `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation`
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- `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`
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- Clean copied plugin bundle: run `EMPlannerVerificationHost.exe osqp-probe` from a separate working directory.
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- `git diff --check`
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- 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.
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- 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.
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- 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.
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- 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.
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- 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.
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- Verified commits: `104081e`, `2abb465`, `39c1708`, `a957fda`, `61dfa79`, `c225b17`, `f703d41`, `0c48a7d`, `f5c69c2`, `f19df53`, `4d83ed2`, `62ea9db`, `c01d0d5`, `25742ab`, and `510bf97`
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## Preserved Workspace State
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- 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.
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- Use explicit file paths for every `git add`; never stage the whole workspace.
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- The existing user hunk in `ClumsyPilot/ClumsyPilot.csproj` remains preserved. Do not clean, rewrite, or stage it.
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- 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.
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## Decisions Needed
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- None. Stage 7 completed within scope.
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## Prior Stage 7 Entry Record
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- Stage: 7 — ST model and longitudinal optimization
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- Readiness: Ready for Stage 7 entry checks after this checkpoint is committed.
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- Plan: `docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md`
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- Tasks:
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- Task 1 — Speed Envelope over Actual PathS
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- Task 2 — Time-Knot Layout, Dynamics, Objective, and Hard Constraints
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- Task 3 — Longitudinal Outer Loop and Strict Validation
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- Entry checks:
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- Confirm branch `trajplanner`, `a957fda`, `61dfa79`, `c225b17`, `f703d41`, `0c48a7d`, `f5c69c2`, `f19df53`, and `4d83ed2` are ancestors of `HEAD`, and the Stage 6 progress checkpoint is present.
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- Capture `git status --short` before editing and preserve every unrelated user change.
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- Read the two EM Planner design documents, this progress file, and the longitudinal-ST implementation plan in full.
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- Run `lateral-integration`, `lateral-all`, `optimization`, `osqp`, and `all-foundation` before Task 1.
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- ST must consume actual, strictly increasing LS `PathS` and keep the OSQP boundary solver-neutral through `IQpSolver`.
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- Exit gate:
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- Tasks 1–3 each have an independent commit and their prescribed RED/GREEN evidence.
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- The actual-PathS speed envelope, stopping precheck, ST dynamics/QP, and strict longitudinal validation pass.
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- 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.
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## Prior Stage 7 Window Prompt (Historical)
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```text
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请继续 ParkingRobot 仓库的 EM Planner 多窗口实施。
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工作目录：D:\Users\Desktop\项目\prakrobot\ParkingRobot
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本窗口只执行阶段 7：ST 模型与纵向优化。唯一授权范围是：
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`docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md` 的 Task 1、Task 2、Task 3。
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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。
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开始前必须完整读取：
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1. `docs/superpowers/specs/2026-08-03-em-planner-ls-st-design.md`
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2. `docs/superpowers/specs/2026-08-03-em-planner-windowed-execution-design.md`
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3. `docs/superpowers/progress/em-planner-progress.md`
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4. `docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md`
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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。
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开始 Task 1 前：
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- 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。
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- 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。
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- 运行以下隔离入口验证，并确认全部退出码为 0：
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-integration
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- lateral-all
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- optimization
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- osqp
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation
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```
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- `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。
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实施约束：
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- 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。
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- 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。
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- 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。
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- 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。
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阶段结束条件：
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- 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`。
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- 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`。
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- 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。
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```
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## Next Stage
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- Stage: 8 — complete trajectory publication and pure one-shot planning service
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- Readiness: Ready for Stage 8 entry checks after this checkpoint is committed.
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- Plan: `docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md`
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- Authorized tasks only:
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- Task 4 — Complete Trajectory Assembly and Redundant-Field Consistency
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- Task 5 — Independent World-Space Publication Validator
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- Task 6 — Pure One-Shot EmPlanningService
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- Explicit exclusions: rolling execution, controller adaptation, dynamic obstacles, UI/hardware integration, and every later phase.
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## Next-Window Prompt
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```text
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请继续 ParkingRobot 仓库的 EM Planner 多窗口实施。
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工作目录：D:\Users\Desktop\项目\prakrobot\ParkingRobot
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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：
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docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md 的 Task 4、Task 5、Task 6。
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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。
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开始前必须完整读取：
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1. docs/superpowers/specs/2026-08-03-em-planner-ls-st-design.md
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2. docs/superpowers/specs/2026-08-03-em-planner-windowed-execution-design.md
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3. docs/superpowers/progress/em-planner-progress.md
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4. docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md
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使用 executing-plans、test-driven-development 和 verification-before-completion；不要使用子代理。只在 trajplanner 上工作。
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开始 Task 4 前：
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- 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。
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- 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。
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- 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。
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- 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。
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- 不修复、删除、屏蔽或绕过旧 auto_avoidance/MultiWheelAutoAvoidance.cs 基线依赖失败。
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- 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。
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执行要求：
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- 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。
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- 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。
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- 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。
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- 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。
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- 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。
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- 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。
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阶段结束时：
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- 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。
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- 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。
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- 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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```
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