Build persistent target plans

1 files changed, 27 insertions, 0 deletions

diff --git a/tests/run.lua b/tests/run.lua
index 136231d..8c66ca3 100644
--- a/tests/run.lua
+++ b/tests/run.lua
@@ -5817,6 +5817,33 @@ test("Target-plan errors remain inside acquisition cleanup guard", function()
   same("search planning failed", host:diagnostics()[1].text)
 end)
 
+test("Persistent feedback reuses the movement TargetPlan", function()
+  fresh_sequence_state()
+  local host = MemoryHost.new()
+  local feedback = feedback_service.new(host)
+  local shared_target = target_plan.build(target("a"), matching_policy())
+  local movement = motion_plan.build(shared_target, "f")
+  local persistent = feedback:build_persistent({
+    context = "n",
+    anchor = domain.Position.new(1, 1),
+    target_plan = shared_target,
+    motion_plan = movement,
+    window = "window-1",
+  })
+
+  same(shared_target, persistent.target_plan)
+  same(shared_target, persistent.motion_plan.target_plan)
+  fails(function()
+    feedback:build_persistent({
+      context = "n",
+      anchor = domain.Position.new(1, 1),
+      target_plan = target_plan.build(target("b"), matching_policy()),
+      motion_plan = movement,
+      window = "window-1",
+    })
+  end, "reuse the movement TargetPlan")
+end)
+
 for _, item in ipairs(tests) do
   local ok, failure = xpcall(item.body, debug.traceback)
   if not ok then