ParkingRobot/docs/superpowers/progress/em-planner-progress.md

EM Planner Execution Progress

Current State

• Current stage: 9 - rolling coordination and gear-switch execution
• Stage status: Completed
• Current branch: trajplanner
• Last checkpoint commit: de402e6 (last Stage 9 functional commit; this file is the Stage 9 checkpoint)
• Protocol design baseline: 554c84f
• Implementation-plan baseline: 8dd8ff0

Historical Stage 8 Current State

• Current stage: 8 — complete trajectory publication and pure one-shot planning service
• Stage status: Completed
• Current branch: trajplanner
• Last checkpoint commit: 019b896 (last Stage 8 functional commit; this file is the Stage 8 checkpoint)
• Protocol design baseline: 554c84f
• Implementation-plan baseline: 8dd8ff0

Completed Tasks

Stage	Plan	Tasks	Commits	Verification
9	2026-08-03-em-planner-rolling-execution-implementation.md	Task 1 - Cycle Identity, Scheduling Decision, and Stale-Result Suppression	d75380c	RED: the authorized inherited coordinator draft threw ObjectDisposedException when a completed current cycle was followed by another cycle. GREEN: coordinator printed PASS coordinator; the exact 100-run planned loop completed with exit 0 and 100 PASS lines.
9	2026-08-03-em-planner-rolling-execution-implementation.md	Task 2 - Safe Previous-Trajectory Handoff	55119de	RED: coordinator exited 1 with missing TrajectoryHandoffSelector contracts. GREEN: PASS coordinator covers forward/reverse same-segment interpolation, age/tracking/terminal/segment/direction/beyond-trajectory/gear-boundary rejection, no cross-boundary interpolation, and coordinator consumption of its immutable published trajectory.
9	2026-08-03-em-planner-rolling-execution-implementation.md	Task 3 - Gear-Switch State Machine and Trajectory Executor	de402e6	RED: executor exited 1 with missing gear-switch and execution-state types. GREEN: PASS executor covers forward-to-reverse and reverse-to-forward zero-speed dwell, one-shot request, confirmation, and Goal/RollingSafetyStop completion.

Historical 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. | | 8 | 2026-08-03-em-planner-longitudinal-st-implementation.md | Task 4 — Complete Trajectory Assembly and Redundant-Field Consistency | 1d58864 | RED: trajectory exited 1 with CS0246 for missing EmTrajectoryAssembler. GREEN: trajectory exited 0 with PASS trajectory, checking forward/reverse signed speed, all redundant field identities, unwrapped yaw interpolation, exact terminal anchor, and the 0.20 s / 0.05 s hold tail. | | 8 | 2026-08-03-em-planner-longitudinal-st-implementation.md | Task 5 — Independent World-Space Publication Validator | 7410654 | RED: trajectory exited 1 with missing EmTrajectoryValidationFailure / validator contracts. GREEN: trajectory exited 0 with PASS trajectory, rejecting deterministic mutations for non-finite values, timing/PathS/direction/field inconsistencies, every configured physical limit, terminal anchor/speed/yaw-rate failures, pose and 0.025 m swept collisions, segment overflow, and reverse-specific speed limits. | | 8 | 2026-08-03-em-planner-longitudinal-st-implementation.md | Task 6 — Pure One-Shot EmPlanningService | 019b896 | RED: em-planning-service exited 1 with CS0246 for missing EmPlanningService. GREEN: em-core-all exited 0 twice in the required four-line order; the service checks cover forward/reverse/gear/goal/rolling success, deterministic output, request IDs, invalid/stale/direction/projection/corridor/stopping/LS/ST/solver/timeout/cancellation/publication-validation failures, and debug-sink exception isolation. |

Current Verification

• Commands: coordinator; executor; em-core-all; trajectory; lateral-all; optimization; osqp; all-foundation; git diff --check, all from the repository root.
• Result: all Stage 9 exit commands exited 0 at de402e6. The coordinator binds caller-supplied time and complete cycle identity, publishes only current immutable successes, and isolates sink exceptions. Handoffs use immutable published points or the supplied measured state. The executor receives caller time, measured speed, direction inputs, and exact boundaries; it has no UI, hardware, current-working-directory, controller-command, or dynamic-obstacle dependency.
• RED/GREEN: Task 1 RED coordinator exit 1 (ObjectDisposedException), GREEN exit 0 plus the 100-run loop exit 0. Task 2 RED coordinator exit 1 (missing TrajectoryHandoffSelector), GREEN exit 0. Task 3 RED executor exit 1 (missing execution types), GREEN exit 0.
• Verified commits: d75380c, 55119de, de402e6.

