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fix(ios): address merged capture and guidance review debt - #237
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Construct assumed object footprints in the tapped wall segment and compare missing evidence with the inward-rounded capture limit. #131 (comment) #47 (comment)
Exclude deferred stretches from each replacement aim window and pause the stall budget while coaching or marking hides the task. #120 (comment) #120 (comment) #120 (comment)
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Use the same coaching replacement classification as WallWalkScreen. Coaching beside a visible aim no longer pauses its stall budget. #237 (comment)
Keep progress and marked-end planning aligned with the server for decimal endpoints as well as exactly representable gaps. #237 (comment)
 [Medium impact] The changes appear safe to merge; no new actionable issues remain.
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SceneWall.world requires out explicitly. The omitted argument prevented HouseScanKit compilation in the journey job. #131 (comment) https://github.com/SamGu-NRX/BaseScanning/actions/runs/38480643293/job/115582934902
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Review comments at @ios/HouseScan/Runtime/ScanEngine.swift:
- Around line 1120-1121: Update updateGuidance so tiltUpSpanIfDue, question, and
next-wall early-return paths record the pause when their screen replaces
planner.current aim. Do this without advancing task selection, so the subsequent
planner update does not defer the aim immediately.
- Line 1121: Update the aimActionable condition in the ScanEngine aim setup to
treat a hiddenBlock replacement as non-actionable even when state.coaching is
nil, so the unseen aim’s stall clock does not run; preserve the existing marking
and coaching checks.
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ios/HouseScan/Runtime/ScanEngine.swiftios/HouseScanKit/Sources/HouseScanKit/Guidance/GapPlanner.swiftios/HouseScanKit/Sources/HouseScanKit/Guidance/GuidancePlanner.swiftios/HouseScanKit/Sources/HouseScanKit/Guidance/WalkedEnd.swiftios/HouseScanKit/Sources/HouseScanKit/Scene/SceneExport.swiftios/HouseScanKit/Tests/HouseScanKitTests/GuidancePlannerTests.swiftios/HouseScanKit/Tests/HouseScanKitTests/SceneExportTests.swiftios/HouseScanKit/Tests/HouseScanKitTests/ServerGapTests.swiftios/HouseScanUITests/AccessibilityAudit.swiftios/HouseScanUITests/FullFlowUITests.swift
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Record aim actionability on every guidance exit without selecting a task, and check hiddenBlock before stall evaluation. Add deterministic engine regressions for replacement screens and two hidden cells in a four-cell aim. Review: #237 (comment) Review: #237 (comment)
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Trim adjacent aim windows instead of discarding split lagging runs. Exercise engine event ordering and screen transitions through the existing journey host. Review: #237 (comment)
Retain the previous request span so completion scoring uses the same trimmed cells as the planner.
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Use the requested aim window for the meter done check, matching satisfaction and progress. Regression: #237 (comment)
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| func ingest(_ frame: SourceFrame) { | ||
| // Encoding can deliver an old normal frame after an interruption event. It must not | ||
| // change tracking, coaching, coverage or cues, even after the session has resumed. | ||
| guard !cameraInterrupted, interruptionEndedAt.map({ frame.timestamp > $0 }) ?? true else { return } |
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When a live AR session resumes, sessionInterruptionEnded records ProcessInfo.processInfo.systemUptime, but SourceFrame.timestamp comes from ARFrame.timestamp, which is relative to the AR session rather than system boot. Therefore every post-resume frame has a timestamp smaller than interruptionEndedAt and is rejected by this guard, permanently freezing ingestion, tracking recovery, coverage updates, and capture until the scan is reset.
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Replaced the timestamp boundary in 61980e1 with a UInt64 generation advanced on the serial delegate queue and stamped before encoding; the engine rejects interrupted or older-generation frames without comparing clocks. Engine regressions cover old-generation rejection, fresh-generation recovery and acceptance with timestamp zero; guarded Debug app/UI-target builds and all 927 Kit tests passed, with engine execution awaiting CI.
