[renatorgr]

Requested by Renato · project thread

What changed

With Ignore worked tracks, a pass worked on the whole but left at the end ahead counts as still to do there (IsPassOpenAtThisEnd, the Tapada 27R rule), so the snake turns onto it. A turn lands abreast of where it leaves the tractor's pass, and that pass's own end can lie beyond it: a slanting headland line, or a turn seated back from a hard fence or a tree. The turn then drives over the worked part only, the end stays as it was, and the whole pass is driven a second time for nothing.

On a tester's field (simulator, beta 2be8132, 14 Nov 10:41) the turn from 1L onto 2R at the north end was seated back 12.5 m (hard fence and a tree), 2R's last ~18 m of crop stayed unpainted, and from 1L the next time the turns onto 3L/4L did not build, so the nearest-open fallback took 2R again: all of 2R driven twice.

Now such a pass is turned onto only when the turn built gets to what is left: at least 5 m of unworked crop along the turn's last 20 m and 20 m on past its end (YouTurnPathingService.TurnReachesUnworkedGround). Otherwise the turn is dropped, the pass counts worked at this end (YouTurnStateMachine.TurnMissesOpenEnd), and the next pass is looked for: on the next cycle for the order's pass, at once for a nearest open pass. On the tester's field no other turn fits at that end, so AutoSteer now stops at the end of 1L (as at any end with no turn, #197) instead of driving 2R again. A pass left to do at an end the turn reaches is turned onto as before.

CLAUDE.md's snake bullet says so. Fork only.

Tests (SnakeOpenEndTests):

• new: the fence reaches 20 m further at the next pass's side, the pass is covered down to just past where the turn lands and left below: no turn, "Field complete" (without the change the turn is built and lands on the covered part);
• new: TurnReachesUnworkedGround on a straight exit leg, left past the leg / left on it / no map;
• the existing open-end tests still turn onto a pass whose end the turn reaches.

Related issue

Follows #228 and #229, from the same day's simulator reports.

Pre-submit checklist

• dotnet build succeeds with no errors
• dotnet test passes: the U-turn, snake and pipeline tests (2024 passed, before rebasing on Snake: skip passes with no crop at this end when the headland is on #229), the snake tests again after it (67 passed); the full suite runs in CI
• Tested on: Linux (cloud), plus a replay of the tester's field (from 1L at the north end, the turn onto 2R is dropped as missing its open end)

Screenshots

Not a UI change.

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