104 lines
4.4 KiB
Markdown
104 lines
4.4 KiB
Markdown
# MovementTest Solver Timeout Implementation Plan
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> **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.
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**Goal:** Make the observation-only MovementTest expose a 0.50-second default OSQP time budget without relaxing solver accuracy.
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**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.
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**Tech Stack:** C# 10, .NET, existing EMPlannerVerificationHost test host.
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## Global Constraints
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- Default test solver timeout is exactly `0.50d` seconds.
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- `AbsoluteTolerance`, `RelativeTolerance`, and `StrictResidualTolerance` remain `1e-5d`.
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- Do not change vehicle constraints, map construction, speed limits, or observe-only command behavior.
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- Do not alter `EmPlannerConfiguration.CreateDefault()`; the override belongs only to the observation test.
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---
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### Task 1: Propagate the test solver budget into an EM request
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**Files:**
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- Modify: `ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs:122-170,384-405`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs:9-49`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs:25-70`
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- Modify: `ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs:198-214`
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**Interfaces:**
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- Consumes: `TrajectoryObservationSettings.CreateValidatedSnapshot()` and `TrajectoryObservationController.StartCycle(...)`.
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- Produces: `TrajectoryObservationSettings.SolverTimeoutSeconds`, copied to `EmPlanningRequest.Configuration.Scheduling.SolverTimeoutSeconds`.
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- [ ] **Step 1: Write the failing test**
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In `VerifiesControllerBuildsSegmentZeroRequest`, set a non-default observation setting and assert it reaches the request:
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```csharp
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var settings = new TrajectoryObservationSettings
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{
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SolverTimeoutSeconds = 0.42d,
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};
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// Start one controller cycle.
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Verification.NearlyEqual(0.42d, planningService.Requests[0].Configuration.Scheduling.SolverTimeoutSeconds,
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"observer configured solver timeout");
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```
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Also extend `VerifiesSettingsSnapshotAndVehicle` to assert that a default snapshot retains `0.50d`, and extend `RejectsInvalidSettings` with `settings => settings.SolverTimeoutSeconds = 0d`.
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- [ ] **Step 2: Run the focused verification to verify it fails**
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Run:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
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```
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Expected: FAIL because `SolverTimeoutSeconds` does not yet exist or its value is not propagated to the request.
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- [ ] **Step 3: Write the minimal implementation**
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Add and copy/validate the settings property:
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```csharp
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public double SolverTimeoutSeconds { get; set; } = 0.50d;
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```
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Map it from the public MovementTest field, then set the session-local EM configuration:
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```csharp
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configuration.Scheduling.SolverTimeoutSeconds = settings.SolverTimeoutSeconds;
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```
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Do not alter the EM default configuration or any tolerance property.
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- [ ] **Step 4: Run focused verification to verify it passes**
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Run:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
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```
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Expected: all trajectory-observation checks pass, including timeout propagation and invalid-setting rejection.
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- [ ] **Step 5: Run the related EM regression suite**
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Run:
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```powershell
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dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-all
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dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
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```
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Expected: both commands finish successfully with no errors.
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- [ ] **Step 6: Commit the implementation**
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```powershell
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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
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git commit -m "feat: configure MovementTest solver timeout"
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```
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