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docs: correct EM diagnostics verification plan

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梁薄云
2026-08-05 15:35:33 +08:00
parent e11397aa03
commit 050c4c2304
1 changed files with 16 additions and 7 deletions
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docs/superpowers/plans/2026-08-05-em-observation-planning-diagnostics.md
+16 -7
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@@ -16,6 +16,14 @@
- Format values with CultureInfo.InvariantCulture.
- Failed publications keep returning no EmTrajectory; their numeric evidence belongs in the failure reason.
## Preflight: Preserve manual MovementTest parameter tuning
`TrajectoryObservationMovementTest` exposes fields precisely so an operator can tune a test session. The verification host must not require those source literals to equal the defaults of `TrajectoryObservationSettings`; it must continue to verify that the fields exist, are copied into settings, and that `TrajectoryObservationSettings` itself retains its independently tested defaults.
- [ ] Run `dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation` and observe the current source-literal failure.
- [ ] In `TrajectoryObservationChecks.VerifiesMovementTestVehicleInputsAndSettingsSnapshot`, replace only the four source-text checks that require `0.50d`, `12000`, `6d`, and `0.10d` with checks for `public` fields named `SolverTimeoutSeconds`, `MaximumOsqpIterations`, `TimeHorizonSeconds`, and `OutputTimeStepSeconds`. Preserve the separate `new TrajectoryObservationSettings()` default assertions and all field-to-settings propagation checks.
- [ ] Re-run the same command and require exit code `0` before adding the Task 1 regression test.
---
### Task 1: Detail a jerk-limit rejection with computed evidence
@@ -50,7 +58,7 @@ In TrajectoryChecks.VerifiesWorldSpacePublicationMutationsAreRejected, retain th
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory
Expected: the new assertion fails because the current message contains only Trajectory finite-difference jerk exceeds its limit.
@@ -88,7 +96,7 @@ storedPreviousJerk and storedCurrentJerk are evidence only and do not influence
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory
Expected: host exit code 0.
@@ -146,7 +154,7 @@ Source-read MovementTest.TrajectoryObservationTest.cs and assert the runner call
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
Expected: compilation fails because CreateConfigurationDiagnostic does not exist.
@@ -194,7 +202,7 @@ Do not call this method from the while loop or the UI drawing methods.
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
Expected: host exit code 0.
@@ -240,7 +248,7 @@ Also add this assertion to the existing failed-cycle test:
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
Expected: summary assertions fail because the formatter only writes trajectory=<id>.
@@ -266,7 +274,7 @@ Do not call this helper for an unsuccessful cycle, even when an older published
Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
git diff --check
Expected: host exit code 0 and no whitespace errors.
@@ -280,7 +288,8 @@ Run:
- [ ] Run:
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory
dotnet run --project ClumsyPilot/tests/EMPlannerVerificationHost/EMPlannerVerificationHost.csproj -- trajectory-observation
git diff --check
git log -3 --oneline