Weld Plan Debug

Weld Planning Debug Workflow

1. Prerequisite Checks

Before investigating, confirm the following are available:

• Stack trace or error log from the user (production log, simulation log, or pasted exception).
• Key source files exist in the current working tree:
  • src/Robim.Devices.Robot/Plan/Solver/RobotPlanSolver.cs — solver core, throws SolvePath Failed!
  • src/Weldone.Application/Plan/PlanManager.DualArm.cs — dual-arm transition planning
  • src/Weldone.Application/Robot/ExternalRobotAppService.cs — external axis pre-planning
  • src/Weldone.Domain/WorkpieceManager/WorkpieceManagerBase.cs — seam group parsing
  • src/Weldone.Application/Plan/SolveStrategy/DualArmStrategy.cs — dual-arm param builder
• ILogger instance is accessible in the failing class (verify using Microsoft.Extensions.Logging;).
• OpenSpec spec for the feature area exists under openspec/specs/ or openspec/changes/ (check for intended behavior).

If the user only says "planning failed" without a stack trace, ask for the log first.

2. Step-by-Step Procedure

Step 1 — Anchor on the stack trace (30 seconds)

• Read the error message the user pasted.
• Identify the topmost method name and line number in the Weldone/Robim namespace.
• Formulate a 2-sentence hypothesis about what went wrong and where.

Step 2 — Read the failing site and its caller (2 files max)

• Read the method at the line number from the stack trace.
• Read the immediate caller one level up.
• If the root cause is not obvious, Grep for the method name to find all call sites.
• Stop here if unclear. Ask the user: "Hypothesis: [X]. I need to check [Y] to confirm. Proceed?"

Step 3 — Inspect planning parameters and state

Planning failures are almost always param/state mismatches. Check:

• ExSearchTimes value and who last set it (DualArmStrategy sets 50, DualArmTransitionWithAirWallPlanStrategy sets 1, default is 1).
• LastJointPos / _armJointPoses state — is it stale or mutated between seams?
• fixedIndices and boundaries consistency (for external axis planning).
• Shared cache dictionaries (ScanTransCaches, WeldTransCaches, ExternalCache) — are they cleared between planning runs?

Step 4 — Add diagnostic logging

Use ILogger (never Console.WriteLine). Add logs at:

• Method entry: log method name, wsgId, armIndex, and key param values (ExSearchTimes, FixDistance, Externals).
• Decision branches: log which branch was taken and why (e.g., skipP1={skipP1}, skipP2={skipP2}).
• Validation results: log ValidateSingle() outcome with process id/counts.
• Loop iterations: log index, ilIdx, WsgCount, and boundary values when iterating seam groups.

Keep log templates structured: "[MethodName] {WsgId} arm={ArmIndex} exSearch={ExSearchTimes}".

Step 5 — Cross-check with OpenSpec

• Search openspec/ for the method or feature name.
• Compare intended behavior in the spec against the actual code.
• If code diverges from spec, prefer fixing the code to match the spec (not updating the spec).

Step 6 — Implement minimal fix

• Edit the narrowest possible scope to resolve the root cause.
• Do not refactor adjacent code unless it directly blocks the fix.
• If the fix involves param changes (e.g., ExSearchTimes), ensure related params (ExParam.Resolution, FixDistance, banEx) are consistent.

Step 7 — Verify without building

• Use mcp__ide__getDiagnostics on changed files.
• Do not run dotnet build unless the user explicitly asks.
• Review the diff for accidental changes.

Step 8 — Commit

• Use Chinese conventional commit format: fix(规划): 修复[具体症状]因[根因].
• Include the why, not just the what.

3. Common Pitfalls & Avoidance

4. Validation Criteria for Success

A welding planning debug session is complete only when:

1. Root cause is identified with a specific file:line citation and a one-sentence explanation.
2. Diagnostic logs are added at the failure path and at least one decision branch upstream.
3. Fix aligns with OpenSpec (or a spec update is explicitly acknowledged by the user).
4. LSP diagnostics are clean on all modified files.
5. Commit is made with Chinese conventional commit message summarizing content and cause.
6. No dotnet build was run unless user explicitly requested it.

