"""One initial genuine response experiment; no knob fit or profile admission. The live tracking path retains this numerical model across ordinary capture epochs while independent current residual/source checks remain qualified. Full candidate replay remains available offline and is not called here. """ import base64 import pickle VERSION = 'live-response-bootstrap-v1' def bootstrap_snapshot(snapshot): from openpilot.starpilot.flm.controller_replay import ( unpack_primitive_snapshot, pack_primitive_snapshot, factory_from_snapshot, MAX_FIT_RAW_BYTES, ) from openpilot.starpilot.flm.primitive_source_memo import independent_primitive_graph from openpilot.starpilot.flm.normalized_trace_archive import reserve_for_packet from openpilot.starpilot.flm.feedback_replay import PROTOCOL as FEEDBACK_PROTOCOL, EVENT_VERSION, verify_archive from openpilot.starpilot.flm.event_mean_evidence import VERSION as MEAN_VERSION from openpilot.starpilot.flm.candidate_feedback import CLOSED_POLICY from openpilot.starpilot.flm.torque_adapter import Objective from openpilot.starpilot.flm.full_surface_profile import envelope_from_dict from openpilot.starpilot.flm.source_plant_pipeline import _template, replay_data from openpilot.starpilot.flm.original_context_receipts import verify_original_replay from openpilot.starpilot.flm.source_plant_fit import source_binding, prepare, PreparedPlant, SOURCE_COMPLETE_SLOT_POLICY as BOOTSTRAP_SLOT_POLICY from openpilot.starpilot.flm.live_trial_contract import LiveTrialBinding from openpilot.starpilot.flm.live_tracking_response import certificate_from_prepared, certificate_to_dict if ( type(snapshot) is not dict or snapshot.get('live_job_version') != VERSION or snapshot.get('version') != 1 or type(snapshot.get('snapshot_b64')) is not str or len(snapshot['snapshot_b64']) > 6 * 1024 * 1024 ): raise ValueError('explicit bounded live response bootstrap wrapper') payload = unpack_primitive_snapshot(base64.b64decode(snapshot['snapshot_b64'], validate=True)) if ( payload.get('live_job_version') != VERSION or payload.get('version') != 1 or payload.get('family') not in ('torque', 'torque_pid') or payload.get('family') != snapshot.get('family') or payload.get('plant_protocol') != FEEDBACK_PROTOCOL or payload.get('event_version') != EVENT_VERSION or payload.get('event_mean_version') != MEAN_VERSION or payload.get('candidate_feedback_policy') != CLOSED_POLICY or payload.get('event_operation') != 'trial' or tuple(snapshot.get('objective_key', ())) != tuple(payload.get('objective_key', ())) ): raise ValueError('current original source/native response bootstrap protocol') payload = independent_primitive_graph(payload, reserved_bytes=reserve_for_packet(payload['source_packet'])) packet = payload['source_packet'] envelope = envelope_from_dict(payload['effect_envelope']) replay = replay_data(packet, objective=Objective(**payload['objective']), identity=payload['identity'], baseline_revision=envelope.selected_baseline_revision) if len(pickle.dumps(payload, protocol=5)) + len(pickle.dumps(replay, protocol=5)) > MAX_FIT_RAW_BYTES: raise ValueError('bootstrap complete original raw byte bound') replay = pack_primitive_snapshot(replay) factory, _ = factory_from_snapshot(replay) template, _, _ = _template(payload, factory) actual = verify_original_replay(packet['context_receipts'], template, replay) binding = source_binding(packet, actual) verify_archive(packet, actual) if payload.get('live_slot_policy') != BOOTSTRAP_SLOT_POLICY: raise ValueError('explicit live response calibration selection policy') from openpilot.starpilot.flm.live_tracking_bootstrap_cohorts import VERSION as COHORT_VERSION, validate_selected_cohort if payload.get('live_cohort_version') != COHORT_VERSION: raise ValueError('explicit outcome-blind checkpoint cohort protocol required') current = LiveTrialBinding(**payload['live_binding']) selection = validate_selected_cohort(payload.get('live_cohort_selection'), packet, actual, current, payload['now_ns'], source_complete=True) from openpilot.starpilot.flm.plant_lag import TRAINING_DOMAIN_ONLY prepared = prepare(packet, actual, binding, slot_policy=BOOTSTRAP_SLOT_POLICY, support_policy=TRAINING_DOMAIN_ONLY) if type(prepared) is not PreparedPlant: return { 'live_job_version': VERSION, 'status': 'collecting', 'reason': prepared.get('reason', 'response_unavailable'), 'certificate': None, 'profile': None, 'current_permission': False, } if ( tuple(tuple(p.mono_ns for p in prepared.source_poses if w.start_ns <= p.mono_ns <= w.end_ns) for w in prepared.original_windows) != selection['source_pose_ns'] ): raise ValueError('independent native-verified source pose eligibility differs') certificate = certificate_from_prepared(prepared, current, original_packet=packet) # No finite differences, group rotation, trial scoring, replay validation, # profile, live lease or current/native permission is manufactured here. return { 'live_job_version': VERSION, 'status': 'response_identified', 'reason': 'independent_train_heldout_response_passed', 'certificate': certificate_to_dict(certificate), 'profile': None, 'current_permission': False, }