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Trim Repeated AOL Guard Commentary

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firestar5683
2026-10-26 13:39:40 -05:00
parent 76c2aba14e
commit 6e88336f3a
2 changed files with 1 additions and 57 deletions
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openpilot/starpilot/aol/transport_pause.py
-56
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@@ -1118,20 +1118,12 @@ class TransportPauseFeedback:
stamp - signature[8] > AXIS_MAX_AGE_NS or
signature[4] != stamp + AXIS_MAX_AGE_NS):
return False
# Only this missed, already-expired Ioniq6 combined proof needs the extra
# path. Its original source/native retention clocks are checked below and
# never advanced; this function supplies no current output or LONG enable.
from openpilot.starpilot.car.hyundai.aol import qualified_ioniq6
return qualified_ioniq6(cp)
def _source_availability_retention(self, sm, cp, cs, axis, stamp, now_ns, *, latched, continuity, producer, signature):
# Output freshness withdraws commands, not previously accepted driver intent.
# Held output or a strictly forward, initially fresh combined proof may
# retain only an already established intent under its original bounds.
held = bool(signature == self.signature and not self.retention_started_ns)
output_missing = not (sm.seen['aolAxisState'] and sm.valid['aolAxisState'] and sm.alive['aolAxisState'])
# The same exclusive matched-lag signature invariant as typed retention:
# unknown critical joins keep pending_event; other critical paths fail.
matched_lag = bool((str(axis.faultReason) == 'critical' or
str(axis.faultReason) == 'availabilityPause' and self.ordinary_warning_retained) and signature == self.signature and
self.lateral_only_baseline and not self.failed and not self.pending_event and
@@ -1177,8 +1169,6 @@ class TransportPauseFeedback:
not axis.desiredLongitudinal and not axis.longitudinalActive and
now_ns > axis.validUntilMonoTime and nominal_users and host_source_availability_only(host_events) and
0 < axis.faultEventMonoTime < event_ns <= now_ns and now_ns - event_ns <= AXIS_MAX_AGE_NS)
# Once this exact old LAT-only proof is waiting for a newer event's half,
# any changed/non-nominal USER/fault vector terminates that fixed join.
stock_pending = bool(cp.pcmCruise and self.retention_started_ns and signature == self.signature and
not axis.desiredLongitudinal and not axis.longitudinalActive and
0 < axis.faultEventMonoTime < self.retention_event_ns)
@@ -1188,9 +1178,6 @@ class TransportPauseFeedback:
matched_lag and not stock_event_first):
return False
native = _healthy_transport_native(sm, cp, cs, self.session, now_ns)
# C++ must send request zero on output expiry. A held proof retains prior intent only
# under the original source/producer/epoch/CP/inventory/native bounds. A denied requested
# axis is not this zero-request case; no output is granted.
inactive_native = bool(held and self.source_retention_started_ns and native is not None and
not native.requestedLateral and not native.lateralAllowed and
not native.requestedLongitudinal and not native.longitudinalAllowed)
@@ -1212,13 +1199,9 @@ class TransportPauseFeedback:
self.retention_started_ns = now_ns
self.retention_event_ns = event_ns
self.retention_pending = True
# Only receive identity is held. Every original source, native, output
# and healthy baseline timestamp remains unchanged until the typed pair.
return True
def _event_first_retention(self, sm, cp, axis, stamp, now_ns, *, latched, signature, native):
# A held source-capped proof may expire before the matching typed pause arrives.
# Reuse only its previously accepted identity for intent; its output lease stays expired.
if now_ns <= axis.validUntilMonoTime or signature != self.signature:
return False
if (not latched or self.failed or self.paused or not self.session or native is None or
@@ -1357,9 +1340,6 @@ class TransportPauseFeedback:
event_ns = int(sm.logMonoTime['onroadEvents'])
events = sm['onroadEvents']
matched = event_ns == axis.faultEventMonoTime
# The event and axis sockets can deliver either half of a pause/recovery
# first. An unmatched nonfault event waits only under this ORIGINAL 30ms
# axis lease; repeated OFF samples cannot renew the accepted source bound.
if (not sm.seen['onroadEvents'] or not sm.valid['onroadEvents'] or not sm.alive['onroadEvents'] or
not 0 < event_ns <= now_ns or now_ns - event_ns > 1_500_000_000 or
(not host_source_availability_only(events) if matched else
@@ -1457,8 +1437,6 @@ class TransportPauseFeedback:
from openpilot.starpilot.car.gm.aol import prior_main_off_intent_current
if prior_main_off_intent_current(self, sm, cp, cs, axis, now_ns,
latched=latched, main_arm_ns=main_arm_ns, producer=intent_producer_session):