Stamp live frames before encoding and deliver session events in delegate order. Admission no longer compares AR frame timestamps with system uptime. #237 (comment)
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Reset interruption state when a capture is released or replaced, and reject frames and events from the released capture before engine mutation. #237 (comment)
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| let transient = AuditIssueKey.transient(in: passes.map(\.findings)).compactMap { key in | ||
| latest.lazy.compactMap { $0.findings[key] }.first.map { (key: key, finding: $0) } | ||
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When an accessibility issue appears only on an earlier audit pass and disappears before the final pass, this lookup searches only latest, so it returns no Finding and the report-only audit silently drops the transient issue despite Outcome.transient being intended to retain it. Select the finding from any pass (as the key set does), not just the last pass, so moving-screen issues can actually be attached to the test result.
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The original lookup already searched every pass because passes.reversed() is the full collection in reverse order, so a first-pass-only finding was retained. e15a22a renames it newestFirst and extracts the shared pure outcome(from:) lookup; both returned-message regressions pass, and the guarded Debug app and UI build-for-testing checks pass.
Name the full reverse traversal newestFirst and share the pure outcome lookup. Check first-pass-only messages and newest repeated messages. #237 (comment)
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Keep the original one-meter refusal alongside trimmed aim windows so the walk does not immediately ask for adjacent remnants. Cache the debug engine result once per process.
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What changed
This fixes review comments on already-merged iPhone PRs that were never fully addressed. The repairs target alpha and stay inside
ios/.#131: Review: soft gate, window Not sure, and an assumed 3 ft AC footprint
The assumed object footprint could fold into a bow-tie when its vertices crossed an inward corner. Every vertex now uses the tapped wall segment. Synthetic AC and gas-meter regressions check all four vertices of the rectangle. The assumed dimensions and attachment to the wall remain as before; AC ground-offset policy is still open. Round 1 also fixes the omitted
out: 0argument in this fixture that prevented HouseScanKit compilation in journey run 38480643293.#47: ios: past-end requests keep their end; no requests past a wall end (#35, #38)
Marked-end planning could request evidence beyond an end that the exported coverage could not satisfy. Planning now uses the coverage export's inward rounding and the same subtraction predicate as the server's missing-evidence test.
Caretaker round 1 also repairs Codex's arithmetic finding. Comparing endpoints after adding 0.01 disagreed with
end - start >= 0.01for decimal values such as 4.99 and 5.00. The regressions cover both marked-end directions, zero and nonzero endpoints, and settled progress for decimal gaps the server ignores.#120: ios: hold a walk aim until it is met or stalls, and ask for the meter ground only near the meter
The completed meter instruction could stay stuck after a nearby ground request stalled: satisfaction used the trimmed meter window, but the meter done check still used the full window. Both now use
aimWindow. The regression stalls an aim at 0.381 m, returns to the meter's -0.3...0.081 m request, covers cells -2, -1 and 0 while cell 1 stays unseen, then requires the satisfied request to move on to walking. Once both ends are marked, both checks use the full window again. This exact test fails on1e24768.The capture-replacement freeze is fixed in
9162d1ff. Interruption state now resets when the live capture is released or replaced, and every live frame/event callback carries its capture's UUID. The engine ignores callbacks whose UUID is no longer the current capture's, including queued interruption events after camera access is restored. Starting over while retaining the same capture retains its interruption state.Replacement targets excluded deferred cell centers but still overlapped their inaccessible stretches. Aim windows now trim at the deferred span rather than dropping the whole run. The regression keeps Aiden's adjacent requests at 1.905 m, then 2.8194 m, while checking that their requested spans do not overlap the deferred stretch. Coverage progress, second-position hints, obstruction checks, recorded requests and ring progress use the requested window; the final hole pass can still revisit deferred stretches.