Historical 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: the historical checkpoint recorded exit 1 from legacy auto_avoidance/MultiWheelAutoAvoidance.cs references to NetTopologySuite and OpenCvSharp. At the Stage 7 final read-only audit that source path is absent from both the working tree and the tracked HEAD tree, so dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore exits 0 with only two unrelated obsolete-API warnings. Stage 7 issued no delete/clean command and made no legacy-module change; preserve the observed workspace and do not recreate, delete, hide, or otherwise alter legacy functionality merely to change this baseline.
• Verified commits: 104081e, 2abb465, 39c1708, a957fda, 61dfa79, c225b17, f703d41, 0c48a7d, f5c69c2, f19df53, 4d83ed2, 62ea9db, c01d0d5, 25742ab, and 510bf97
• Result: Stage 8 exit commands all exited 0 from the repository root at 019b896: em-core-all twice (each printed PASS longitudinal-model, PASS longitudinal-integration, PASS trajectory, PASS em-planning-service in order); then longitudinal-model, longitudinal-integration, trajectory, lateral-all, optimization, osqp, all-foundation, and git diff --check. The trajectory gate independently verifies physical world-space publication and the service consumes only request snapshots through IQpSolver / QuadraticProgram; no Stage 8 production P/Invoke, UI, hardware, current-working-directory, dynamic-obstacle, rolling-execution, or controller dependency was added.
• Stage 8 RED commands and exits: Task 4 trajectory exit 1 (missing EmTrajectoryAssembler); Task 5 trajectory exit 1 (missing validator contracts); Task 6 em-planning-service exit 1 (missing EmPlanningService). Task 4/5 GREEN command was trajectory exit 0 / PASS trajectory; Task 6 GREEN command was em-core-all exit 0 twice with the required four PASS lines.

Preserved Workspace State

• The initially untracked Task 1 coordinator draft was explicitly authorized for Stage 9 ownership and committed as d75380c.
• Every other captured Stage 9 user-baseline status entry remains untouched and unstaged; no unexpected loss or new non-stage status entry was found.
• The pre-existing lateral-all fixture remains root-directory dependent for its pinned OSQP DLL; no completed LS/ST/OSQP/facade behavior was changed.
• Existing baseline noise remains the two obsolete-API warnings and CRLF advisories on user-owned dirty files; git diff --check exits 0.

Historical 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 historical legacy auto_avoidance/MultiWheelAutoAvoidance.cs dependency failure is not reproducible in the Stage 7 final workspace because that untracked/unversioned source path is absent. Do not recreate, delete, bypass, or otherwise alter legacy functionality to manufacture a different baseline.
• Remaining observed baseline noise: the first fresh Stage 8 core build printed the existing Lidar2dDetect2LegTray.LegWidth and MultiWheelChassis.GetSteerWheels() obsolete-API warnings; git diff --check emits CRLF conversion advisories for user-owned dirty files but exits 0. Neither is an EM Planner regression.

Decisions Needed

• None. Stage 9 completed within scope.

