mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
104 lines
5.3 KiB
Python
104 lines
5.3 KiB
Python
"""One initial genuine response experiment; no knob fit or profile admission.
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The live tracking path retains this numerical model across ordinary capture
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epochs while independent current residual/source checks remain qualified.
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Full candidate replay remains available offline and is not called here.
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"""
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import base64
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import pickle
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VERSION = 'live-response-bootstrap-v1'
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def bootstrap_snapshot(snapshot):
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from openpilot.starpilot.flm.controller_replay import (
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unpack_primitive_snapshot,
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pack_primitive_snapshot,
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factory_from_snapshot,
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MAX_FIT_RAW_BYTES,
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)
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from openpilot.starpilot.flm.primitive_source_memo import independent_primitive_graph
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from openpilot.starpilot.flm.normalized_trace_archive import reserve_for_packet
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from openpilot.starpilot.flm.feedback_replay import PROTOCOL as FEEDBACK_PROTOCOL, EVENT_VERSION, verify_archive
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from openpilot.starpilot.flm.event_mean_evidence import VERSION as MEAN_VERSION
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from openpilot.starpilot.flm.candidate_feedback import CLOSED_POLICY
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from openpilot.starpilot.flm.torque_adapter import Objective
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from openpilot.starpilot.flm.full_surface_profile import envelope_from_dict
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from openpilot.starpilot.flm.source_plant_pipeline import _template, replay_data
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from openpilot.starpilot.flm.original_context_receipts import verify_original_replay
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from openpilot.starpilot.flm.source_plant_fit import source_binding, prepare, PreparedPlant, SOURCE_COMPLETE_SLOT_POLICY as BOOTSTRAP_SLOT_POLICY
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from openpilot.starpilot.flm.live_trial_contract import LiveTrialBinding
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from openpilot.starpilot.flm.live_tracking_response import certificate_from_prepared, certificate_to_dict
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if (
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type(snapshot) is not dict
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or snapshot.get('live_job_version') != VERSION
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or snapshot.get('version') != 1
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or type(snapshot.get('snapshot_b64')) is not str
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or len(snapshot['snapshot_b64']) > 6 * 1024 * 1024
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):
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raise ValueError('explicit bounded live response bootstrap wrapper')
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payload = unpack_primitive_snapshot(base64.b64decode(snapshot['snapshot_b64'], validate=True))
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if (
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payload.get('live_job_version') != VERSION
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or payload.get('version') != 1
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or payload.get('family') not in ('torque', 'torque_pid')
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or payload.get('family') != snapshot.get('family')
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or payload.get('plant_protocol') != FEEDBACK_PROTOCOL
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or payload.get('event_version') != EVENT_VERSION
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or payload.get('event_mean_version') != MEAN_VERSION
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or payload.get('candidate_feedback_policy') != CLOSED_POLICY
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or payload.get('event_operation') != 'trial'
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or tuple(snapshot.get('objective_key', ())) != tuple(payload.get('objective_key', ()))
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):
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raise ValueError('current original source/native response bootstrap protocol')
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payload = independent_primitive_graph(payload, reserved_bytes=reserve_for_packet(payload['source_packet']))
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packet = payload['source_packet']
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envelope = envelope_from_dict(payload['effect_envelope'])
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replay = replay_data(packet, objective=Objective(**payload['objective']), identity=payload['identity'], baseline_revision=envelope.selected_baseline_revision)
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if len(pickle.dumps(payload, protocol=5)) + len(pickle.dumps(replay, protocol=5)) > MAX_FIT_RAW_BYTES:
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raise ValueError('bootstrap complete original raw byte bound')
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replay = pack_primitive_snapshot(replay)
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factory, _ = factory_from_snapshot(replay)
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template, _, _ = _template(payload, factory)
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actual = verify_original_replay(packet['context_receipts'], template, replay)
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binding = source_binding(packet, actual)
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verify_archive(packet, actual)
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if payload.get('live_slot_policy') != BOOTSTRAP_SLOT_POLICY:
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raise ValueError('explicit live response calibration selection policy')
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from openpilot.starpilot.flm.live_tracking_bootstrap_cohorts import VERSION as COHORT_VERSION, validate_selected_cohort
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if payload.get('live_cohort_version') != COHORT_VERSION:
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raise ValueError('explicit outcome-blind checkpoint cohort protocol required')
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current = LiveTrialBinding(**payload['live_binding'])
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selection = validate_selected_cohort(payload.get('live_cohort_selection'), packet, actual, current, payload['now_ns'], source_complete=True)
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from openpilot.starpilot.flm.plant_lag import TRAINING_DOMAIN_ONLY
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prepared = prepare(packet, actual, binding, slot_policy=BOOTSTRAP_SLOT_POLICY, support_policy=TRAINING_DOMAIN_ONLY)
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if type(prepared) is not PreparedPlant:
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return {
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'live_job_version': VERSION,
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'status': 'collecting',
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'reason': prepared.get('reason', 'response_unavailable'),
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'certificate': None,
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'profile': None,
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'current_permission': False,
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}
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if (
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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)
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!= selection['source_pose_ns']
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):
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raise ValueError('independent native-verified source pose eligibility differs')
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certificate = certificate_from_prepared(prepared, current, original_packet=packet)
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# No finite differences, group rotation, trial scoring, replay validation,
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# profile, live lease or current/native permission is manufactured here.
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return {
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'live_job_version': VERSION,
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'status': 'response_identified',
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'reason': 'independent_train_heldout_response_passed',
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'certificate': certificate_to_dict(certificate),
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'profile': None,
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'current_permission': False,
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}
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