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

```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 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。
```