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…nd refusals say what to do At 20 ft walked the card asks "Is this the right end of the wall?" and offered only "Wall ends here" at the circle. A wall running on had no true answer, and the card stayed as the homeowner kept walking. Its reply is now "The wall keeps going": the end goes where the phone stands, unexplored, through the same path as "Can't get there" on the walk, and nothing asks what is there (B-06). "Wall ends here" at the circle did nothing when the circle was off the wall or the phone had lost its place, and aiming across the meter ended the other side. The button now marks only the side the card names, and otherwise the card says why: the circle isn't on the wall, that's the other side of the meter, or the phone is still finding its place. A tap at a point (the autopilot) marks as before. A feature mark refused because the phone stands behind the wall's line blamed the tap; it now says to step out in front of the wall (B-27). "Point at the meter like this." shows only with the saved close-up, which the follow-up view now shows as the walk does (B-23). WalkRecoveryUITests covers the three cards on the demo engine. Co-Authored-By: Claude Code <noreply@anthropic.com>
…s going" isn't a refusal From a fresh review of cf30991: - The button and the tape's end preview now use one check (`circleEnd`), so the tape never shows an end the button would refuse, including one on the other side of the meter. - A circle aimed at the ground met the wall's plane below the ground and was taken as an end; it now gets the "circle isn't on the wall" refusal, by the same below-ground rule as object taps (`ObjectTap.belowGroundSlack`). - "The wall keeps going" answers the end card; it no longer counts as a "Can't get there" toward "End the scan here?" (#82), and nothing it does is timed as a refusal. - The demo's tilt-up state keeps a skipped close-up skipped. Co-Authored-By: Claude Code <noreply@anthropic.com>
…-place cards Co-Authored-By: Claude Code <noreply@anthropic.com>
Co-Authored-By: Claude Code <noreply@anthropic.com>
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Navigate logical layers of code changes, visualize relationships, and explore their blast radius. 🧰 Additional context used📚 Code guidelines (1)📝 WalkthroughWalkthroughWall-end marking now validates the reticle against the requested wall side and tracking state. The UI reports mark refusals, offers a wall-continues reply, and adjusts relocalization guidance and photo display based on photo availability. Demo scenarios and tests cover these states. ChangesWall-Walk Recovery
Priority: ⬇️ Low Estimated code review effort: 3 (Moderate) | ~25 minutes Change: Bug fix Sequence Diagram(s)sequenceDiagram
actor Scanner
participant WallWalkScreen
participant ScanEngine
participant EndAim
Scanner->>WallWalkScreen: Request a wall-end mark
WallWalkScreen->>ScanEngine: Send mark action
ScanEngine->>EndAim: Evaluate reticle hit and requested side
EndAim-->>ScanEngine: Return accepted point or refusal
ScanEngine-->>WallWalkScreen: Update end preview or refusal state
WallWalkScreen-->>Scanner: Show end-mark guidance
Suggested reviewers: Merge Risk: 🔵 Low · up to “The wall keeps going” records the wrong guidance outcome, and the off-wall demo can accept an unchanged aim. These bounded issues warrant correction or owner acceptance, but do not establish a broad failure of the walk. Security Architecture ReviewSecurity architecture risk: 🔵 Low · up to The changes remain bounded to the active scan and strengthen wall-end validation. Stopping at a wall that continues still produces an unexplored endpoint, not a confirmed wall limit. No introduced security concern was established, although the available coverage does not support an unrestricted assurance of safety. Retained concerns Security review detailsSecurity Blast Radius
Trust Boundaries and Controls
Resilience and Maintainability Implications
🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
✨ Finishing Touches 💡 2📝 Generate docstrings 💡
🛠️ Fix failing CI checks 💡
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| final class WalkRecoveryUITests: XCTestCase { | ||
| override func setUp() { | ||
| continueAfterFailure = false | ||
| } |
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DemoEngine, which sets the refused-end state directly. They can pass even if the real engine accepts a mark on the wrong side, fails to clear a refusal, or places “The wall keeps going” incorrectly. Please add regression coverage for the real engine’s new end-marking paths.
