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fix(offroute): Auto vehicle eligibility — 3-tier paved+flat snap discriminator
Vehicle skips the off-network gate (PR #8), so Auto would pick vehicle for any Valhalla-snappable point. Add a 3-tier eligibility check before Auto probes vehicle: <=5m -> on the road, vehicle always ok 5m..100m -> vehicle ok only if snapped road is paved AND terrain is flat >100m -> vehicle not ok Rationale: aggressive 100m snapping in wilderness can route from the wrong start point; only paved+flat (urban/suburban) earns the grace zone. - _locate_on_network now returns road_class. - _is_terrain_flat samples DEM at center + 4 cardinals (FLAT_SAMPLE_RADIUS_M), flat if max-min < FLAT_TERRAIN_DELTA_M; DEM errors -> False (conservative). - _vehicle_eligible implements the 3 tiers; _route_auto drops vehicle from the probe order unless BOTH endpoints are eligible. - 5 new tests cover the tiers; existing probe-iteration tests stub _vehicle_eligible. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Matt
parent
0d503bb4c8
commit
5894be6d03
2 changed files with 158 additions and 11 deletions
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@ -59,6 +59,24 @@ MEMORY_LIMIT_GB = 12
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# Off-network detection threshold (meters)
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OFF_NETWORK_THRESHOLD_M = 10
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# Auto-mode vehicle-eligibility (3-tier snap discriminator). Vehicle skips the
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# off-network gate (pure Valhalla), so Auto must decide whether snapping to a road
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# is *safe* before probing vehicle:
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# <= AUTO_SNAP_TIGHT_M : literally on the road -> vehicle always ok
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# <= AUTO_SNAP_RELAXED_M : grace zone -> vehicle ok ONLY if the snapped road
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# is paved AND local terrain is flat (urban/suburban);
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# in wilderness you can't see 100m, so aggressive
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# snapping could route from the wrong start point
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# > AUTO_SNAP_RELAXED_M : too far from any road -> vehicle not ok
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AUTO_SNAP_TIGHT_M = 5
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AUTO_SNAP_RELAXED_M = 100
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FLAT_TERRAIN_DELTA_M = 5
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FLAT_SAMPLE_RADIUS_M = 50
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PAVED_HIGHWAY_CLASSES = frozenset({
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"motorway", "trunk", "primary", "secondary", "tertiary",
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"unclassified", "residential", "service",
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})
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# Mode to Valhalla costing mapping
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MODE_TO_COSTING = {
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"auto": "auto",
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@ -497,7 +515,8 @@ class OffrouteRouter:
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"on_network": snap_dist <= OFF_NETWORK_THRESHOLD_M,
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"snap_distance_m": snap_dist,
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"snapped_lat": snap_lat,
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"snapped_lon": snap_lon
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"snapped_lon": snap_lon,
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"road_class": edge.get("road_class"),
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}
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except Exception:
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pass
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@ -506,9 +525,46 @@ class OffrouteRouter:
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"on_network": False,
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"snap_distance_m": float('inf'),
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"snapped_lat": lat,
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"snapped_lon": lon
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"snapped_lon": lon,
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"road_class": None,
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}
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def _is_terrain_flat(self, lat: float, lon: float) -> bool:
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"""
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True if the DEM is flat (max-min elevation < FLAT_TERRAIN_DELTA_M) across the
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center and four cardinal points FLAT_SAMPLE_RADIUS_M away. Conservative: any
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DEM read failure (untiled / ocean / error) returns False, so an unknown area
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never earns the relaxed-snap grace.
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"""
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try:
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if self.dem_reader is None:
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self.dem_reader = DEMReader(dem_path())
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dlat = FLAT_SAMPLE_RADIUS_M / 111320.0
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dlon = FLAT_SAMPLE_RADIUS_M / (111320.0 * max(0.01, math.cos(math.radians(lat))))
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points = [
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(lat, lon),
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(lat + dlat, lon), (lat - dlat, lon),
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(lat, lon + dlon), (lat, lon - dlon),
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]
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elevs = [self.dem_reader.sample_point(plat, plon) for plat, plon in points]
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if any(e is None for e in elevs):
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return False
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return (max(elevs) - min(elevs)) < FLAT_TERRAIN_DELTA_M
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except Exception:
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return False
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def _vehicle_eligible(self, lat: float, lon: float) -> bool:
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"""
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Whether Auto should consider vehicle for an endpoint (3-tier, see constants).
