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

EM Planner Execution Progress

Current State

• Current stage: 6 — LS SQP and real scenarios
• Stage status: Completed
• Current branch: trajplanner
• Last checkpoint commit: 4d83ed2 (last Stage 6 functional commit; this file is the Stage 6 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.
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.

Current Verification

• Commands:
  • 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.
• Normal-project baseline: dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore exits 1 only for the legacy auto_avoidance/MultiWheelAutoAvoidance.cs missing NetTopologySuite (3) and OpenCvSharp (1) references, plus that legacy file's duplicate-using warning. There are no EM Planner errors.
• Verified commits: 104081e, 2abb465, 39c1708, a957fda, 61dfa79, c225b17, f703d41, 0c48a7d, f5c69c2, f19df53, and 4d83ed2

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 normal ClumsyPilot.csproj build remains blocked by legacy auto_avoidance/MultiWheelAutoAvoidance.cs references to NetTopologySuite and OpenCvSharp; do not delete or bypass legacy functionality to change this baseline.

Decisions Needed

• None. Stage 6 completed within scope.

Next Stage

• 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.

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 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。