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Path: ios/HouseScanUITests/WalkRecoveryUITests.swift
Line: 7-10
Comment:
**Real engine paths remain untested** These tests launch `DemoEngine`, which sets the refused-end state directly. They can pass even if the real engine accepts a mark on the wrong side, fails to clear a refusal, or places “The wall keeps going” incorrectly. Please add regression coverage for the real engine’s new end-marking paths.
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Fair point about the demo engine. d576a46 moves the decision behind "Wall ends here" at the circle into HouseScanKit as EndAim.verdict, with strict isolated tests in EndAimTests: asked side, other side, ground aim, the slack at the wall's foot, above the wall, reach, limited tracking, and the meter's own column. The engine's circleEnd now only gathers inputs and maps the verdict. That wiring and refusal clearing are still checked only by review, because no replay reaches the 20 ft end card. The PR's Risk section says so.
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That addresses the substantive gap in the original comment. EndAimTests now exercise the real decision matrix, including the asked-side check, ground/slack boundaries, reach, tracking, and the meter column; circleEnd is a thin mapping layer over that verdict.
The remaining engine wiring and refusal-clearing behavior are not independently exercised, but they are localized and explicitly documented as review-only because no replay reaches the 20 ft end-card state. I’m satisfied with this coverage tradeoff and consider the original finding resolved.
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| if state.coaching == .relocalizing, let meterPhoto { | ||
| // "Point at the meter like this.": the saved close-up, as on the walk (B-23). | ||
| SavedMeterPhoto(image: meterPhoto) | ||
| .transition(.opacity) |
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If tracking becomes relocalizing after an overhead view has raised its unanswered question, state.overheadQuestion remains set while this condition displays the saved meter photo. The instruction path prioritizes asking and continues to ask what is overhead, so the screen shows an unrelated meter close-up over the live view instead of the relocalization instruction that explains it. Gate this overlay with !asking (or consistently prioritize the relocalization state) so the photo and card cannot contradict each other.
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Fixed in d576a46. On both the follow-up view and the walk, the close-up now shows only while the card itself reads "Point at the meter like this." (showsMeterPhoto compares the instruction). The overhead question, and on the walk the end and next-wall questions, outrank that coaching, so the photo no longer sits under them. The walk had the same gap before this PR.
| /// sensor image's middle whatever the view's size. Shared by the button and its preview, so | ||
| /// the tape never shows an end the button would refuse. | ||
| func circleEnd(asked: WallSide, frame: SourceFrame, map: CoverageMap) -> Result<WallPoint, EndMarkRefusal> { | ||
| guard frame.tracking == .normal else { return .failure(.trackingNotReady) } |
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When ARKit reports limited tracking because of excessive motion or insufficient features, TrackingQuality.hasLostItsPlace is explicitly false, so the frame still has a usable world pose. Requiring .normal nevertheless refuses "Wall ends here" in those states and reports that the phone is still finding its place, even though the accompanying coaching is only "Slow down" or "Aim at ... more texture." Check hasLostItsPlace instead so only states that actually lost the pose block the end mark.
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Kept the normal-tracking gate. I tried hasLostItsPlace in d576a46 and reverted it in c6f1aed. Feature marks and the next wall refuse anything but normal tracking with these same words, and WalkedEnd caps an end measured under limited tracking to kept evidence. A circle end has no such cap, and ARKit's limited pose can be off. Under fast motion, the "Slow down" coaching rides along under the refusal and names what to do.
| guard let hit = nearbyWallHit(frame.camera.ray(throughPixel: frame.camera.imageSize / 2), camera: frame.camera, wall: map.wall), | ||
| hit.height >= -(ObjectTap.belowGroundSlack + max(0, map.heightError)) else { return .failure(.noWall) } |
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When the circle is aimed above the roof, WallFrame.intersectWall can still return a hit because the wall plane is vertically unbounded, and nearbyWallHit limits only distance along the wall. This guard rejects low hits but accepts every positive height, including arbitrarily high sky hits, so "Wall ends here" can succeed even though the new .noWall behavior says sky should be refused. Add an upper or observed-surface check before accepting the hit.
