ParkingRobot/docs/superpowers/prompts/2026-08-05-em-longitudinal-rolling-phase-4.md

New Window Prompt: EM Longitudinal Rolling Planning — Phase 4

Work in D:\Users\Desktop\项目\prakrobot\ParkingRobot. This is an implementation task, not a design discussion. Before editing, read these files completely:

• docs/superpowers/specs/2026-08-05-em-longitudinal-rolling-planning-design.md
• docs/superpowers/plans/2026-08-05-em-longitudinal-rolling-planning.md
• docs/superpowers/plans/2026-08-05-em-longitudinal-rolling-four-phase-roadmap.md
• docs/superpowers/handoffs/2026-08-05-em-longitudinal-rolling-phase-3.md

The phase-3 code end is 6cfbaf6 (feat: reuse prior trajectory in longitudinal planning); Task 6 is 4159ae0. Earlier Task 3/4 fixups dbc7b7c and 26bd822 intentionally remain separate because the shared worktree was already dirty and Git refused autosquash. Keep the actual interfaces from the phase-3 handoff, particularly EmLongitudinalMode, LongitudinalTerminalSchedule, explicit-mode LongitudinalPlanningInput, PathUpperBoundS, StopBoundaryPathS, PathSpeedLimit.HasStopBoundary, EmTrajectoryMetadata.LongitudinalMode, and LongitudinalPreviousTrajectorySeed.

Execute only original-plan Tasks 8, 9, and 10. Use executing-plans, TDD for every behavior change, systematic-debugging for every unexpected build/test failure, and verification-before-completion before each commit and the final handoff. Do not re-run brainstorming. Do not create chassis behavior: OBSERVE_ONLY remains mandatory.

Start by recording:

git branch --show-current
git status --short
git log -10 --oneline
git show --stat --oneline 6cfbaf6

The branch is trajplanner and the worktree contains substantial unrelated user changes. Never reset, checkout, clean, broadly stage, stash user files, use git add ., or use git add -A. Before every commit stage only that task's listed files, then run git diff --cached --name-only and git diff --cached --check.

Task 8 — service mode flow, Goal/GearSwitch, and multi-cycle regression

Files:

• ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs
• ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs
• ClumsyPilot/tests/EMPlannerVerificationHost/EmFixtureFactory.cs

Write and observe the failing tests first. With a sufficiently long unobstructed straight path, call EmPlanningService.Plan across three physical states and assert the published metadata flows in this exact order:

Verification.Equal(EmLongitudinalMode.RollingContinuation,
    rolling.Trajectory.Metadata.LongitudinalMode, "cycle 1 rolls");
Verification.True(rolling.Trajectory.Points[rolling.Trajectory.Points.Count - 1]
    .SignedLongitudinalVelocity != 0d, "cycle 1 has nonzero terminal speed");

Verification.Equal(EmLongitudinalMode.ApproachStopBoundary,
    approach.Trajectory.Metadata.LongitudinalMode, "cycle 2 approaches");

Verification.Equal(EmLongitudinalMode.ExactStopAtBoundary,
    exact.Trajectory.Metadata.LongitudinalMode, "cycle 3 stops");
Verification.NearlyEqual(0d, exact.Trajectory.Points[exactAnchor]
    .SignedLongitudinalVelocity, "goal speed is zero");
Verification.True(exact.Trajectory.Points.Count > exactAnchor + 1,
    "goal anchor is followed by a QP stabilization point");
Verification.NearlyEqual(exact.Trajectory.Points[exactAnchor].PathS,
    exact.Trajectory.Points[exactAnchor + 1].PathS,
    "goal stabilization keeps the stop position");
Verification.NearlyEqual(0d, exact.Trajectory.Points[exactAnchor + 1]
    .SignedLongitudinalVelocity, "goal stabilization speed is zero");

Repeat the exact-stop assertion using CreateGearPairReferencePath() and verify that the published trajectory contains no point from the following direction segment. Add an independent semantic regression with:

configuration.Scheduling.DistanceHorizonMeters = 5d;
configuration.Scheduling.TimeHorizonSeconds = 2d;
configuration.Scheduling.OutputTimeStepSeconds = 0.1d;
configuration.Longitudinal.MaximumForwardSpeedMetersPerSecond = 0.2d;

It must publish 21 points, end before PathS=5m, have nonzero terminal speed, and pass publication validation. This proves distance is the LS window and time is the single ST horizon.