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"""
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snap = self._locate_on_network(lat, lon, "vehicle")
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d = snap["snap_distance_m"]
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if d <= AUTO_SNAP_TIGHT_M:
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return True
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if d > AUTO_SNAP_RELAXED_M:
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return False
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return (snap.get("road_class") in PAVED_HIGHWAY_CLASSES) and self._is_terrain_flat(lat, lon)
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def route(
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self,
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start_lat: float,
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@ -598,8 +654,16 @@ class OffrouteRouter:
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so the first status="ok" is the most road-capable feasible mode. The chosen
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mode is reported back as result["selected_mode"] for the UI.
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"""
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# Vehicle skips the off-network gate, so only probe it when BOTH endpoints
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# are vehicle-eligible (on/near a safe paved+flat road); otherwise drop vehicle
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# and start at atv so genuinely off-road routes demo multi-mode behavior.
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if self._vehicle_eligible(start_lat, start_lon) and self._vehicle_eligible(end_lat, end_lon):
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priority = AUTO_MODE_PRIORITY
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else:
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priority = AUTO_MODE_PRIORITY[1:]
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last_error = None
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for candidate in AUTO_MODE_PRIORITY:
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for candidate in priority:
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result = self.route(
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start_lat, start_lon, end_lat, end_lon,
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mode=candidate, boundary_mode=boundary_mode
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@ -272,11 +272,39 @@ def _stub_route(per_mode, calls):
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return stub
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def _stub_locate(snap_distance_m, road_class=None):
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def stub(self, lat, lon, mode="vehicle"):
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return {
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"on_network": snap_distance_m <= 10,
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"snap_distance_m": snap_distance_m,
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"snapped_lat": lat,
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"snapped_lon": lon,
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"road_class": road_class,
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}
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return stub
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def _bare_router(monkeypatch, *, route_stub=None, vehicle_eligible=None,
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locate=None, terrain_flat=None):
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if route_stub is not None:
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monkeypatch.setattr(OffrouteRouter, "route", route_stub)
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if vehicle_eligible is not None:
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monkeypatch.setattr(OffrouteRouter, "_vehicle_eligible",
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lambda self, lat, lon: vehicle_eligible)
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if locate is not None:
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monkeypatch.setattr(OffrouteRouter, "_locate_on_network", locate)
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if terrain_flat is not None:
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monkeypatch.setattr(OffrouteRouter, "_is_terrain_flat",
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lambda self, lat, lon: terrain_flat)
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return object.__new__(OffrouteRouter)
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# ── probe-iteration logic (vehicle eligibility stubbed True) ──────────────
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def test_route_auto_first_probe_ok_returns_vehicle(monkeypatch):
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calls = []
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per_mode = {m: {"status": "ok"} for m in AUTO_MODE_PRIORITY}
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monkeypatch.setattr(OffrouteRouter, "route", _stub_route(per_mode, calls))
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r = object.__new__(OffrouteRouter)
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls), vehicle_eligible=True)
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out = r._route_auto(42.0, -114.0, 42.5, -114.5, "pragmatic")
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assert out["status"] == "ok"
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assert out["selected_mode"] == "vehicle"
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@ -291,8 +319,7 @@ def test_route_auto_falls_through_to_foot(monkeypatch):
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"mtb": {"status": "error", "message": "No tracks found"},
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"foot": {"status": "ok"},
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}
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monkeypatch.setattr(OffrouteRouter, "route", _stub_route(per_mode, calls))
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r = object.__new__(OffrouteRouter)
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls), vehicle_eligible=True)
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out = r._route_auto(42.0, -114.0, 42.5, -114.5, "pragmatic")
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assert out["status"] == "ok"
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assert out["selected_mode"] == "foot"
