Merge pull request #9 from IOES-Lab/codex/shallow-exit-speed-scope

Scope shallow-exit speed phase to its appended route tail

Author: woensug-choi

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "posim-routing"
-version = "0.1.6"
+version = "0.1.7"
 description = "Global maritime and terrain checked coastal route planning"
 requires-python = ">=3.10"
 license = {text = "Apache-2.0"}

src/posim_routing/regional.py

@@ -109,11 +109,19 @@ def active_point(self,state,key):
             self.discard(state,'regional_clearance_policy_changed')
             return None
         from .course import passed_vertex
+        # Persisted renewals from the previous coordinator may label their
+        # entire retained runway as an exit. Only the appended tail is an exit.
+        if plan.get('mode')=='shallow_exit' and plan.get('retained_checked_points',0):
+            plan.setdefault('shallow_exit_start_index',plan['retained_checked_points'])
+        exit_index=plan.get('shallow_exit_start_index')
         while plan['index']<len(plan['points']):
             index=plan['index'];point=plan['points'][index]
-            reached=distance(state['position'],point)<(5 if plan.get('mode') in ('port_departure','shallow_exit') else 12 if plan.get('mode')=='port_approach' else 80)
+            if exit_index is not None:
+                plan['mode']='shallow_exit' if index>=exit_index else plan.get('retained_mode','coastal')
+            exit_handoff=exit_index is not None and index==exit_index-1
+            reached=distance(state['position'],point)<(5 if exit_handoff or plan.get('mode') in ('port_departure','shallow_exit') else 12 if plan.get('mode')=='port_approach' else 80)
             previous=plan['points'][index-1] if index else plan.get('probe_position')
-            passed=(plan.get('mode') in ('coastal','coastal_transfer','coastal_approach') and previous is not None
+            passed=(not exit_handoff and plan.get('mode') in ('coastal','coastal_transfer','coastal_approach') and previous is not None
                     and index<len(plan['points'])-1 and passed_vertex(previous,point,plan['points'][index+1],
                         state['position'],maximum_offset=200.,minimum_leg=0.,corner_margin=40.))
             if not reached and not passed:break
@@ -237,6 +245,8 @@ def update(self,state,target,needed=False,terminal=False,retain_coast=False,prog
         renew_coast=renew_coast or (point is not None and nearest is not None
                                     and plan.get('mode')=='coastal'
                                     and (plan.get('policy')!=REGIONAL_POLICY or not plan.get('onward_verified') or plan.get('waypoint_format')!=WAYPOINT_FORMAT))
+        # Finish a known outward tail before asking for another continuation.
+        renew_coast=renew_coast and plan.get('shallow_exit_start_index') is None
         coast_needed=nearest is not None and (self.probed is None or distance(self.probed,state['position'])>=3000)
         prefer_coast=(point is not None and coast_needed and not needed and
                       (state.get('regional_navigation') or {}).get('mode') not in ('coastal','coastal_transfer','coastal_approach'))
@@ -263,6 +273,10 @@ def update(self,state,target,needed=False,terminal=False,retain_coast=False,prog
                     retained=plan['points'][plan['index']:end+1]
                     value['points']=retained+value['points'];value['index']=0
                     value['retained_checked_points']=len(retained)
+                    if value.get('mode')=='shallow_exit':
+                        value['shallow_exit_start_index']=len(retained)
+                        value['retained_mode']=plan.get('mode','coastal')
+                        value['mode']=value['retained_mode']
                     value['renewed_from']=connection
                     value['probe_position']=list(state['position'])
                     for metric in ('minimum_regional_clearance_m',):

tests/test_coastal_navigation.py

@@ -399,6 +399,44 @@ async def result():return dict(points=[new],index=0,mode='coastal',route_key=key
         self.assertNotIn('regional_waiting',sample)
         await navigator.close()
 
+    async def test_outward_tail_does_not_relabel_retained_forward_runway(self):
+        key=[0,0,1];start,first,end,exit_point=geo(800,1000),geo(800,2000),geo(800,3000),geo(1000,3000)
+        navigator=RegionalNavigator(None);navigator.key=key
+        sample=dict(lap=0,leg=0,waypoint=1,position=start,native={},
+            regional_navigation=dict(points=[first,end],index=0,mode='coastal',route_key=key,
+                policy=REGIONAL_POLICY,job='runway',probe_position=geo(800,0)))
+        async def result():return dict(points=[exit_point],index=0,mode='shallow_exit',route_key=key,
+            policy=REGIONAL_POLICY,job='exit',probe_position=end,
+            continuation_of=dict(job='runway',endpoint=end))
+        navigator.task=asyncio.create_task(result());await navigator.task
+        self.assertEqual(navigator.update(sample,geo(800,90000)),first)
+        plan=sample['regional_navigation']
+        self.assertEqual(plan['mode'],'coastal');self.assertEqual(plan['shallow_exit_start_index'],2)
+        sample['position']=first
+        self.assertEqual(navigator.active_point(sample,key),end)
+        sample['position']=geo(800,2950)
+        self.assertEqual(navigator.active_point(sample,key),end)
+        self.assertEqual(plan['mode'],'coastal')
+        sample['position']=end
+        self.assertEqual(navigator.active_point(sample,key),exit_point)
+        self.assertEqual(plan['mode'],'shallow_exit');self.assertEqual(plan['index'],2)
+        await navigator.close()
+
+    async def test_saved_exit_with_retained_points_migrates_only_its_phase(self):
+        key=[0,0,1];first,end,exit_point=geo(800,2000),geo(800,3000),geo(1000,3000)
+        plan=dict(points=[first,end,exit_point],index=0,mode='shallow_exit',route_key=key,
+            policy=REGIONAL_POLICY,job='saved',probe_position=geo(800,0),retained_checked_points=2)
+        sample=dict(position=geo(800,1000),native={},regional_navigation=plan)
+        navigator=RegionalNavigator(None)
+        self.assertEqual(navigator.active_point(sample,key),first)
+        self.assertEqual(plan['mode'],'coastal');self.assertEqual(plan['points'],[first,end,exit_point])
+        sample['position']=first
+        self.assertEqual(navigator.active_point(sample,key),end)
+        sample['position']=end
+        self.assertEqual(navigator.active_point(sample,key),exit_point)
+        self.assertEqual(plan['mode'],'shallow_exit')
+        await navigator.close()
+
     async def test_exhausted_coast_accepts_checked_replacement_water_route(self):
         async def rpc(*args,**kwargs):await asyncio.Event().wait()
         class Near: