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

# EM Planner Execution Progress

## Current State

- Current stage: 2 — Foundation coordinates and corridor
- Stage status: Completed
- Current branch: `trajplanner`
- Last checkpoint commit: `aa62d6b` (last Stage 2 functional commit; this file is the Stage 2 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. |

## Current Verification

- Commands:
  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- foundation`
  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- segmentation`
  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- frenet`
  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- corridor`
  - `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation` (run twice, stdout compared exactly)
  - `git diff --check`
  - `rg -n "NotImplementedException|throw new Exception\(\)" ClumsyPilot/ParkrobTrajplanner/EMPlanner ClumsyPilot/tests/EMPlannerVerificationHost`
  - `dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore`
- Result: `foundation`, `segmentation`, `frenet`, and `corridor` pass. `all-foundation` produced exactly `PASS foundation`, `PASS segmentation`, `PASS frenet`, and `PASS corridor` twice with exit 0 and identical stdout. `git diff --check` and the placeholder scan have no diagnostics. The isolated host may display two pre-existing `TireFollowing` obsolete-API warnings during a cold implicit build; warmed direct runs contain only the four PASS lines and no EM Planner warnings or errors. The normal project build exits 1 only for the existing `auto_avoidance/MultiWheelAutoAvoidance.cs` missing `NetTopologySuite` (3) and `OpenCvSharp` (1) references, plus that legacy file's duplicate-using warning; it has no EM Planner errors.
- Verified commit: `aa62d6b`

## Preserved Workspace State

- The workspace continues to contain many unrelated Map, CoarsePath, PathSmoothing, project-file, report, and documentation changes. 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 2 completed within scope.

## Next Stage

- Stage: 3 — OSQP contracts and native loading
- Readiness: Ready for Stage 3 entry checks.
- Plan: `docs/superpowers/plans/2026-08-03-em-planner-osqp-backend-implementation.md`
- Tasks:
  - Task 1 — Solver-Neutral Sparse QP Contracts
  - Task 2 — Reproducible OSQP 1.0.0 Native Package
  - Task 3 — Absolute-Path Native Loader and ABI Structures
- Entry checks:
  - Confirm branch `trajplanner`, commits through `aa62d6b`, and an empty staging area.
  - Capture `git status --short` before editing and preserve every unrelated user change.
  - Confirm the Stage 2 checkpoint content and run `all-foundation` before Task 1.
  - Read the OSQP implementation plan and verify its required native-build tools/files before modifying code.
- Exit gate:
  - Tasks 1–3 each have an independent commit and their prescribed RED/GREEN evidence.
  - The OSQP contract, reproducible package, absolute-path loader, ABI, and failure diagnostics checks pass.
  - `all-foundation` remains passing; normal-project baseline remains separately recorded.
  - `git diff --check` is clean; the staging area is empty; a Stage 3 progress checkpoint is committed alone.

## 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

本窗口是阶段 3：OSQP 契约与原生加载，只执行 `docs/superpowers/plans/2026-08-03-em-planner-osqp-backend-implementation.md` 的 Task 1–3；不得提前执行阶段 4 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-osqp-backend-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、分支 `trajplanner`、Stage 1–2 提交（含 `06687e2`、`2d252ff`、`aa62d6b`）及暂存区为空。
- 保存 `git status --short` 作为结束对照；保留所有既有用户修改，绝不清理、覆盖或顺带提交。
- 核对本进度文件与 Git；若不一致，先诊断并报告。
- 运行 `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- all-foundation`，必须通过后才开始 Task 1。
- 记录正常项目基线：旧 `auto_avoidance/MultiWheelAutoAvoidance.cs` 缺失 `NetTopologySuite`/`OpenCvSharp` 引用仍可存在，不得通过删除旧功能规避。

执行要求：
- 严格逐任务 TDD：RED、最小 GREEN、计划指定验证；每项独立提交，只显式暂存计划范围文件。
- 不修改无关 Map、CoarsePath、PathSmoothing 或旧 auto_avoidance。
- 不实现 LS、ST、滚动执行、动态障碍或阶段 4 OSQP solve lifecycle。
- 完成声明前运行计划指定验证和 `git diff --check`。

阶段结束时：
- 完成 Task 1–3 的独立提交和测试证据；执行 OSQP 阶段出口验证，并确认 `all-foundation` 仍通过。
- 按计划记录正常项目基线；暂存区为空。
- 更新并单独提交 `docs/superpowers/progress/em-planner-progress.md`，将 Stage 3 标为 Completed、Stage 4 标为 Ready。
- 返回提交、证据、遗留问题和 Stage 4 提示词。
```