From 591143f181387408d5b0743d0b274b2770b8cdd9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=A2=81=E8=96=84=E4=BA=91?= Date: Tue, 4 Aug 2026 10:53:00 +0800 Subject: [PATCH] docs: correct longitudinal baseline observation --- docs/superpowers/progress/em-planner-progress.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/superpowers/progress/em-planner-progress.md b/docs/superpowers/progress/em-planner-progress.md index a666a32..ed467be 100644 --- a/docs/superpowers/progress/em-planner-progress.md +++ b/docs/superpowers/progress/em-planner-progress.md @@ -53,7 +53,7 @@ - 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. - Result: Stage 7 exit commands all exited 0 from the repository root at `510bf97`: `longitudinal-model`; `longitudinal-integration`; `lateral-integration`; `lateral-all`; `optimization`; `osqp`; `all-foundation`; and `git diff --check`. ST consumes only actual LS `PathS` and reaches OSQP only through `IQpSolver`/`QuadraticProgram`; no ST P/Invoke, UI, hardware object, or current-working-directory dependency was added. The jerk-stop case retains only the independently validated initial seed when OSQP reaches its 4000-iteration limit; the timed-out solver vector is not accepted. - Baseline note: invoking the pre-existing `lateral-all` test from the `ClumsyPilot` subdirectory fails its pinned-DLL lookup because that Stage 6 test constructs the source path from `Directory.GetCurrentDirectory()`. Running the documented command from the repository root exits 0. Stage 7 does not modify or bypass the completed LS test. -- 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. +- Normal-project baseline: the historical checkpoint recorded exit 1 from legacy `auto_avoidance/MultiWheelAutoAvoidance.cs` references to `NetTopologySuite` and `OpenCvSharp`. At the Stage 7 final read-only audit that source path is absent from both the working tree and the tracked `HEAD` tree, so `dotnet build ClumsyPilot/ClumsyPilot.csproj --no-restore` exits 0 with only two unrelated obsolete-API warnings. Stage 7 issued no delete/clean command and made no legacy-module change; preserve the observed workspace and do not recreate, delete, hide, or otherwise alter legacy functionality merely to change this baseline. - Verified commits: `104081e`, `2abb465`, `39c1708`, `a957fda`, `61dfa79`, `c225b17`, `f703d41`, `0c48a7d`, `f5c69c2`, `f19df53`, `4d83ed2`, `62ea9db`, `c01d0d5`, `25742ab`, and `510bf97` ## Preserved Workspace State @@ -61,7 +61,7 @@ - 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. +- The historical legacy `auto_avoidance/MultiWheelAutoAvoidance.cs` dependency failure is not reproducible in the Stage 7 final workspace because that untracked/unversioned source path is absent. Do not recreate, delete, bypass, or otherwise alter legacy functionality to manufacture a different baseline. ## Decisions Needed @@ -166,7 +166,7 @@ docs/superpowers/plans/2026-08-03-em-planner-longitudinal-st-implementation.md - 保存完整 git status --short 基线，确认暂存区为空，并保留所有既有用户修改。 - 从仓库根目录运行并确认退出码为 0：longitudinal-model、longitudinal-integration、lateral-all、optimization、osqp、all-foundation。 - 不使用 git add .、git add -A、清理命令或破坏性 Git 命令；每次仅显式暂存计划指定文件。 -- 不修复、删除、屏蔽或绕过旧 auto_avoidance/MultiWheelAutoAvoidance.cs 基线依赖失败。 +- 历史 checkpoint 记录过 auto_avoidance/MultiWheelAutoAvoidance.cs 缺少 NetTopologySuite/OpenCvSharp 的依赖失败；Stage 7 终态中该源文件路径不存在，正常项目构建退出 0。保留当前工作区状态，不要为改变基线而重建、删除、屏蔽或绕过旧功能。 - 已完成的 Stage 6 lateral-all 测试夹具使用当前工作目录定位固定 DLL，因此必须从仓库根目录运行；不要修改已完成 LS 来改变该基线。 执行要求：