111 lines
4.1 KiB
Markdown
111 lines
4.1 KiB
Markdown
# MovementTest OSQP Iteration Limit 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:** Expose a 12000-iteration OSQP cap for observation-only MovementTest sessions.
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**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.
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**Tech Stack:** C# 10, .NET, EMPlannerVerificationHost.
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## Global Constraints
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- Default MaximumOsqpIterations is exactly 12000.
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- SolverTimeoutSeconds remains at its existing 0.50d MovementTest default.
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- AbsoluteTolerance, RelativeTolerance, and StrictResidualTolerance remain 1e-5d.
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- Do not change production EM defaults, vehicle/map constraints, or observe-only command behavior.
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---
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### Task 1: Propagate the test iteration limit into an EM request
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**Files:**
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- Modify: ClumsyPilot/tests/EMPlannerVerificationHost/TrajectoryObservationChecks.cs:95-176,384-416
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- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationContracts.cs:9-50
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- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/MovementTest.TrajectoryObservationTest.cs:25-71
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- Modify: ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/TrajectoryObservationPipeline.cs:198-215
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**Interfaces:**
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- Consumes: TrajectoryObservationSettings.CreateValidatedSnapshot() and TrajectoryObservationController.StartCycle(...).
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- Produces: TrajectoryObservationSettings.MaximumOsqpIterations, copied to EmPlanningRequest.Configuration.Solver.MaximumOsqpIterations.
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- [x] **Step 1: Write the failing test**
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Add assertions proving the public field uses the default and a custom setting reaches the request:
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~~~csharp
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Verification.True(source.Contains("public int MaximumOsqpIterations = 12000;"),
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"observer MovementTest exposes the test OSQP iteration default");
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var settings = new TrajectoryObservationSettings
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{
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MaximumOsqpIterations = 9000,
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};
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// Start one controller cycle.
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Verification.Equal(9000, planningService.Requests[0].Configuration.Solver.MaximumOsqpIterations,
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"observer configured OSQP iteration limit");
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~~~
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Assert 0 and negative iteration limits are rejected.
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- [x] **Step 2: Run 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 MaximumOsqpIterations is absent.
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- [x] **Step 3: Write the minimal implementation**
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Add this setting and snapshot mapping:
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~~~csharp
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public int MaximumOsqpIterations { get; set; } = 12000;
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~~~
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Validate it with:
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~~~csharp
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if (MaximumOsqpIterations <= 0)
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throw new ArgumentOutOfRangeException(nameof(MaximumOsqpIterations), "Value must be positive.");
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~~~
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Map it into the MovementTest settings and session configuration:
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~~~csharp
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configuration.Solver.MaximumOsqpIterations = settings.MaximumOsqpIterations;
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~~~
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- [x] **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: PASS trajectory-observation.
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- [x] **Step 5: Run full regression and build**
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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: all suites pass and the build reports zero errors.
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- [x] **Step 6: Commit 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 OSQP iterations"
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~~~
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