fix(navigation): support backtracking and route to nearest join

apps/obc-web-demo/src/demo.rs

@@ -918,7 +918,12 @@ mod tests {
         drive(&mut d, &mut now, "step:1", "StartAway");
         drive(&mut d, &mut now, "press", "Map");
         assert!(d.app.recording(), "Join nearest begins the session before the next chapter");
-        assert!(d.app.progress_m() > 1_000, "the ride joins the route mid-climb");
+        d.cmd("play");
+        for _ in 0..4 {
+            now += 250.0;
+            d.tick(now);
+        }
+        assert!(d.app.progress_m() > 1_000, "the first riding fix joins the route mid-climb");
     }
 
     #[test]

firmware/obc-app/i18n/de.toml

@@ -468,10 +468,11 @@ not_found_hint = "Kein Weg in der Nähe - an einer Straße starten."
 
 # --- Start away from the route start: Ride to start or Join nearest ---
 [start_away]
-title = "ZUM START"
+title = "ROUTE ERREICHEN"
 you_are = "Du bist "
 from_start = " vom Start entfernt."
-no_route = "Keine Route zum Start von hier."
+no_route = "Keine Verbindung von hier."
+start_without = "Trotzdem starten"
 ride_to_start = "Zum Start fahren"
 then_route = ", dann Route"
 join_nearest = "Nächster Einstieg"

firmware/obc-app/i18n/en.toml

@@ -502,10 +502,11 @@ not_found_hint = "No rideable way nearby - try from a road."
 # hint are fragments around a distance: `you_are` + "3.2 km" + `from_start`, and
 # "400 m" + `away_at` + "km 12". ---
 [start_away]
-title = "RIDE TO START"
+title = "JOIN ROUTE"
 you_are = "You are "
 from_start = " from the start."
-no_route = "No route to the start from here."
+no_route = "No connecting route from here."
+start_without = "Start anyway"
 ride_to_start = "Ride to start"
 then_route = ", then route"
 join_nearest = "Join nearest"

firmware/obc-app/i18n/es.toml

@@ -467,10 +467,11 @@ not_found_hint = "No hay camino cerca - prueba desde una carretera."
 
 # --- Start away from the route start: Ride to start or Join nearest ---
 [start_away]
-title = "IR AL INICIO"
+title = "UNIRSE A LA RUTA"
 you_are = "Estás a "
 from_start = " del inicio."
-no_route = "No hay ruta al inicio desde aquí."
+no_route = "No hay conexión desde aquí."
+start_without = "Iniciar sin guía"
 ride_to_start = "Ir al inicio"
 then_route = ", luego la ruta"
 join_nearest = "Punto más cercano"

firmware/obc-app/i18n/fr.toml

@@ -467,10 +467,11 @@ not_found_hint = "Aucune voie proche - partez d'une route."
 
 # --- Start away from the route start: Ride to start or Join nearest ---
 [start_away]
-title = "VERS LE DÉPART"
+title = "REJOINDRE LE TRACÉ"
 you_are = "Vous êtes à "
 from_start = " du départ."
-no_route = "Pas de parcours vers le départ d'ici."
+no_route = "Pas de liaison depuis ici."
+start_without = "Partir quand même"
 ride_to_start = "Aller au départ"
 then_route = ", puis parcours"
 join_nearest = "Rejoindre le tracé"

firmware/obc-app/src/activity.rs

@@ -41,14 +41,14 @@ pub struct DetourRequest {
     /// The chosen rejoin distance along the route — the corridor's end and the splice point.
     pub target_m: u32,
     /// What the leg does to the route. An approach has no corridor and no trim, and its splice puts
-    /// it in front of the whole route.
+    /// it in front of the route from the join point.
     pub leg: obc_route::Leg,
 }
 
 impl DetourRequest {
-    /// Ride to start: the way from `from` to the start of `route`.
-    pub fn approach(route: usize, from: (i32, i32)) -> Self {
-        DetourRequest { route, from, progress_m: 0, target_m: 0, leg: obc_route::Leg::Approach }
+    /// Connect `from` to `target_m` on the stored route.
+    pub fn approach(route: usize, from: (i32, i32), target_m: u32) -> Self {
+        DetourRequest { route, from, progress_m: target_m, target_m, leg: obc_route::Leg::Approach }
     }
 
