4.1 KiB
MovementTest OSQP Iteration Limit 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: Expose a 12000-iteration OSQP cap for observation-only MovementTest sessions.
Architecture: TrajectoryObservationSettings owns an integer iteration limit, snapshots and validates it. The public MovementTest field maps into those settings, and the observation controller maps it into the session-local EM solver configuration. Production EM defaults remain unchanged.
Tech Stack: C# 10, .NET, EMPlannerVerificationHost.
Global Constraints
- Default MaximumOsqpIterations is exactly 12000.
- SolverTimeoutSeconds remains at its existing 0.50d MovementTest default.
- AbsoluteTolerance, RelativeTolerance, and StrictResidualTolerance remain 1e-5d.
- Do not change production EM defaults, vehicle/map constraints, or observe-only command behavior.
Task 1: Propagate the test iteration limit into an EM request
Files:
- Modify: ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs:95-176,384-416
- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs:9-50
- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs:25-71
- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs:198-215
Interfaces:
-
Consumes: TrajectoryObservationSettings.CreateValidatedSnapshot() and TrajectoryObservationController.StartCycle(...).
-
Produces: TrajectoryObservationSettings.MaximumOsqpIterations, copied to EmPlanningRequest.Configuration.Solver.MaximumOsqpIterations.
-
Step 1: Write the failing test
Add assertions proving the public field uses the default and a custom setting reaches the request:
Verification.True(source.Contains("public int MaximumOsqpIterations = 12000;"),
"observer MovementTest exposes the test OSQP iteration default");
var settings = new TrajectoryObservationSettings
{
MaximumOsqpIterations = 9000,
};
// Start one controller cycle.
Verification.Equal(9000, planningService.Requests[0].Configuration.Solver.MaximumOsqpIterations,
"observer configured OSQP iteration limit");
Assert 0 and negative iteration limits are rejected.
- Step 2: Run focused verification to verify it fails
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
Expected: FAIL because MaximumOsqpIterations is absent.
- Step 3: Write the minimal implementation
Add this setting and snapshot mapping:
public int MaximumOsqpIterations { get; set; } = 12000;
Validate it with:
if (MaximumOsqpIterations <= 0)
throw new ArgumentOutOfRangeException(nameof(MaximumOsqpIterations), "Value must be positive.");
Map it into the MovementTest settings and session configuration:
configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
- Step 4: Run focused verification to verify it passes
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
Expected: PASS trajectory-observation.
- Step 5: Run full regression and build
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- em-all
dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore
Expected: all suites pass and the build reports zero errors.
- Step 6: Commit 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 OSQP iterations"