The stall clock also ran while replacement coaching or marking hid the aim. The planner now excludes that paused time. Codex's round-1 finding caught an overly broad pause condition: ride-along coaching leaves the task visible. The engine and screen now share HouseScanKit's
AimCoaching.replacesAimclassification. This also addresses Greptile's P1, Dark coaching freezes the walk. Clock regressions cover both a hidden task's remaining budget and an actionable task that stalls without progress.Caretaker round 3 repairs early-return pauses, the obstruction override, and interruptions without frames. HouseScanKit's pure
AimActionability.canActdecides whether an aim is available from the screen, coaching, obstruction and camera-interruption state. Every guidance exit records that decision without selecting another task. The interruption event records the pause immediately. The live delegate advances a UInt64 interruption generation in the interruption-ended callback and stamps both pose-only and sampled frames before encoding, on its one serial delegate queue. The engine rejects frames while interrupted or from a generation older than the latest ended event. Session events enqueue on the main queue in delegate order; a delayed encoded frame keeps its original generation. Recovery coaching keeps the clock paused until a current-generation normal frame arrives; the shared actionability decision then checks its coaching and the current screen. Admission no longer compares ARFrame timestamps with system uptime, addressing Codex's clock-boundary finding. A stale encoded frame cannot resume the clock. Package regressions cover tilt-up, questions, next-wall screens, marking, both coaching classes, two hidden cells out of four without coaching, and the remaining stall budget after a pause.Marking entry, cancellation and successful completion record actionability on the same monotonic clock, including replay pauses with no walk frames. Guidance, target and path freeze while "End the scan here?" is shown, including replay review frames. A mostly hidden aim no longer times out after 20 seconds; it waits for "Can't see past it", walking away, or a coverage change.
Eighteen engine integration checks run in the existing journey UI-test host using synthetic frames and an injected clock. They cover stale frames before and after interruption end, fresh-frame recovery, timestamp-independent admission, both capture-replacement interruption states, late old-capture frames/events, marking entry and both exits, tilt-up and question returns, next-wall classification, two hidden cells, the end-scan question's frozen cues, and progress scoring over the current and previous trimmed requests. On
33658d2, deliberately removing the interruption record, guidance defer, screen classification, question guard or marking-exit records made the corresponding test fail. Those removal runs were not repeated on the current head.The guarded app build exposed a module-name collision in
HouseScanKit.Coaching. The shared type is nowAimCoaching, so the app alias cannot resolve through the package's same-named namespace enum. The corrected app built and ran the photoProcessing suite."Can't get there" on a ground or wall aim now marks the union of its requested window and the original s ± 0.5 m span. Restricting the refusal to the narrower aim window had left adjacent three-cell runs that were immediately requested. The new
testRefusingAnAimDoesNotImmediatelyAskForItsNeighboursdrives the actual skip action in an eleven-cell lagging stretch and checks the planner from both sides. It fails with e15a22a's skip action, immediately requesting ground at 1.7526 m, and passes with this fix. The split-run thread requires replacement windows to exclude deferred stretches; it does not require a narrower explicit refusal. The debug scenario result is cached once per process so SwiftUI body updates do not rerun it.HouseScanTestswas added and removed within this PR, so its target and generated project changes have a net change of zero. The pure actionability and window regressions run in the existing packageswift teststep at.github/workflows/ios.yml:166-172; no workflow changed. The engine checks use the existing journey UI-test target, addressing the skipped-CI finding. Adding an app unit-test target for anchor corrections remains Sam's D2 decision.Photo-processing UI test input
Run 38517855827 failed Start over and Stop sending before either engine action ran. Its recorded 50 ms native taps landed at the button centers, with no preceding scroll, but produced neither a phase change nor the local confirmation dialog. The recording shows no Start over press feedback. The test helper now sends one 200 ms native-element press; target coordinates, assertion waits and engine actions are unchanged. Both named tests now pass in the guarded 10-test photoProcessing group on 33658d2. SwiftUI's underlying cause is still unverified.
#172: ios: beta gets the legend fix and the walk's in-motion audit, report-only
The moving audit discarded findings seen in only one pass. Reports now attach and print those transition findings. Settled-screen failures still require repetition.