     /// The rest of the day before `route`, `[from_m, to_m]` on that day's route, then `route` from

firmware/obc-app/src/app.rs

@@ -959,6 +959,10 @@ impl App {
             self.ui.map_dirty = true;
         }
     }
+    /// Temporary directions can be retired after the ride and checkpoint release them.
+    pub fn set_temporary_routes(&mut self, mask: u64) {
+        self.navigator.set_temporary_routes(mask);
+    }
     pub fn set_unaccepted_routes(&mut self, mask: u64) {
         if self.navigator.unaccepted_routes() != mask {
             self.navigator.set_unaccepted_routes(mask);
@@ -1730,8 +1734,7 @@ impl App {
         self.ui.map_dirty = true;
     }
 
-    /// A lead-in found no way: drop the spinner at `slot`. Ride to start leaves the prompt it came
-    /// from with Join nearest and Cancel.
+    /// A lead-in failed: drop the spinner and offer an unguided start on the original route.
     fn land_lead_in_failure(&mut self, slot: usize) {
         self.ui.stack.truncate(slot.max(1));
         if let Some(Screen::StartAway(prompt)) = self.ui.stack.last_mut() {

firmware/obc-app/src/catalog_state.rs

@@ -534,8 +534,8 @@ use crate::device_core::{CatalogTag, OperationToken, StoreRevision};
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum CatalogIntent {
-    /// Remove unaccepted Assistant candidates no review holds, a commit's batch at a time.
-    RemoveOrphanReviews,
+    /// Remove unused temporary directions and abandoned candidates, one commit at a time.
+    RemoveOrphanRoutes,
     CleanupRoutes {
         before_utc: u32,
         store: crate::device_core::StoreIdentity,
@@ -565,7 +565,7 @@ pub enum CatalogObjectKind {
 /// One bounded physical catalog operation, carrying the [`OperationToken`] the domain issued.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum CatalogEffect {
-    RemoveOrphanReviews {
+    RemoveOrphanRoutes {
         token: OperationToken<CatalogTag>,
     },
     CleanupRoute {
@@ -590,7 +590,7 @@ impl CatalogEffect {
             CatalogEffect::CleanupRoute { token, .. }
             | CatalogEffect::ReadCatalog { token }
             | CatalogEffect::RemoveObject { token, .. }
-            | CatalogEffect::RemoveOrphanReviews { token } => *token,
+            | CatalogEffect::RemoveOrphanRoutes { token } => *token,
         }
     }
 }
@@ -609,7 +609,7 @@ pub enum CatalogError {
 /// The result of one [`CatalogEffect`].
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum CatalogOutcome {
-    OrphanReviewsRemoved {
+    OrphanRoutesRemoved {
         token: OperationToken<CatalogTag>,
     },
     CleanupFinished {
@@ -644,7 +644,7 @@ impl CatalogOutcome {
             CatalogOutcome::CleanupFinished { token }
             | CatalogOutcome::CatalogRead { token, .. }
             | CatalogOutcome::ObjectRemoved { token, .. }
-            | CatalogOutcome::OrphanReviewsRemoved { token }
+            | CatalogOutcome::OrphanRoutesRemoved { token }
             | CatalogOutcome::Failed { token, .. }
             | CatalogOutcome::Cancelled { token } => *token,
         }
@@ -738,7 +738,7 @@ impl CatalogState {
             return Some(CatalogEffect::ReadCatalog { token: self.ops.issue() });
         };
         let effect = match intent {
-            CatalogIntent::RemoveOrphanReviews => CatalogEffect::RemoveOrphanReviews { token: self.ops.issue() },
+            CatalogIntent::RemoveOrphanRoutes => CatalogEffect::RemoveOrphanRoutes { token: self.ops.issue() },
             CatalogIntent::CleanupRoutes { before_utc, store } => {
                 self.cleanup_running = true;
                 self.pending = Some(intent);
@@ -833,7 +833,7 @@ impl CatalogState {
                 self.read_retry_at = None;
                 None
             }
-            CatalogOutcome::OrphanReviewsRemoved { .. } => {
+            CatalogOutcome::OrphanRoutesRemoved { .. } => {
                 self.loaded_scope = None;
                 self.refresh_owed = true;
                 None
@@ -1156,7 +1156,7 @@ mod tests {
         for _ in 0..=steps.capacity() {
             let Some(effect) = catalogs.next_effect() else { break };
             match effect {
-                CatalogEffect::CleanupRoute { .. } | CatalogEffect::RemoveOrphanReviews { .. } => {
+                CatalogEffect::CleanupRoute { .. } | CatalogEffect::RemoveOrphanRoutes { .. } => {
                     panic!("unexpected cleanup")
                 }
                 CatalogEffect::RemoveObject { token, object, .. } => {