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@ -302,8 +329,7 @@ def test_route_auto_falls_through_to_foot(monkeypatch):
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def test_route_auto_all_error_returns_error(monkeypatch):
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calls = []
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per_mode = {m: {"status": "error", "message": f"{m} failed"} for m in AUTO_MODE_PRIORITY}
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monkeypatch.setattr(OffrouteRouter, "route", _stub_route(per_mode, calls))
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r = object.__new__(OffrouteRouter)
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls), vehicle_eligible=True)
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out = r._route_auto(42.0, -114.0, 42.5, -114.5, "pragmatic")
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assert out["status"] == "error"
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assert "selected_mode" not in out
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@ -318,8 +344,65 @@ def test_route_auto_selected_mode_present_in_ok_response(monkeypatch):
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"mtb": {"status": "ok"},
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"foot": {"status": "ok"},
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}
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monkeypatch.setattr(OffrouteRouter, "route", _stub_route(per_mode, calls))
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r = object.__new__(OffrouteRouter)
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls), vehicle_eligible=True)
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out = r._route_auto(42.0, -114.0, 42.5, -114.5, "pragmatic")
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assert out["status"] == "ok"
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assert "selected_mode" in out and out["selected_mode"] == "atv"
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# ── 3-tier vehicle eligibility (real _vehicle_eligible via stubbed locate/terrain) ──
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def test_vehicle_eligibility_a_on_road_picks_vehicle(monkeypatch):
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# (a) snap 3m -> tight branch -> vehicle always ok
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calls = []
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per_mode = {m: {"status": "ok"} for m in AUTO_MODE_PRIORITY}
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls),
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locate=_stub_locate(3.0, "residential"), terrain_flat=False)
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out = r._route_auto(43.6, -116.2, 43.7, -116.3, "pragmatic")
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assert out["selected_mode"] == "vehicle"
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assert calls == ["vehicle"]
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def test_vehicle_eligibility_b_relaxed_paved_flat_picks_vehicle(monkeypatch):
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# (b) snap 60m + paved + flat -> relaxed branch grants vehicle
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calls = []
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per_mode = {m: {"status": "ok"} for m in AUTO_MODE_PRIORITY}
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls),
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locate=_stub_locate(60.0, "secondary"), terrain_flat=True)
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out = r._route_auto(43.6, -116.2, 43.7, -116.3, "pragmatic")
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assert out["selected_mode"] == "vehicle"
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assert calls == ["vehicle"]
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def test_vehicle_eligibility_c_relaxed_paved_not_flat_skips_vehicle(monkeypatch):
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# (c) snap 60m + paved + NOT flat -> vehicle skipped
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calls = []
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per_mode = {m: {"status": "ok"} for m in AUTO_MODE_PRIORITY}
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls),
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locate=_stub_locate(60.0, "secondary"), terrain_flat=False)
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out = r._route_auto(43.6, -116.2, 43.7, -116.3, "pragmatic")
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assert out["selected_mode"] == "atv"
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assert "vehicle" not in calls
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assert calls[0] == "atv"
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def test_vehicle_eligibility_d_relaxed_not_paved_skips_vehicle(monkeypatch):
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# (d) snap 60m + NOT paved + flat -> vehicle skipped
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calls = []
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per_mode = {m: {"status": "ok"} for m in AUTO_MODE_PRIORITY}
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls),
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locate=_stub_locate(60.0, "track"), terrain_flat=True)
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out = r._route_auto(43.6, -116.2, 43.7, -116.3, "pragmatic")
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assert out["selected_mode"] == "atv"
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assert "vehicle" not in calls
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def test_vehicle_eligibility_e_over_relaxed_limit_skips_vehicle(monkeypatch):
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# (e) snap 150m -> beyond relaxed limit -> vehicle skipped regardless of paved/flat
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calls = []
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per_mode = {m: {"status": "ok"} for m in AUTO_MODE_PRIORITY}
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r = _bare_router(monkeypatch, route_stub=_stub_route(per_mode, calls),
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locate=_stub_locate(150.0, "primary"), terrain_flat=True)
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out = r._route_auto(43.6, -116.2, 43.7, -116.3, "pragmatic")
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assert out["selected_mode"] == "atv"
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assert "vehicle" not in calls
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