AuditIssueKeyTestschecks both the observed union and the transient filter: a disappearing first-pass issue remains reportable, while a repeated issue is excluded from the transient report.The first-pass transient finding was already retained:
passes.reversed()traverses every pass, newest first.e15a22a3renames that collectionnewestFirstand extracts the shared lookup into the pureAccessibilityAudit.outcome(from:). Two direct outcome tests require a first-pass-only finding with its pass-1 message, and one repeated finding with its pass-2 message. This clarifies and verifies the existing behavior.#182: Ship beta to main: the wall map legend fix and the walk's in-motion audit (#172)
The same audit defect was reported after the beta code reached main and alpha. It is handled by the shared audit repair above. Replay flow tests exercise the report-only moving audit and the later strict settled audit.
#147: fix(ios): bound an end at the phone by the evidence; settle tracking; say 'you saw'
End-bound documentation still described
cappedas only the old kept-photo limit. It now includes far-out and evidence-bound cases. End behavior is unchanged.Why
All 16 assigned merge commits with recorded base beta are ancestors of alpha. The #119 and #120 implementations also reached alpha through later integration. No beta-only item was found and beta was untouched.
The full 77-finding disposition and human reply drafts remain in Sam's local
~/.long-run/obvious-fleet/review-debt/triage/bs-ios.jsonl.Verification
Current head
db1ba4c2bc64979240a7e3454e67163b364d5c50: guarded generic-iOS Debug app build and generic-simulator UI build-for-testing both passed. The new skip-span engine regression failed before the fix in 5.727 s, then passed after it in 5.206 s. The package source and tests are unchanged from the earlier 927-test / 124-suite passing run; that suite was not repeated for this app-only change. Logs include the base SHA, source diff hash and final commit SHA.Commands:
python3 ~/.long-run/obvious-fleet/review-debt/bin/run-guarded.py --min-free-gib 8 -- /bin/zsh /tmp/bs-ios-237-skip-final-build.sh, then the same guard with/bin/zsh /tmp/bs-ios-237-skip-tests.sh fixed. The build script runsxcodebuild -project ios/HouseScan.xcodeproj -scheme HouseScan -configuration Debug -destination 'generic/platform=iOS' -derivedDataPath /tmp/bs-ios-237-skip-device-dd -jobs 2 CODE_SIGNING_ALLOWED=NO COMPILER_INDEX_STORE_ENABLE=NO build, followed bybuild-for-testingforgeneric/platform=iOS Simulator. The test script usestest-without-building, simulator2547EA37-5D00-41FD-BCBC-DB249CA358FA,-parallel-testing-enabled NO, and-only-testing:HouseScanUITests/EngineGuidanceTests/testRefusingAnAimDoesNotImmediatelyAskForItsNeighbours. Full current-head journey, photoProcessing and screenStates results remain CI evidence.Audit clarification at
e15a22a37fdf82a7fc049ef37a75f6b3cd0688cf:AuditIssueKeyTestspassed, 2/2 in 0.761 seconds, on the isolated simulator.testFirstPassOnlyFindingRetainsItsMessagechecks the transient finding and message;testRepeatedFindingKeepsOnlyTheNewestMessagechecks one persistent entry with the second message and no transient entry.build-for-testingboth passed. Commands use the same build flags below, with/tmp/bs-ios-237-audit-device-ddand/tmp/bs-ios-237-audit-ui-dd. The test command usestest-without-buildingand selects onlyHouseScanUITests/AuditIssueKeyTests/testFirstPassOnlyFindingRetainsItsMessageandHouseScanUITests/AuditIssueKeyTests/testRepeatedFindingKeepsOnlyTheNewestMessage. Exact commands, source SHA and tested diff hash are inbs-ios-237-audit-build.logandbs-ios-237-audit-tests.login local triage.9162d1ff; app and HouseScanKit trees are identical. The package and engine results below remain the evidence for those unchanged sources. No passed suite was rerun. Current-head screenStates, journey and photoProcessing CI results are pending.Capture-lifetime verification on the preceding head follows.
