ParkingRobot/docs/superpowers/plans/2026-08-05-movementtest-solver-timeout.md

MovementTest Solver Timeout 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: Make the observation-only MovementTest expose a 0.50-second default OSQP time budget without relaxing solver accuracy.

Architecture: TrajectoryObservationSettings owns the test-facing time-budget value and validates/copies it. The MovementTest maps its public field into those settings, and TrajectoryObservationController maps the snapshot into the per-session EM configuration. The production EM defaults remain unchanged.

Tech Stack: C# 10, .NET, existing EMPlannerVerificationHost test host.

Global Constraints

• Default test solver timeout is exactly 0.50d seconds.
• AbsoluteTolerance, RelativeTolerance, and StrictResidualTolerance remain 1e-5d.
• Do not change vehicle constraints, map construction, speed limits, or observe-only command behavior.
• Do not alter EmPlannerConfiguration.CreateDefault(); the override belongs only to the observation test.

---

Task 1: Propagate the test solver budget into an EM request

Files:

• Modify: ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs:122-170,384-405
• Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs:9-49
• Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs:25-70
• Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs:198-214

Interfaces:

• Consumes: TrajectoryObservationSettings.CreateValidatedSnapshot() and TrajectoryObservationController.StartCycle(...).

• Produces: TrajectoryObservationSettings.SolverTimeoutSeconds, copied to EmPlanningRequest.Configuration.Scheduling.SolverTimeoutSeconds.

• Step 1: Write the failing test

In VerifiesControllerBuildsSegmentZeroRequest, set a non-default observation setting and assert it reaches the request:

var settings = new TrajectoryObservationSettings
{
    SolverTimeoutSeconds = 0.42d,
};
// Start one controller cycle.
Verification.NearlyEqual(0.42d, planningService.Requests[0].Configuration.Scheduling.SolverTimeoutSeconds,
    "observer configured solver timeout");

Also extend VerifiesSettingsSnapshotAndVehicle to assert that a default snapshot retains 0.50d, and extend RejectsInvalidSettings with settings => settings.SolverTimeoutSeconds = 0d.

• Step 2: Run the focused verification to verify it fails

Run:

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

Expected: FAIL because SolverTimeoutSeconds does not yet exist or its value is not propagated to the request.

• Step 3: Write the minimal implementation

Add and copy/validate the settings property:

public double SolverTimeoutSeconds { get; set; } = 0.50d;

Map it from the public MovementTest field, then set the session-local EM configuration:

configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;

Do not alter the EM default configuration or any tolerance property.

• Step 4: Run focused verification to verify it passes

Run:

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

Expected: all trajectory-observation checks pass, including timeout propagation and invalid-setting rejection.

• Step 5: Run the related EM regression suite

Run:

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

Expected: both commands finish successfully with no errors.

• Step 6: Commit the implementation

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 solver timeout"