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Kept accepting hits above the wall, and corrected the doc that claimed the sky is refused (d576a46). Aimed above the wall, the ray meets the plane in the column under the circle, which is where the end belongs. Aimed at the ground, the ray passes the ground point first and meets the plane under the floor, past what the circle shows. That is why only below-ground hits are refused. EndAimTests.aimingAboveTheWallKeepsTheColumnUnderTheCircle pins it.
| case .markEnd: | ||
| (title: wallKeepsGoing, hint: "Ends this side where you're standing. An installer would need to look at the wall past it.") |
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When the phone is more than WalkedEnd.maxPastEvidence beyond the farthest kept view or seen cell, walkedEnd clamps the endpoint short of the current phone position. The new reply still promises to end the side "where you're standing," and the visible end preview belongs to the reticle action rather than this reply, so tapping it can silently place the unexplored end meters earlier than described. Show the endpoint chosen by walkedEnd or change the hint so it does not promise the phone's exact position.
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Fixed in d576a46. The hint now reads "Ends this side where your walk reached.", which holds when WalkedEnd stops short of the phone.
| refreshGuidance() | ||
| if arguments.contains("-uiDemoEndMarkRefusal") { state.endMarkRefusal = .noWall } |
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refreshGuidance() creates an atReticle end preview before this injected .noWall refusal is assigned. The demo therefore shows a preview that says the circle would be accepted at the same time as the card says the circle is not on the wall, a state the real engine immediately prevents in publishEndPreview. Clear or recompute state.endPreview for this argument so the new UI test exercises the production invariant instead of capturing an impossible state.
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Fixed in d576a46. The refusal demo clears endPreview, as circleEnd does in the real engine. Its capture will be refreshed from the next full run.
…ans lost place Review of #207 at 08ed892: - The decision behind "Wall ends here" at the circle moves into HouseScanKit as `EndAim.verdict`, with strict isolated tests (Greptile: the UI tests drive the demo engine). It reuses `ObjectTap.refusal` for the below-ground and reach rules the engine already applied, so nothing about where an end lands changes. - The phone's place counts as unknown only when it is lost or ARKit is starting, as for marks (`hasLostItsPlace`). Requiring normal tracking refused the button while the phone was only moving fast, with words saying it was finding its place. - A hit above the wall stays accepted: the ray meets the plane in the column under the circle. The refusal's doc no longer says the sky is refused. - "The wall keeps going" says the side ends where the walk reached, since `WalkedEnd` can stop short of the phone. - The meter close-up shows only while the card says "Point at the meter like this.", on the walk and on the follow-up view. A question on the card outranks that coaching, and the photo sat under it. - The refusal demo clears the end preview, as the real engine does. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
…ks do d576a46 let the circle mark an end under any tracking short of a lost place. A fresh review pointed out that feature marks and the next wall still require normal tracking, and that `WalkedEnd` caps an end measured under limited tracking to kept evidence, while a circle end has no such cap. ARKit's limited pose can be off, so the gate is back to normal tracking, with the refusal words those other marks already use. `EndAim` now takes `trackingNormal`, and a test pins the meter's own column to the right side. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
| let hit = map.wall.intersectWall(frame.camera.ray(throughPixel: frame.camera.imageSize / 2)) | ||
| switch EndAim.verdict( | ||
| hit: hit, camera: frame.camera.position, wall: map.wall, reach: map.config.maxDistance, | ||
| groundError: map.heightError, askedLeft: asked == .left, trackingNormal: frame.tracking == .normal |
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.limited(.insufficientFeatures) on a plain wall, the phone can still retain its place. This new normal-only check nevertheless hides the end preview and refuses “Wall ends here” even when the circle is on the actual end. The homeowner must wait for normal tracking or choose “The wall keeps going,” which records that end as unexplored instead of marking it.