On
9162d1ffd02ea7878ff807781cd09715c3c714f0:python3 ~/.long-run/obvious-fleet/review-debt/bin/run-guarded.py --min-free-gib 8 -- swift test --package-path ios/HouseScanKit --jobs 2 -Xswiftc -warnings-as-errors.xcodebuild -project ios/HouseScan.xcodeproj -scheme HouseScan -configuration Debug -destination 'generic/platform=iOS' -derivedDataPath /tmp/bs-ios-237-manager-device-dd -jobs 2 CODE_SIGNING_ALLOWED=NO COMPILER_INDEX_STORE_ENABLE=NO build. The UI test target also built withbuild-for-testing.xcodebuild -project ios/HouseScan.xcodeproj -scheme HouseScan -configuration Debug -destination 'platform=iOS Simulator,id=2547EA37-5D00-41FD-BCBC-DB249CA358FA' -derivedDataPath /tmp/bs-ios-237-manager-ui-dd -resultBundlePath ~/.long-run/obvious-fleet/review-debt/triage/bs-ios-237-manager-fixed.xcresult -jobs 2 -parallel-testing-enabled NO CODE_SIGNING_ALLOWED=NO COMPILER_INDEX_STORE_ENABLE=NO HOUSESCAN_SERVER_URL= -only-testing:HouseScanUITests/EngineGuidanceTests test. It ran throughrun-guarded.py --min-free-gib 8 --; the shared simulator was untouched.61980e14, with test-only capture-ID entry points and the new scenarios but without lifetime resets or identity guards:testCameraAccessRecoveryStartsWithANewInterruptionGenerationandtestCameraAccessRecoveryDropsAnUnfinishedInterruptionboth report "replacement capture rejected its generation-zero frame".testReleasedCaptureCallbacksCannotChangeTheNewCapturereports "released capture changed the new capture's state". All three pass with the fix. The scenarios run real ScanEngine release, replacement and receive methods, with unstarted AR views and synthetic frames; they do not simulate OS permission changes or ARKit hardware.bs-ios-237-manager-package.log,bs-ios-237-manager-device-build.log,bs-ios-237-manager-ui-build.log,bs-ios-237-manager-baseline.logandbs-ios-237-manager-fixed.logrecord the source SHA and, for pre-commit runs, the tested diff hash. The verification record ties those contents to this commit. Independent source review found no correctness blockers;git diff --checkpassed.Earlier evidence remains applicable only to its stated source. On
33658d2, photoProcessing passed all 10 tests; journey completed with 79 passes, one external-replay skip andFullFlowUITests/testPracticeMeterFromReplayfailing withcom.apple.Vision 9: Could not create inference context. The same test failed on unchangedorigin/alphaat3c33ad7with the same simulator, seed and error, so it predates this PR and appears environmental. Previous engine removal checks demonstrated failures when the interruption record, guidance defer, screen classification, end-scan question guard or marking-exit records were removed. Details remain in the local triage verification records.Risk
The pause and window decisions have package regressions, and the existing journey host now exercises engine event delivery and screen classification. Adding an app unit-test target for anchor corrections remains Sam's D2 decision. There is no real-device recording of the guidance timing repair. The simulator Vision inference-context failure predates this PR; the specific framework/backend cause remains unestablished. The 200 ms photo-processing test press remains a documented workaround because the underlying SwiftUI missed-tap cause is unverified.
The inward-corner AC footprint remains an open AC-policy question:
SceneExport.swift:452-456can put its wall-attached rectangle 0.16 m behind the adjacent wall. This PR preserves the existing assumed size and attachment rule; it does not decide what an AC ground tap should locate.Original human comments remain drafts in triage. No replies were posted to Aiden or Shrey.
Checklist
Still open
needs-sam: public-harness ownership, #233, AC ground-offset policy, #166, unmeasured-wall follow-up/refusal policy, #135, and short-wall minimum, #48.beta-only: none.Summary by CodeRabbit