# This response predates the physical MAIN edge. It neither rejects
# the new request nor renews any command, native or healthy lease.
self.sequence, self.signature = int(axis.sequence), signature
return False
if cp.brand == 'gm' and current and continuity and latched:
@@ -1467,8 +1445,6 @@ class TransportPauseFeedback:
if cp.brand == 'gm' else None)
if cold_gm_main_intent_current(self, sm, cp, cs, axis, native, now_ns,
producer=intent_producer_session):
# Event publication has its own unchanged 1.5s freshness contract.
# Every axis, source and native lease is validated independently.
self.session = str(axis.sessionId)
self.sequence, self.signature = int(axis.sequence), signature
event_ns = int(sm.logMonoTime['onroadEvents'])
@@ -1505,8 +1481,6 @@ class TransportPauseFeedback:
return False
if (self.cold_main_wait_ns and current and continuity and reason == 'none' and
axis.nativeAcknowledged and axis.desiredLateral and not axis.lateralActive):
# Separate sockets may deliver recovery before its matching event.
# This only retains intent; source and native checks still run below.
event_ns = int(sm.logMonoTime['onroadEvents'])
recovery_ahead = bool(sm.seen['onroadEvents'] and sm.valid['onroadEvents'] and
sm.alive['onroadEvents'] and 0 < event_ns < axis.faultEventMonoTime <= stamp and
@@ -1521,8 +1495,6 @@ class TransportPauseFeedback:
if current and continuity and (reason == 'critical' or self.lag_withdrawal_ns and not axis.lateralActive or
getattr(sm, 'updated', {}).get('onroadEvents', False)) and self._temporary_lag_intent_current(sm, cp, cs, axis, stamp, now_ns,
latched=latched, producer=intent_producer_session, signature=signature):
# Received identity only; every original permission/output deadline and
# healthy baseline timestamp remains unchanged.
self.sequence, self.signature = int(axis.sequence), signature
return False
if (cp.brand == 'gm' and self.lag_withdrawal_ns and current and continuity and reason == 'none' and
@@ -1546,12 +1518,9 @@ class TransportPauseFeedback:
if (cp.brand == 'ford' and current and continuity and
self._ford_gas_release_eps_join_current(sm, cp, cs, axis, stamp, now_ns,
latched=latched, producer=intent_producer_session)):
# Intent only: preserve the prior accepted proof and its original expiry.
return False
if current and continuity and self._temporary_steering_intent_current(sm, cp, cs, axis, stamp, now_ns,
latched=latched, producer=intent_producer_session, signature=signature):
# Advance only received sequence identity; do not renew the prior output,
# native, source, or healthy lateral baseline leases.
self.sequence, self.signature = int(axis.sequence), signature
return False
if cp.brand == 'honda' and current and continuity:
@@ -1606,7 +1575,6 @@ class TransportPauseFeedback:
return False
gas_native = retained_gas_lateral_native(self, sm, cp, cs, axis, now_ns, latched=latched, producer=intent_producer_session)
if gas_native is not None:
# Only current independently granted LAT evidence; no combined baseline or lease renewal.
self.lateral_baseline_ns = stamp
self.lateral_source_ns = int(axis.sourceCarStateMonoTime)
self.lateral_native_ns = int(gas_native.observedMonoTime)
@@ -1615,8 +1583,6 @@ class TransportPauseFeedback:
brake_native = (self._honda_brake_lateral_current(sm, cp, cs, axis, now_ns,
latched=latched, brake_source_ns=brake_source_ns) if current and continuity else None)
if brake_native is not None:
# Keep only existing intent. The original native lease and source stamps
# remain unchanged; decide_axes/native TX independently withdraw LONG.
self.healthy_feedback_ns = stamp
self.healthy_native_ns = int(brake_native.observedMonoTime)
self.sequence, self.signature = int(axis.sequence), signature
@@ -1626,8 +1592,6 @@ class TransportPauseFeedback:
gm_native = retained_physical_longitudinal_intent(self, sm, cp, cs, axis, now_ns,
latched=latched, source_ns=gm_withdrawal_source_ns, producer=intent_producer_session)
if gm_native is not None:
# Existing GM intent only; independent runtime/native TX still owns
# both axes and every original source/native/output deadline.
self.healthy_feedback_ns = stamp
self.healthy_native_ns = int(gm_native.observedMonoTime)
self.sequence, self.signature = int(axis.sequence), signature
@@ -1642,13 +1606,9 @@ class TransportPauseFeedback:
return False
if self._availability_recovery_current(sm, cp, cs, axis, stamp, now_ns,
latched=latched, current=current, continuity=continuity, producer=intent_producer_session):
# Separate sockets may deliver either half first. A matched healthy
# recovery resolves that pending join before ordinary baseline handling.
self.retention_started_ns = self.retention_event_ns = 0
self.retention_verified = False
if self.retention_started_ns:
# This unmatched episode terminates fail closed. Leave failure set;
# only the existing healthy, unlatched baseline may clear it later.
self.retention_started_ns = self.retention_event_ns = 0
self.retention_verified = False
self.failed = True
@@ -1661,8 +1621,6 @@ class TransportPauseFeedback:
if (native is None and intent_paused and cs.canValid and not cs.canTimeout and
not cs.steerFaultPermanent and not any(signature[9:13])):
native = _configured_transport_native(sm, cp, str(axis.sessionId), now_ns)
# A fresh negotiated OFF receipt proves transport health while a driver
# pause withdraws both axes. It creates no active lateral baseline.
from opendbc.car import structs
previous = self.signature
inactive = bool(not self.failed and self.session and previous is not None and
@@ -1718,11 +1676,7 @@ class TransportPauseFeedback:
if lateral_native is not None:
from openpilot.starpilot.car.hyundai.aol import qualified_ccnc_long_aol
if not cs.cruiseState.available and qualified_ccnc_long_aol(cp, marked_only=True):
# Bind the actual healthy MAIN-off observation, after the pure guard.
# Recovery may reuse its receipt, never renew it or any output lease.
self.ccnc_main_off_source_ns = now_ns
# Record only the genuinely current LAT proof. Do not renew a combined
# healthy baseline, change a lease or manufacture a LONG permission.
self.lateral_baseline_ns = stamp
self.lateral_source_ns = int(axis.sourceCarStateMonoTime)
self.lateral_native_ns = int(lateral_native.observedMonoTime)
@@ -1748,8 +1702,6 @@ class TransportPauseFeedback:
self.longitudinal_cancel_ns = 0
return True
if cancel_native is not None:
# This is neither transport-pause provenance nor an event exemption.
# Runtime still requires an exact independent native ACK for each axis.
if not self.longitudinal_cancel_ns:
self.longitudinal_cancel_ns = int(cancel_source_ns)
self.last_cancel_source_ns = int(cancel_source_ns)
@@ -1790,9 +1742,6 @@ class TransportPauseFeedback:
isolated = bool(len(faults) == 1 and faults[0].name == log.OnroadEvent.EventName.controlsMismatch and
faults[0].immediateDisable)
if known and isolated and sm.valid['onroadEvents'] and 0 < axis.faultEventMonoTime < event_ns <= now_ns:
# Separate sockets can deliver the immediate event before its typed
# proof. Defer only the persistent-intent decision against this
# previously healthy baseline; no permission or axis is granted.
if not self.pending_event:
self.pending_event = event_ns
if event_ns != self.pending_event or now_ns - self.pending_event > AXIS_MAX_AGE_NS:
@@ -1809,8 +1758,6 @@ class TransportPauseFeedback:
self.failed = True
self.lateral_only_baseline = False
return True
# Remember a real physical occurrence before its native wire arrives.
# Duplicate Card observations and held/released samples cannot renew it.
cancel_pending = self._longitudinal_cancel_current(sm, cp, cs, axis, now_ns, latched=latched,
cancel_source_ns=cancel_source_ns, withdrawal_required=False)
if cancel_pending is not None:
@@ -1861,9 +1808,6 @@ class TransportPauseFeedback:
self.failed = True
self.lateral_only_baseline = False
return True
# The producer sends the typed envelope before its event occurrence.
# Remember that fresh provenance, but exempt no event until the exact
# occurrence arrives. Missing/old senders cannot establish this pair.
if not self.qualified and not pending:
self.failed = True
self.lateral_only_baseline = False
prebuilt.json
+1 -1
View File
@@ -1 +1 @@
{"protected_inventory_sha256": "7517fc683e66896ce2ee8d4f60c770b54ff6109d4bfaa9f7edd8ef0db6107134", "schema_version": 1}
{"protected_inventory_sha256": "470c96defd2caf79d968f376298c74b5d1074d38bbac81a0c1dca0048efe7d7b", "schema_version": 1}