Run the new test first:

dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all

Before fixture work, at least one assertion may fail because an old fake solver assumes every trajectory stops. If a production failure is exposed, repair it only in the original owning Task 1–7 scope and rerun its targeted tests; Task 8 itself is fixture/regression work and must not weaken production validation. Update scripted fixtures by mode:

• rolling and approach return nonzero terminal velocity and no hold tail;
• exact returns the real boundary anchor and its QP-internal S/U/A static tail, with only a later optional external hold.

The phase-3 service fixture already uses a realistic longer direct path and captures the longitudinal QP for prior-trajectory soft-reference coverage. Preserve that coverage while adding the new mode-flow assertions.

Required checks and commit:

dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all
git add -- ClumsyPilot/tests/EMPlannerVerificationHost/EmPlanningServiceChecks.cs ClumsyPilot/tests/EMPlannerVerificationHost/LongitudinalIntegrationChecks.cs ClumsyPilot/tests/EMPlannerVerificationHost/EmFixtureFactory.cs
git diff --cached --name-only
git diff --cached --check
git commit -m "test: cover rolling-to-stop EM planning flow"

Expected: PASS longitudinal-model, PASS longitudinal-integration, PASS trajectory, and PASS em-planning-service as part of PASS em-core-all.

Task 9 — observation diagnostics and documentation

Files:

• ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationDiagnostics.cs
• ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs
• ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md
• ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md

Write failing observation tests first. The one-time configuration diagnostic must include:

maximumJerkLimitedStopDistance=
maximumJerkLimitedStopDuration=
requiredDistanceHorizon=

Every successful trajectory summary must include:

longitudinalMode=RollingContinuation
terminalSpeed=
terminalAcceleration=

Failure diagnostics must include at least longitudinalMode=, remainingToBoundary=, minimumStoppingDistance=, minimumStoppingDuration=, and maximumStoppedReachableDistance=. Use the worst forward/reverse speed to print the maximum jerk-limited stopping capability once per session, not inside a per-frame UI redraw block. Preserve OBSERVE_ONLY and do not issue a chassis command.

Update EMPlanner/README.md to state exactly that DistanceHorizonMeters controls the LS reference window, TimeHorizonSeconds controls ST output duration, only Goal/GearSwitchApproach may require an exact zero-speed terminal, and rolling/approach may publish nonzero terminal speed. Update the MovementTest README to state that rolling trajectory observation remains OBSERVE_ONLY and never commands the chassis.

Required checks and commit:

dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
git add -- ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationDiagnostics.cs ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs ClumsyPilot/ParkrobTrajplanner/EMPlanner/README.md ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md
git diff --cached --name-only
git diff --cached --check
git commit -m "docs: explain rolling longitudinal planning diagnostics"

Expected: PASS trajectory-observation.

Task 10 — complete regression and target-machine OSQP verification

Task 10 is verification-only: do not modify files and do not create an empty commit. Run:

dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-core-all
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- coordinator
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- executor
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
dotnet build ClumsyPilot/ClumsyPilot.csproj -p:ExcludeLegacyAutoAvoidance=true
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- longitudinal-real-osqp-probe

Then perform the manual TrajectoryObservationMovementTest observation-only probe with the current manual parameters. Confirm one startup configuration print, rolling with nonzero terminal speed and no hold when far from Goal, approach near Goal, exact stop with U=0,A=0, no point-21 JerkLimitExceeded, and recurring OBSERVE_ONLY: no chassis command is sent.

The real-OSQP probe must run on a machine with the required native dependency. If this window cannot load it, record the result precisely as pending target-machine verification; do not bypass it by modifying longitudinal code, solver residuals, or any validation threshold. Finish with git diff --check, git status --short, and git log --oneline -12, preserving all unrelated dirty work.

After Task 10, use writing-plans to create docs/superpowers/handoffs/2026-08-05-em-longitudinal-rolling-final.md, record all command results and target-machine status, stage and commit only that final handoff document, and stop.

Global semantics are non-negotiable: DistanceHorizonMeters is only an LS look-ahead window; TimeHorizonSeconds is only one ST horizon; only actual Goal/GearSwitch boundaries permit exact zero speed; ZeroSpeedHoldSeconds is outside QP time; previous-trajectory arrays remain objective soft references; never loosen jerk, acceleration, solver, or validation thresholds; and never add chassis commands.