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Path: ios/HouseScan/Runtime/ScanEngine+Ends.swift
Line: 109
Comment:
**Limited tracking blocks wall ends** When ARKit reports `.limited(.insufficientFeatures)` on a plain wall, the phone can still retain its place. This new normal-only check nevertheless hides the end preview and refuses “Wall ends here” even when the circle is on the actual end. The homeowner must wait for normal tracking or choose “The wall keeps going,” which records that end as unexplored instead of marking it.
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Keeping normal tracking here on purpose, as c6f1aed records. Feature marks and the next wall already refuse anything but normal tracking. WalkedEnd caps an end measured under limited tracking to kept evidence, but a circle end has no cap, so a pose ARKit itself marks as uncertain could put the end metres off. Under .insufficientFeatures the card adds "Aim at a corner or somewhere with more texture". The end is usually that corner, and aiming at it tends to bring normal tracking back. The same evidence brings the end preview and the button back. "The wall keeps going" is the fallback when it can't, and it is explicitly unexplored, which is the honest answer when the end wasn't measured.
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That makes sense. Given the end position has no WalkedEnd-style cap, requiring .normal tracking is the safer invariant: a limited pose could place the end materially incorrectly, while the existing recovery copy directs the homeowner toward a corner or more textured area where tracking can recover. Keeping the preview and button gated by the same circleEnd check also avoids presenting an action that cannot be completed. I’m withdrawing this concern.
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- 🪄 Fix CodeRabbit comments on this PR
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Inline comments:
Review comments at @ios/HouseScan/Runtime/ScanEngine+Actions.swift:
- Around line 538-541: Update the refusal handling in cannotAccessArea so
`.markEnd` is not resolved as `.cannotReach`; preserve the `.cannotReach`
handling for the other refusal actions. This lets `endWalkCannotGoOn` record the
end and `closingOutcome` classify the `.markEnd` request as `.met`.
Review comments at @ios/HouseScan/UI/Preview/DemoEngine.swift:
- Line 810: Keep the off-wall demo’s state.endMarkRefusal set when the aim is
unchanged, so tapping “Wall ends here” again remains refused; clear the refusal
only after the aim changes.
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📒 Files selected for processing (12)
ios/HouseScan/Contract/ScanContract.swiftios/HouseScan/Runtime/ScanEngine+Actions.swiftios/HouseScan/Runtime/ScanEngine+Ends.swiftios/HouseScan/Runtime/ScanEngine.swiftios/HouseScan/UI/Copy/ScanCopy.swiftios/HouseScan/UI/Preview/DemoEngine.swiftios/HouseScan/UI/Preview/UIDemo.swiftios/HouseScan/UI/Screens/GapRequestScreen.swiftios/HouseScan/UI/Screens/WallWalkScreen.swiftios/HouseScanKit/Sources/HouseScanKit/Geometry/EndAim.swiftios/HouseScanKit/Tests/HouseScanKitTests/EndAimTests.swiftios/HouseScanUITests/WalkRecoveryUITests.swift
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Stacked on #191 (
codex/public-assembly-20260930, 75f6c37). This PR adds the six commits from cf30991 to c6f1aed.What changed
The guided walk had several places where the homeowner had no truthful way on, or where the app refused an action without saying what to do. Each was traced in the code at 75f6c37. The earlier product-description findings B-06, B-23 and B-27 described them; B-12's gap-screen shortcut and the 0.79 m minimum wall are not part of this PR.