firmware/obc-app/src/device_core/pass.rs

@@ -465,6 +465,7 @@ impl App {
                 let _ = self.pass.connections.ui_catalog.try_put(full.rejected);
             }
         }
+        self.cleanup_orphan_routes();
         // The store refuses a removal for an object the checkpoint names, and a refused removal is
         // not retried, so the rider's confirmed delete would vanish. Give up the checkpoint first
         // and leave the intent admitted: the admitted intent is what the domain would pull next, so

firmware/obc-app/src/find_place.rs

@@ -580,7 +580,6 @@ impl crate::App {
             }
         }
         self.handle_find_exit();
-        self.cleanup_orphan_reviews();
         self.ui.find.review = self.assistant_review_status();
         if self.assistant_review_status() == ReviewStatus::Accepted && self.active_visit() {
             if let Some(Screen::VisitReview(screen)) = self.ui.stack.last_mut() {

firmware/obc-app/src/navigator.rs

@@ -344,6 +344,7 @@ pub struct NavigatorMachine {
     climbs_route: Option<usize>,
     waypoints: Waypoints,
     waypoints_route: Option<usize>,
+    waypoints_from_m: u32,
     /// The loaded route whose bike type the settings do not have yet; see
     /// [`take_loaded_bike_type`](Self::take_loaded_bike_type).
     bike_type_owed: Option<usize>,
@@ -353,8 +354,6 @@ pub struct NavigatorMachine {
     /// The one route matcher and the active-route key it last locked to.
     route_match: RouteMatch,
     matched_route: Option<usize>,
-    /// Where the next fresh ride joins the active route, instead of where its first fix locks.
-    join_m: Option<u32>,
     /// Where the rider stood on the route at Finish, which unloads it before the store confirms the
     /// save.
     ride_end: Option<following::RideEnd>,
@@ -387,13 +386,13 @@ impl NavigatorMachine {
             climbs_route: None,
             waypoints: Waypoints::new(),
             waypoints_route: None,
+            waypoints_from_m: 0,
             bike_type_owed: None,
             climb_profile: ClimbProfile::new(),
             #[cfg(test)]
             climb_fill_count: 0,
             route_match: RouteMatch::new(),
             matched_route: None,
-            join_m: None,
             ride_end: None,
         }
     );
@@ -786,12 +785,12 @@ impl NavigatorMachine {
             climbs_route,
             waypoints,
             waypoints_route,
+            waypoints_from_m,
             bike_type_owed,
             climb_profile,
             climb_fill_count,
             route_match,
             matched_route,
-            join_m,
             ride_end,
         } = self;
         assert_eq!(review.status, ReviewStatus::Idle);
@@ -807,11 +806,12 @@ impl NavigatorMachine {
         assert!(profile.cols().iter().all(|&(lo, hi)| lo > hi), "empty profile bands");
         assert!(climbs.is_empty() && climbs_route.is_none(), "no climbs before a route loads");
         assert!(waypoints.is_empty() && waypoints_route.is_none(), "no waypoints before a route loads");
+        assert_eq!(*waypoints_from_m, 0);
         assert!(bike_type_owed.is_none(), "no route has been loaded");
         assert!(climb_profile.cols().iter().all(|&column| column == 0), "the climb detail starts flat");
         assert_eq!(*climb_fill_count, 0, "the climb detail has not been filled");
         assert!(!route_match.started() && matched_route.is_none(), "the matcher is unlocked");
-        assert!(join_m.is_none() && ride_end.is_none(), "no ride waits to join or has ended");
+        assert!(ride_end.is_none(), "no ride has ended");
     }
 }