Add skip_completed_segments utility to skip DriveSegments behind the robot#36
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pascalzauberzeug merged 4 commits intomainfrom May 1, 2026
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The previous implementation crashed with TypeError on every non-empty input (sort key annotated as int but list.sort passes the element), computed an angle-match list and never used it, mutated the caller's list via in-place sort, and had a type-confused fallback that always returned an empty list. Replace it with a straight loop that applies the three intended filters (completion threshold, heading offset to segment end, cross-track distance) in path order and returns the tail from the first match, or [] if none qualify. Add debug logging per rejected segment plus a warning when no segment matches, export the function from the navigation package, and cover position and heading cases with a parametrized test. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Motivation
When a path is handed to navigation but the robot is already past some of its segments, those segments need to be dropped before driving — otherwise the robot turns around and re-drives completed work.
Implementation
Walk
path_segmentsand return the tail starting at the first segment the robot is on (cross-track withinmax_distance, heading offset to the segment end withinmax_angle) and not yet completed (t ≤ completed_threshold); return[]if none qualify.Progress