Historical 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: 10 - generic control adaptation, plugin packaging, and final rolling gate.
- Readiness: Ready after this Stage 9 checkpoint is committed.
- Plan: `docs/superpowers/plans/2026-08-03-em-planner-rolling-execution-implementation.md`
- Authorized tasks only: Task 4 - Generic Control Adapter; Task 5 - Plugin Output and License Packaging; Task 6 - Rolling End-to-End and Final Gate.
- Entry checks: confirm `d75380c`, `55119de`, `de402e6`, and this Stage 9 progress checkpoint are ancestors of `HEAD`; capture and preserve `git status --short` with an empty index; run `coordinator`, `executor`, `em-core-all`, `trajectory`, `lateral-all`, `optimization`, `osqp`, and `all-foundation` from the repository root.
- Exit gate: Tasks 4-6 each have independent RED/GREEN and commits; `em-all` and `git diff --check` exit 0; the stage-10 progress update is committed alone and no Stage 11 prompt is generated.

## Historical Stage 9 Next Stage

- Stage: 9 — rolling coordination and gear-switch execution
- Readiness: Ready after this Stage 8 progress checkpoint is committed.
- Plan: `docs/superpowers/plans/2026-08-03-em-planner-rolling-execution-implementation.md`
- Authorized tasks only:
  - Task 1 — Cycle Identity, Scheduling Decision, and Stale-Result Suppression
  - Task 2 — Safe Previous-Trajectory Handoff
  - Task 3 — Gear-Switch State Machine and Trajectory Executor
- Explicit exclusions: generic control adaptation, plugin packaging, dynamic obstacles, UI/hardware integration beyond the approved execution boundary, and Stage 10 work.

## 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 10：通用控制适配、插件发布与最终滚动验收。唯一授权范围是：
docs/superpowers/plans/2026-08-03-em-planner-rolling-execution-implementation.md 的 Task 4、Task 5、Task 6。
不要开始动态障碍物、UI/硬件集成，或任何未在该计划中的后续工作。

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-rolling-execution-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 d75380c、55119de、de402e6 以及紧随其后的 Stage 9 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：coordinator、executor、em-core-all、trajectory、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。
- Stage 6 lateral-all 测试夹具依赖仓库根目录的当前工作目录定位固定 OSQP DLL；不要修改已完成 LS/ST/OSQP/发布门面来改变该基线。

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 只能产生通用控制命令，不能引用 MultiVehicleScriptVx、MultiVehicleScriptVy、MultiVehicleScriptVth、UI 或硬件对象。
- Task 5 只能按计划输出并验证 ClumsyPilot.dll、osqp.dll 与许可证目录；不得重写现有 csproj 用户 hunk。
- Task 6 只添加计划要求的端到端证据和 README 所有权/部署说明；不实现动态障碍物、UI 或硬件集成。

阶段结束时：
- 仅在 Task 4-6 均有独立 RED/GREEN 证据和计划规定的最终出口验证后，运行 em-all 和 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/退出码和未处理基线问题；Stage 10 是最终阶段，不生成 Stage 11 实施提示词。

Historical Stage 9 Next-Window Prompt

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 9：滚动协调与换向执行。唯一授权范围是：
docs/superpowers/plans/2026-08-03-em-planner-rolling-execution-implementation.md 的 Task 1、Task 2、Task 3。
不要开始通用控制适配、插件最终发布、动态障碍物、UI/硬件集成或任何 Stage 10 工作。

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-rolling-execution-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 1 前：
- 确认 1d58864、7410654、019b896 以及紧随其后的 Stage 8 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：em-core-all、trajectory、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。
- Stage 6 lateral-all 测试夹具依赖仓库根目录的当前工作目录定位固定 OSQP DLL；不要修改已完成 LS/ST/OSQP/发布门面来改变该基线。

执行要求：
- 严格逐任务 TDD；Task 1–3 各自独立提交，提交前运行 git diff --cached --check，并用 git diff-tree 核对范围。
- 保持单次 EmPlanningService 纯请求边界：协调器只能消费其不可变结果，不能把 UI、硬件或当前工作目录依赖回灌到核心。
- 不修改无关 Map、CoarsePath、PathSmoothing、旧 auto_avoidance、已完成 Foundation/OSQP/LS/ST/Trajectory/Validation/Facade 文件；不实现动态障碍或控制适配。

阶段结束时：
- 仅在 Task 1–3 均有独立 RED/GREEN 证据和阶段出口验证后，运行计划规定的回归和 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，并给出 Stage 10 的精确下一窗口提示词。