The end card has an answer for a wall that keeps going (B-06)
Once the walk passes about 20 ft on a side, the card asks "Is this the right end of the wall?". The only control was "Wall ends here" at the circle (ScanCopy.swift: no reply for
.markEnd). A wall that runs on past 20 ft had no true answer, and the card stayed as the homeowner kept walking.The card's reply is now "The wall keeps going". It ends that side where the phone stands, as an unexplored end, through the same engine path "Can't get there" on the walk already used (ScanEngine+Actions.swift). Nothing asks what is there, the export keeps that side's end unmarked, and no cell becomes seen. Unlike "Can't get there", it isn't counted as a refusal, so it never leads to "End the scan here?" (#82). The packet's guidance log still records the end card's outcome as
cannot_reach, as before for that path."Wall ends here" says why when it can't mark the end (B-06)
At the circle, "Wall ends here" did nothing when the circle wasn't on the wall within the distance a view counts for, or when the phone had lost its place. Aiming at the ground met the wall's plane below the ground and set an end there, and aiming across the meter ended the other side. The button now marks only the end the card names, and otherwise the card says what happened:
The button and the tape's end preview share one check,
circleEnd(ScanEngine+Ends.swift). The tape never shows an end the button would refuse, and the refusal clears once the circle is on the asked end. The below-ground rule is the one object taps already use (ObjectTap.belowGroundSlackplus the ground's error). The autopilot's taps at a point mark as before.A wrong-side mark tells the homeowner where to stand (B-27)
Marking a feature is refused when the phone itself stands behind the wall's line (ScanEngine+Actions.swift:321), but the words blamed the tap: "That spot is behind the wall. Tap something on this side." No tap from there could work. It now reads "Your phone is behind the wall's line. Step out in front of the wall, then try again."
"Point at the meter like this." comes with the picture (B-23)
When the phone loses its place, the walk shows the saved meter close-up with "Point at the meter like this." The follow-up view said the same words with no picture, and so did the walk when the close-up had been skipped. The follow-up view now shows the close-up as the walk does. With no close-up, both say "Point back at your meter".
UI changes
From
WalkRecoveryUITestson the iPhone 17 Simulator, default text size: the two end-card states at c6f1aed, and the two lost-place states at 08ed892, which c6f1aed doesn't change for those screens. No matched before captures exist: the end card wasn't a frozen demo state at 75f6c37, and the before wording is quoted above.Verification
Hosted full run 37114486663 attempt 2 on c6f1aed: 660 package tests in 93 suites passed (including 9
EndAimTests), and 60 UI tests ran with 1 skipped and 0 failures. Attempt 1 failed onlyFullFlowUITests.testPracticeMeterFromReplay("the switch didn't turn on"), a tap on the developer options sheet before it finished presenting. This PR doesn't touch that path; the candidate branch hardens the helper. The pull-request run 37114488010 on c6f1aed passed.Hosted full run 37108206605 on 08ed892: 651 package tests in 92 suites passed, and 60 UI tests ran with 1 skipped and 0 failures. That includes the every-state accessibility audit and the three
WalkRecoveryUITests.The earlier full run 37106379859 on cf30991 passed the same way, before the review fixes.
Bot review of 08ed892 (Greptile, Codex) left six comments, each answered in its thread: d576a46 moves the circle-end decision into HouseScanKit as
EndAimwith isolated tests, keys the meter photo to the card's words, fixes the keeps-going hint and the refusal demo, and documents why hits above the wall stay accepted. A fresh Sol review of that commit showed feature marks require normal tracking, so c6f1aed keeps that gate.A fresh Sol review of cf30991 found four issues: "The wall keeps going" counted toward "End the scan here?", a circle aimed at the ground was accepted, the tape previewed refused ends, and the demo tilt-up overwrote a skipped close-up. b722367 fixes all four. A re-review found that
EndMarkRefusalneededErrorconformance, fixed in 08ed892, and nothing else.Local runs: none. The shared Mac's admission lease refused the batch for low swap under memory pressure, so the hosted runs are the only execution.
Risk
cannotAccessAreacode for.markEnd, checked by review; no replay flow reaches the 20 ft end card.Checklist
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