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

EM Planner Execution Progress

Current State

• Current stage: 1 — Foundation contracts and boundaries
• Stage status: Completed
• Current branch: trajplanner
• Last checkpoint commit: e492e16 (last Stage 1 functional commit; this file is the Stage 1 checkpoint)
• Protocol design baseline: 554c84f
• Implementation-plan baseline: 8dd8ff0

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.

Current Verification

• Commands:
  • dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- foundation
  • dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- segmentation
  • git diff --check
  • git diff-tree --no-commit-id --name-only -r e12eb31
  • git diff-tree --no-commit-id --name-only -r b326431
  • git diff-tree --no-commit-id --name-only -r e492e16
• Result: Stage 1 exit passed. foundation printed PASS foundation; segmentation printed PASS segmentation; both commands exited 0. git diff --check exited 0. Task 2 ran foundation twice with identical stdout. The isolated host build may display two pre-existing TireFollowing obsolete-API warnings; it displays no EM Planner warnings or errors.
• Verified commit: e492e16

Preserved Workspace State

• The workspace already contains many unrelated Map, CoarsePath, PathSmoothing, project-file, report, and documentation changes. They belong to the user and must remain untouched and unstaged.
• Use explicit file paths for every git add; never stage the whole workspace.
• Inspect the existing diff before modifying ClumsyPilot/ClumsyPilot.csproj, then append only the Stage 1 rules required by the Foundation plan.
• The normal ClumsyPilot.csproj build can be blocked by legacy auto_avoidance/MultiWheelAutoAvoidance.cs references to NetTopologySuite and OpenCvSharp.
• Stage 1 used the isolated EMPlannerVerificationHost rule. The normal project build was intentionally not used as a Stage 1 gate and no legacy functionality was deleted or rewritten.
• Start and end git status --short both retain the user's unrelated changes; only the Stage 1 source and host additions were committed.

Decisions Needed

• None. Stage 1 completed within scope.

Next Stage

• Stage: 2 — Foundation coordinates and corridor
• Readiness: Ready for Stage 2 entry checks.
• Plan: docs/superpowers/plans/2026-08-03-em-planner-foundation-implementation.md
• Tasks:
  • Task 4 — Reverse-Safe Frenet Projection and Reconstruction
  • Task 5 — Topology-Preserving Static Corridor
  • Task 6 — Foundation Documentation and Gate
• Entry checks:
  • Confirm branch trajplanner.
  • Confirm e12eb31, b326431, and e492e16 exist and each has only its recorded Stage 1 task files.
  • Confirm the staging area is empty.
  • Capture git status --short before editing.
  • Run the isolated host foundation and segmentation groups; both must pass before Task 4 starts.
  • Preserve all unrelated user changes, including the existing modified ClumsyPilot.csproj hunk.
• Exit gate:
  • Each of Foundation Tasks 4–6 has its own passing verification and independent commit.
  • all-foundation passes twice with deterministic four-line output.
  • The normal project baseline is recorded separately; only the documented legacy auto_avoidance dependency errors may remain.
  • git diff --check reports no new whitespace errors and the staging area is empty after task commits.
  • This progress file is updated to mark Stage 2 completed and Stage 3 ready, then committed alone.

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

本窗口是阶段 2：Foundation 坐标与走廊，只执行 Foundation 实施计划的 Task 4–6，不得提前执行阶段 3 或后续阶段。

开始工作前必须完整读取：
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-foundation-implementation.md

执行时使用 executing-plans、test-driven-development 和 verification-before-completion 技能，并完整读取对应 SKILL.md。不要使用子代理。

开始前：
- 确认工作目录和分支 trajplanner；
- 确认提交 e12eb31、b326431 与 e492e16 存在；
- 检查 git status --short 和暂存区；
- 保存开始时的工作区状态用于结束时对照；
- 当前工作区存在大量用户修改，全部保留，不得清理、覆盖或顺带提交；
- 如果进度文件、Git 或实际文件不一致，先诊断并报告，不要直接覆盖。
- 运行：
  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- foundation`
  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- segmentation`
  两者必须通过后才能开始 Task 4。

阶段范围：
- Task 4：Reverse-Safe Frenet Projection and Reconstruction；
- Task 5：Topology-Preserving Static Corridor；
- Task 6：Foundation Documentation and Gate。

执行要求：
- 严格按 Foundation 计划逐任务进行 TDD；
- 每个任务先运行计划指定的失败验证，再实现最小内容，再运行通过验证；
- 每个任务形成独立提交，只用显式路径 git add；
- 修改 ClumsyPilot/ClumsyPilot.csproj 前先查看现有差异，只追加本阶段要求；
- 不修改无关 Map、CoarsePath、PathSmoothing 和旧 auto_avoidance 文件；
- 不实现 OSQP、LS、ST、滚动执行或动态障碍功能；
- 主项目既有 auto_avoidance 依赖失败不能通过删除旧功能规避；使用计划中的隔离验证宿主；
- 任何完成声明前运行计划指定验证和 git diff --check。

阶段结束时：
- 确认 Task 4–6 各有独立提交和测试证据；
- 运行完整 Foundation 阶段出口验证（`all-foundation` 两次）及计划指定的正常项目基线检查；
- 核对每个提交只包含计划文件，暂存区为空；
- 更新 docs/superpowers/progress/em-planner-progress.md：记录提交、验证命令和结果，将阶段 2 标为 Completed，将阶段 3 标为 ready；
- 只暂存进度文件并单独提交阶段检查点；
- 返回本阶段完成内容、提交列表、测试证据、遗留问题；
- 给出阶段 3 可直接复制的新窗口提示词。