Merge pull request #4 from IOES-Lab/fix/regional-source-outage

Recover coastal planning from terrain provider outages

Author: woensug-choi

README.ko.md

@@ -119,6 +119,13 @@ path = planner.route(start, goal)
 멈춥니다. 물리 계산과 센서 수신은 계속합니다. 선택적인 해안 경로 준비에 실패하거나
 결과가 비어 있어도 검증된 해안 경로를 외해 목표로 바꾸지 않습니다.
 
+기본 지형 자료 서버에 연결할 수 없으면 더 작은 구역으로 경로를 계산합니다.
+검증된 자료를 사용하며 수심과 육지 확인 기준은 같습니다.
+
+- 일반 구역: 20 km × 20 km
+- 자료 서버 장애 시 재시도 구역: 6 km × 6 km
+- 두 구역 모두 자료 부족: 추진을 멈추고 재시도
+
 ## 시험과 이용 조건
 
 ```sh

README.md

@@ -117,6 +117,13 @@ checked replacement is ready. Physics and sensor sampling continue during the
 wait. Failed or empty optional renewal cannot replace a checked coastal route
 with an offshore goal.
 
+When the baseline terrain provider is unavailable, regional planning tries a
+smaller region. It uses verified source data and the same depth and land checks.
+
+- Normal region: 20 km × 20 km
+- Source outage retry: 6 km × 6 km
+- Missing data in both regions: hold thrust and retry
+
 ## Tests and terms
 
 ```sh

src/posim_routing/regional.py

@@ -254,6 +254,21 @@ async def prepare_port(self,state,target,key):
         value.update(route_key=key,job=state['native']['job'],source='resident collision terrain',
                      policy=REGIONAL_POLICY,probe_position=current,mapped_land_checked=guard is not None)
         return value
+    async def terrain_region(self, centre, extent):
+        """Try a smaller verified region when the baseline provider is offline."""
+        for width in (extent, 6000) if extent > 6000 else (extent,):
+            job=await self.rpc('/terrain/jobs',dict(latitude=centre[1],longitude=centre[0],
+                width_m=width,height_m=width,samples=257,source_policy='auto'),20)
+            end=time.monotonic()+620
+            while job['status'] in ('queued','running') and time.monotonic()<end:
+                await asyncio.sleep(2);job=await self.rpc('/terrain/jobs/'+job['id'])
+            if job['status']=='ready':return job
+            if width==6000 or job['status']!='failed':break
+            try:
+                sources=await self.rpc('/terrain/jobs/'+job['id']+'/files/source-providers.json')
+            except Exception:break
+            if (sources.get('baseline_status') or {}).get('status')!='unavailable':break
+        raise RuntimeError('regional_terrain_unavailable')
     async def prepare(self,state,target,key,nearest=None,needed=True):
         from posim_terrain.canal_override import in_region
         canal=in_region(state['position'])
@@ -276,11 +291,7 @@ async def prepare(self,state,target,key,nearest=None,needed=True):
             centre=list(GEO.fwd(*pos,heading,min(6000.,nearest[0]-6000.))[:2])
         extent=4000 if canal else 20000
         if self.before_prepare is not None:await self.before_prepare()
-        job=await self.rpc('/terrain/jobs',dict(latitude=centre[1],longitude=centre[0],width_m=extent,height_m=extent,samples=257,source_policy='auto'),20)
-        end=time.monotonic()+620
-        while job['status'] in ('queued','running') and time.monotonic()<end:
-            await asyncio.sleep(2);job=await self.rpc('/terrain/jobs/'+job['id'])
-        if job['status']!='ready':raise RuntimeError('regional_terrain_unavailable')
+        job=await self.terrain_region(centre,extent)
         grid=await self.rpc('/terrain/jobs/'+job['id']+'/files/terrain.json',timeout=20)
         guard=None
         if not canal:

tests/test_regional_outage.py

@@ -0,0 +1,39 @@
+"""A source outage can reduce coverage, never invent missing depths."""
+import unittest
+from posim_routing.regional import RegionalNavigator
+
+
+class RegionalOutage(unittest.IsolatedAsyncioTestCase):
+    async def test_offline_baseline_retries_a_smaller_verified_region(self):
+        widths=[]
+        async def rpc(path,body=None,timeout=10):
+            if body:
+                widths.append(body['width_m'])
+                return dict(id=str(body['width_m']),status='failed' if len(widths)==1 else 'ready')
+            return dict(baseline_status=dict(status='unavailable'))
+        job=await RegionalNavigator(rpc).terrain_region([118.,24.],20000)
+        self.assertEqual(widths,[20000,6000])
+        self.assertEqual(job['status'],'ready')
+
+    async def test_other_generation_failures_do_not_trigger_a_retry(self):
+        widths=[]
+        async def rpc(path,body=None,timeout=10):
+            if body:
+                widths.append(body['width_m']);return dict(id='failed',status='failed')
+            return dict(baseline_status=dict(status='available'))
+        with self.assertRaisesRegex(RuntimeError,'regional_terrain_unavailable'):
+            await RegionalNavigator(rpc).terrain_region([118.,24.],20000)
+        self.assertEqual(widths,[20000])
+
+    async def test_smaller_region_with_missing_data_still_holds(self):
+        widths=[]
+        async def rpc(path,body=None,timeout=10):
+            if body:
+                widths.append(body['width_m']);return dict(id='failed',status='failed')
+            return dict(baseline_status=dict(status='unavailable'))
+        with self.assertRaisesRegex(RuntimeError,'regional_terrain_unavailable'):
+            await RegionalNavigator(rpc).terrain_region([118.,24.],20000)
+        self.assertEqual(widths,[20000,6000])
+
+
+if __name__=='__main__':unittest.main()