Merge task branch for: fix(worker): planning-chain cascade stalls at an Idle middle link

src/ClaudeDo.Worker/Planning/PlanningChainCoordinator.cs

@@ -92,14 +92,7 @@ public sealed class PlanningChainCoordinator
     public async Task<string?> OnChildFinishedAsync(
         string childTaskId, TaskStatus finalStatus, CancellationToken ct = default)
     {
-        await using var ctx = await _dbFactory.CreateDbContextAsync(ct);
-        // The successor is whichever sibling explicitly blocks on this child.
-        var nextId = await ctx.Tasks
-            .AsNoTracking()
-            .Where(t => t.BlockedByTaskId == childTaskId)
-            .OrderBy(t => t.SortOrder).ThenBy(t => t.CreatedAt)
-            .Select(t => t.Id)
-            .FirstOrDefaultAsync(ct);
+        var nextId = await FindSuccessorAsync(childTaskId, ct);
         if (nextId is null) return null;
 
         if (finalStatus == TaskStatus.Done)
@@ -108,10 +101,33 @@ public sealed class PlanningChainCoordinator
             return nextId;
         }
 
-        // Child failed or was cancelled: cancel the immediate successor so the chain
-        // is not left wedged. CancelAsync triggers OnChildTerminalAsync → OnChildFinishedAsync
-        // for that successor, cascading cancellation through the rest of the chain.
-        await _state().CancelAsync(nextId, DateTime.UtcNow, ct);
-        return null;
+        // Child failed or was cancelled: cancel the immediate successor so the chain is
+        // not left wedged. If it's cancellable, CancelAsync's own OnChildTerminalAsync
+        // callback recurses into this method for its successor, cascading cancellation
+        // through the rest of the chain. If it's not (e.g. it was parked back to Idle
+        // out of band), CancelAsync is a no-op and nothing will ever call back for it —
+        // keep walking the chain ourselves so the tail isn't left wedged forever.
+        var predecessorId = nextId;
+        while (true)
+        {
+            var result = await _state().CancelAsync(predecessorId, DateTime.UtcNow, ct);
+            if (result.Ok) return null;
+
+            var following = await FindSuccessorAsync(predecessorId, ct);
+            if (following is null) return null;
+            predecessorId = following;
+        }
+    }
+
+    // The successor is whichever sibling explicitly blocks on this task.
+    private async Task<string?> FindSuccessorAsync(string taskId, CancellationToken ct)
+    {
+        await using var ctx = await _dbFactory.CreateDbContextAsync(ct);
+        return await ctx.Tasks
+            .AsNoTracking()
+            .Where(t => t.BlockedByTaskId == taskId)
+            .OrderBy(t => t.SortOrder).ThenBy(t => t.CreatedAt)
+            .Select(t => t.Id)
+            .FirstOrDefaultAsync(ct);
     }
 }