Advance rounded offshore course at a reached checked onward goal

src/posim_routing/course.py

@@ -62,6 +62,19 @@ def coastal_shape(leg, index, state):
 
 def passed_coastal_shape(leg, index, state):
     points=leg['coordinates']
+    if not coastal_shape(leg,index,state):
+        return False
+    navigation=(state.get('native') or {}).get('navigation') or {}
+    # A coastal rounding can reach the following harbour entry without ever
+    # crossing the incoming plane of the offshore graph vertex. The measured
+    # arrival at its checked onward goal completes that shape vertex only;
+    # the following mandatory harbour waypoint retains its own strict radius.
+    if (rounded_course(leg,index,state)
+            and navigation.get('route_key')==[state['lap'],state['leg'],index]
+            and navigation.get('mapped_land_checked') is True
+            and (state.get('coastal_depth_corridor') or {}).get('accepted') is True
+            and GEO.inv(*state['position'],*points[index+1])[2]<=50.):
+        return True
     # Once a checked coastal path rounds the vertex, moving farther from the
     # offshore graph point must not make that same point mandatory again.
     # Passage still requires measured progress through both adjoining planes.
@@ -74,7 +87,7 @@ def passed_coastal_shape(leg, index, state):
     # Its incoming plane would require travelling out to that vertex. Once a
     # checked coastal rounding is accepted, measured onward passage suffices.
     require_incoming=not (first_onward and rounded_course(leg,index,state))
-    return coastal_shape(leg,index,state) and passed_vertex(
+    return passed_vertex(
         points[index-1],points[index],points[index+1],state['position'],maximum_offset=horizon,
         adjacent_limit=False,require_incoming=require_incoming)
 

tests/test_course.py

@@ -11,6 +11,23 @@ def state(position):
                 coastal_navigation=dict(status='coastal_region'))
 
 class CourseTests(unittest.TestCase):
+    def test_phuket_reached_onward_entry_completes_offshore_shape(self):
+        leg=dict(coordinates=[[100.6,3.2],[97.,7.],
+                              [98.28911746469352,7.770512146756515],
+                              [98.28994670668614,7.769520412763569]],canal=False,
+                 fixed_approach=dict(policy='fixed-port-waypoints-v1',verified=True,first_waypoint=2))
+        sample=state([98.28908548827172,7.770543662774121])
+        sample['course_lookahead']=dict(route_key=[0,2,1],target=leg['coordinates'][2],rounded_shape=True)
+        sample['native']=dict(navigation=dict(route_key=[0,2,1],mapped_land_checked=True))
+        sample['coastal_depth_corridor']=dict(accepted=True)
+        self.assertTrue(passed_coastal_shape(leg,1,sample))
+        self.assertFalse(passed_coastal_shape(leg,2,sample),'The harbour entry is still mandatory')
+        for field in ('course_lookahead','native','coastal_depth_corridor'):
+            missing=copy.deepcopy(sample);missing.pop(field)
+            self.assertFalse(passed_coastal_shape(leg,1,missing))
+        sample['native']['navigation']['route_key']=[0,1,1]
+        self.assertFalse(passed_coastal_shape(leg,1,sample))
+
     def test_distant_offshore_shape_rounds_only_with_checked_matching_onward_goal(self):
         leg=dict(coordinates=[[109.,16.1],[110.1,12.2],[107.3207,7.6091]],canal=False)
         sample=state([109.2413,14.4598])