chore: save current workspace progress

ClumsyPilot/tests/EMPlannerVerificationHost/FakeQpSolver.cs

@@ -60,3 +60,29 @@ internal sealed class FakeQpSolver : IQpSolver
         return _results.Dequeue();
     }
 }
+
+internal sealed class CancellingQpSolver : IQpSolver
+{
+    private readonly IQpSolver inner;
+    private readonly CancellationTokenSource cancellation;
+    private readonly int cancelAfterSolveCount;
+    private int solveCount;
+
+    public CancellingQpSolver(IQpSolver inner, CancellationTokenSource cancellation, int cancelAfterSolveCount = 1)
+    {
+        this.inner = inner ?? throw new ArgumentNullException(nameof(inner));
+        this.cancellation = cancellation ?? throw new ArgumentNullException(nameof(cancellation));
+        if (cancelAfterSolveCount <= 0) throw new ArgumentOutOfRangeException(nameof(cancelAfterSolveCount));
+        this.cancelAfterSolveCount = cancelAfterSolveCount;
+    }
+
+    public QpSolveResult Solve(QuadraticProgram problem, QpSolverSettings settings, IReadOnlyList<double> warmStart,
+        CancellationToken cancellationToken)
+    {
+        QpSolveResult result = inner.Solve(problem, settings, warmStart, cancellationToken);
+        solveCount++;
+        if (solveCount == cancelAfterSolveCount)
+            cancellation.Cancel();
+        return result;
+    }
+}