Renew owned FLM trials when admitted queued input becomes ready

openpilot/starpilot/flm/steerlearnerd.py

@@ -544,12 +544,17 @@ def run(
   def current_tracking_offer():
     return live_offer
 
-  def renew_tracking():
+  def renew_tracking(*, refresh=False):
     nonlocal live_offer, next_tracking_status_ns, tracking_needs_native
     if live_offer is None or live_actor is None or live_history.offer is not None:
       tracking_needs_native = False
       return False
-    valid, stamp = source_current()
+    if refresh:
+      source_delivery.refresh(sm)
+      if (not sm.updated['deviceMotion'] and not tracking_needs_native and
+          not getattr(collector, '_original_source_pose_queue', ())):
+        return False
+    valid, stamp = source_current(read=refresh)
     if not valid or collector is None:
       tracking_needs_native = False
       return False
@@ -753,9 +758,9 @@ def run(
             application = read_restore_application(event.starpilotLateralState, now_ns=received_now, offer=live_history.offer)
             if application is not None and current_native_health(sm, CP, evidence, received_now):
               live_history.acknowledge(live_actor, application, now_ns=received_now)
-          if (live_actor is not None and offered is not None and admitted and
-              (tracking_needs_native or _pending_pose_bracket_ready(collector, prepared, clock()))):
-            renew_tracking()
+          if live_actor is not None and offered is not None and admitted:
+            # Motion may arrive while the original FIFO is still draining.
+            renew_tracking(refresh=True)
 
       def output(event, current, stamp):
         valid_source, received_now = source_current()

openpilot/starpilot/flm/tests/test_pending_motion_publication.py

@@ -27,7 +27,7 @@ def test_absent_pending_pose_does_not_start_extra_observation():
   assert not steerlearnerd._pending_pose_bracket_ready(S(), S(state_ns=BASE), BASE)
 
 
-@pytest.mark.parametrize('missing', ['state_bracket', 'native_pair'])
+@pytest.mark.parametrize('missing', ['state_bracket', 'native_pair', 'delivery_in_batch'])
 @pytest.mark.parametrize('retained_header', [False, True])
 def test_actual_callbacks_publish_new_witness_before_remaining_fifo_work(monkeypatch, missing, retained_header):
   now = [BASE-25_000_000]
@@ -43,14 +43,17 @@ def test_actual_callbacks_publish_new_witness_before_remaining_fifo_work(monkeyp
 
   class SM:
     updated = {'deviceMotion': False}
-    logMonoTime = {'deviceMotion': BASE}
+    logMonoTime = {'deviceMotion': BASE-50_000_000 if missing == 'delivery_in_batch' else BASE}
     def update(self, timeout=None):
       if timeout == 0:
-        self.updated['deviceMotion'] = False
+        self.updated['deviceMotion'] = missing == 'delivery_in_batch' and now[0] >= BASE+30_000_000
+        if self.updated['deviceMotion']:
+          self.logMonoTime['deviceMotion'] = BASE
       else:
         now[0] += 25_000_000
         self.updated['deviceMotion'] = True
-        self.logMonoTime['deviceMotion'] = BASE if retained_header else now[0]
+        self.logMonoTime['deviceMotion'] = (BASE-50_000_000 if missing == 'delivery_in_batch' else
+          BASE if retained_header else now[0])
     def __getitem__(self, key):
       assert key == 'pandaStates'
       return []
@@ -105,11 +108,13 @@ def test_actual_callbacks_publish_new_witness_before_remaining_fifo_work(monkeyp
   monkeypatch.setattr('openpilot.starpilot.flm.source_plant_runtime.start_original_capture', lambda *args:True)
   monkeypatch.setattr('openpilot.starpilot.flm.source_plant_runtime.observe', lambda *args:None)
   def native(sm, cp, control, stamp):
-    return missing == 'state_bracket' or now[0] <= BASE+10_000_000 or control.control_ns >= BASE+25_000_000
+    return missing != 'native_pair' or now[0] <= BASE+10_000_000 or control.control_ns >= BASE+25_000_000
   monkeypatch.setattr('openpilot.starpilot.flm.native_health.current_native_health', native)
   monkeypatch.setattr(steerlearnerd, 'read_control', lambda *args:evidence())
   monkeypatch.setattr(steerlearnerd, 'read_applied', lambda *args:S(control_ns=now[0], apply_ns=now[0]))
   def early(*args, **kwargs):
+    if missing == 'delivery_in_batch' and args[0].logMonoTime['deviceMotion'] < BASE:
+      return None
     if not collector.right_available:
       collector._original_source_pose_queue = (S(mono_ns=BASE, source_upper_ns=BASE),)
       return None

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "692a6d59cbffa4c190442b73db9aa66aa7bda18fca2bc591dbd676cf91aa0160", "schema_version": 1}
+{"protected_inventory_sha256": "2a8b56bd85134982fdb6508d288beef4709cb4288c2bdc1e67220bd49f96f924", "schema_version": 1}