5. Scenario Simulation: "SolvePath Failed! with changed ExSearchTimes"

User report: "SolvePath Failed! 我在 PlanParamSetting.json 里把 ExSearchTimes 从 50 改成了 20。"

Skill-guided execution (autonomous):

1. Parse error: SolvePath Failed! is thrown at RobotPlanSolver.cs:507 when result.ValidateSingle() returns false.
2. Read anchor file: Read RobotPlanSolver.cs lines 490–510. Confirm the exception is thrown after GeneratePlanData.
3. Hypothesis (2 sentences): The user reduced ExSearchTimes from 50 to 20 in PlanParamSetting.json. In dual-arm planning, DualArmStrategy.Build() sets ExSearchTimes = 50 to allow broad external axis search. A lower value may cause the solver to exhaust search attempts before finding a valid path, resulting in ValidateSingle() failure.
4. Check param ownership: Grep for ExSearchTimes = across the codebase. Find:
   • DualArmStrategy.cs:70 → _originParam.ExSearchTimes = 50;
   • DualArmTransitionWithAirWallPlanStrategy.cs:87 → _originParam.ExSearchTimes = 1;
   • PlanConfigUtils.cs:144 → default 1.
5. Inspect related params: Read DualArmStrategy.cs lines 66–90. Notice it also sets ExParam.Resolution[2] = 2000 and ExParam.FixDistance. These are coupled with ExSearchTimes.
6. Add diagnostic logging: In RobotPlanSolver.cs around line 490, add:

   logger.LogDebug("[SolveProcess] ExSearchTimes={ExSearchTimes}, FixDistance={FixDistance}, ResolutionZ={ResolutionZ}",
       _currentParam.ExSearchTimes,
       _currentParam.ExParam.FixDistance,
       _currentParam.ExParam.Resolution[2]);
   

7. Check OpenSpec: Grep openspec/ for ExSearchTimes. Find dual-arm-strategy/spec.md specifying ExSearchTimes should be 1 for transition and 50 for weld external search. The user's change to 20 contradicts the spec for dual-arm external axis search.
8. Implement fix: Revert PlanParamSetting.json to 50 for the dual-arm procedure key. If the user truly needs 20, also reduce Resolution[2] proportionally and re-test.
9. Verify: Run mcp__ide__getDiagnostics on RobotPlanSolver.cs.
10. Commit: git commit with message:

    fix(规划): 恢复 DualArmStrategy 的 ExSearchTimes 为 50 以匹配外部轴搜索规范
    
    用户误将 PlanParamSetting.json 中的 ExSearchTimes 改为 20，
    导致外部轴解算次数不足，触发 SolvePath Failed。
    同时添加 ExSearchTimes/FixDistance/Resolution 的调试日志以便未来排查。
    

Result: User receives a clean fix, diagnostic logs for next time, and no manual intervention was needed.

6. Telemetry Suggestions for Auto-Generating Skills

To automatically derive skills like this in the future, capture per-session telemetry:

1. Error taxonomy: Which exception types / error messages appeared (e.g., RobotSolveException, IndexOutOfRangeException, ArgumentOutOfRangeException).
2. File touch heatmap: Which files were Read and Edit during debugging sessions involving planning keywords.
3. Tool call sequences: The ordered chain of Grep → Read → Edit → Read that led to successful resolution.
4. User corrections: Moments where the user said "不对" / "不是这里" / "先判断error再merge" — these indicate friction points.
5. Hypothesis confirmation latency: Time between initial hypothesis and user confirmation (or rejection). Long latencies signal vague hypotheses.
6. Log injection pattern: Which methods received new ILogger calls during bug fixes.
7. Spec reference frequency: Which OpenSpec specs were consulted and whether the fix aligned with or contradicted the spec.
8. Param mutation tracing: Which planning parameters (ExSearchTimes, FixDistance, ToolScale) were changed during the session and in which files.

Store this telemetry in ~/.claude/telemetry/weld-plan-debug-sessions.jsonl with one entry per completed debug session. A periodic script can cluster patterns and emit new skill drafts when the same sequence appears 3+ times.